ADLINK PCI-8164 - Manual (Page 91)

Operation Theory 79
_8164_start_ta_move_xy(), _8164_start_ta_move_zu(),
_8164_start_sr_move_xy(), _8164_start_sr_move_zu(),
_8164_start_sa_move_xy(), _8164_start_sa_move_zu()
(Refer to section 6.7)
The second group allows you to freely assign the two target axes.
_8164_start_tr_line2(), _8164_start_sr_line2(),
_8164_start_ta_line2(), _8164_start_sa_line2()
(Refer to section 6.7)
The characters “t”, “s”, “r”, and “a” after _8164_start mean:
t – Trapezoidal profile
s – S-Curve profile
r – Relative motion
a – Absolute motion
3-axis linear interpolation
Any three of the four axes of the card may perform 3-axis linear
interpolation. As shown the figure below, 3-axis linear interpola-
tion means to move the XYZ (if axes 0, 1, 2 are selected and
assigned to be X, Y, Z, respectively) position from P0 to P1,
starting and stopping simultaneously. The path is a straight line
in space.