ADLINK PCI-8164 User Manual

Page 103

Operation Theory

Restrictions of continuous motion

Here are restrictions and suggestions for continuous motion:

1. When the Pre-Registers are full, you may not execute

any more motion functions. Otherwise, the new function
one will overwrite the existing function in Pre-Register2.

2. To get a continuity of velocity between two motions, the

previous end velocity of and starting velocity of the next
must be the same. There are several methods to
achieve this. The easiest way is to set the deceleration/
acceleration time to 0.

3. The dimension of axes can not be changed during con-

tinuous motion

For example:

_8164_set_continuous_move(0, 1)

_8164_set_continuous_move(1, 1)

_8164_set_inp(0,0,0)

_8164_set_inp(1,0,0)

1st motion: _8164_start_tr_move_XY(0,1000,0,0,5000,0.2, 0.0)

2nd motion: _8164_start_r_arc_xy(0,0,500,500,500,1,5000);

_8164_set_inp(0,1,0)

3rd motion: _8164_start_tr_move_XY(0,0,1000,0,5000,0.0, 0.2)

_8164_set_continuous_move(0, 0)

_8164_set_continuous_move(1, 0)