1 overview, 2 function list, 9 linear interpolation motion control – Delta Electronics High-Speed PCI 12-Axis Motion Control Card PCI-DMC-A01 User Manual
Page 48: Figure 3.40
Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B01
3-26
Revised March, 2012
3.9 Linear Interpolation Motion Control
3.9.1 Overview
If you wish to use CANopen PDO protocol for motion control you must operate in the
CANopen IP mode.
PCI-DMC-A01 supports 2~3 axis linear interpolation in absolute or relative coordinate
motion modes under the S-curve or T-curve velocity cross-section.
2-axis linear interpolation is as shown in Fig. 3.30.
This is a straight line that starts and P0 and ends at P1 in 2 dimensions.
Velocity is the vector speeds (dX:dY) along the X and Y axes as shown in Fig. 3.37:
X
P
0
(X
0
,Y
0
)
P
1
(X
1
,Y
1
)
dX
dY
Y
Figure 3.40
3.9.2 Function
List
Table 3.9
Function Name
_DMC_01_start_tr_move_xy
_DMC_01_start_sr_move_xy
_DMC_01_start_ta_move_xy
_DMC_01_start_sa_move_xy
_DMC_01_start_tr_move_xyz
_DMC_01_start_sr_move_xyz
_DMC_01_start_ta_move_xyz
_DMC_01_start_sa_move_xyz
_DMC_01_sd_stop