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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

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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

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