ADLINK AMP-208C - Manual (Page 171)

Motion Control Theory 157
AMP-204C / AMP-208C
b. Instruction command setup
The instruction command is executed simultaneously with the
point table's movement one. That is, it may control digital outputs
concurrently at different movement section during motion
execution.
c. Set movement command to point table
The point table offers movement commands of straight line, arc
and spiral interpolation which can set movement commands in
point table with the paired APS function.
Movement parameter setup Paired APS function
Absolute / relative movement APS_pt_set_absolute / APS_pt_set_relative
Maximum speed APS_pt_set_vm
Ending speed APS_pt_set_ve
Acceleration APS_pt_set_acc
Deceleration APS_pt_set_dec
Acceleration and
deceleration
APS_pt_set_acc_dec
S-factor APS_pt_set_s
Speed blending between
adjacent paths
Please refer to Section 4.7.3.
APS_pt_set_trans_buffered (buffer)
APS_pt_set_trans_inp (buffered in-place)
APS_pt_set_trans_blend_dec (blend - deceleration)
APS_pt_set_trans_blend_dist (blend - residue-distance)
APS_pt_set_trans_blend_pcnt (blend - residue-distance ratio)
Instruction command (executed
along with the movement
command)
Paired APS function
Digital output (DO) APS_pt_ext_set_do_ch
VAO table switch APS_pt_ext_set_table_no
Movement
commands
Paired APS function
Straight line
interpolation
APS_pt_line
Arc interpolation
APS_pt_arc2_ca / APS_pt_arc2_ce
APS_pt_arc2_ca / APS_pt_arc2_ce
Spiral interpolation APS_pt_sprial_ca / APS_pt_sprial_ce
Dwell APS_pt_dwell