Function
Changes the speed and stop position for motor motion.
Format
Ret = SmcWMotionChange( Id, AxisNo )
Parameters
Id [ C, C++: short ] [ Python: ctypes.c_short ]
Specify the device ID retrieved by SmcWInit function.
AxisNo [ C, C++: short ] [ Python: ctypes.c_short ]
Specify axis number.
Return Value
Ret [ C, C++: long ] [ Python: ctypes.c_long ]
0 |
Terminated normally |
Non-zero |
Terminated abnormally |
See also: Error code details
Remarks
It can not be executed while motor is already stopped.
The speed of the final deceleration of the axis cannot change.
The operation change settings are done by the SmcWSetMotionChangeReady function.
The stop position change is possible only that PTP operates.
Example
The motor operation change in axis number 1 begins.
C, C++
long Ret;
Ret = SmcWMotionChange( Id , 1);
Python
Ret = ctypes.c_long()
Ret.value = csmc.SmcWMotionChange( Id , 1)
See Also
SmcWSetInitParam SmcWMotionStop