ADLINK PCI-8164 User Manual

Page 90

Operation Theory

2 axes linear interpolation

In the diagram below, 2-axis linear interpolation means to move
the XY position (or any two of the four axis) from P0 to P1. The
2 axes start and stop simultaneously, and the path is a straight
line.

The speed ratio along X-axis and Y-axis is (

∆

Y), respec-

tively, and the vector speed is:

When calling 2-axis linear interpolation functions, the vector
speed needs to define the start velocity, StrVel, and maximum
velocity, MaxVel. Both trapezoidal and S-curve profiles are
available.

Example:

_8164_start_tr_move_xy(0, 30000.0, 40000.0, 1000.0, 5000.0,
0.1, 0.2) will cause the XY axes (axes 0 & 1) of Card 0 to perform
a linear interpolation movement, in which:

∆

X = 30000 pulses;

∆

Y = 40000 pulses

Start vector speed=1000pps, X speed=600pps, Y speed = 800pps

Max. vector speed =5000pps, X speed=3000pps, Y speed =
4000pps

Acceleration time = 0.1sec; Deceleration time = 0.2sec

There are two groups of functions that provide 2-axis linear inter-
polation. The first group divides the four axes into XY (axis 0 &
axis 1) and ZU (axis 2 & axis 3). By calling these functions, the tar-
get axes are already assigned.

_8164_start_tr_move_xy(), _8164_start_tr_move_zu(),