ADLINK PCI-8164 - Manual (Page 93)

Operation Theory 81
a – Absolute motion
4-axis linear interpolation
With 4-axis linear interpolation, the speed ratio along X-axis, Y-
axis, Z-axis and U-axis is (
∆
X:
∆
Y:
∆
Z:
∆
U), respectively, and
the vector speed is:
The following functions are used for 4-axis linear interpolation:
_8164_start_tr_line4(), _8164_start_sr_line4()
_8164_start_ta_line4(),_8164_start_sa_line4()
(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