ADLINK HSL-4XMO - Manual (Page 55)

Operation Theory 45
Figure 4-11: 2 Axes Linear Interpolation
The speed ratio along X-axis and Y-axis is (
Δ
X:
Δ
Y), respectively,
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:
HSL_M_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:
Δ
X = 30000 pulses;
Δ
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 4 axes into XY (axis 0 & axis
1) and ZU (axis 2 & axis 3). By calling these functions, the target
axes are already assigned.
HSL_M_start_tr_move_xy()
HSL_M_start_tr_move_zu()
HSL_M_start_ta_move_xy(