ADLINK AMP-208C - Manual (Page 129)

Motion Control Theory 115
AMP-204C / AMP-208C
All helical interpolation input methods described above requires
giving normal vector. If there is error with the normal vector, the
controller corrects it automatically. See Section 4.7.2 Arc
interpolation for correction method.
Relevant APS API described below:
Relevant axis parameters
Input method API Description
Method 1
Center-Angle
I32 APS_sprial_ca (); Start up 3D helical interpolation
I32 APS_sprial_ca_v ();
Start up 3D helical interpolation + maximum
velocity parameter
I32 APS_sprial_ca_all ();
Start up 3D helical interpolation + all velocity
parameter setup
Method 2
Center-End
I32 APS_sprial_ce (); Start up 3D helical interpolation
I32 APS_sprial_ce_v ();
Start up 3D helical interpolation + maximum
velocity parameter
I32 APS_sprial_ce_all ();
Start up 3D helical interpolation + all velocity
parameter setup
Param. No. Define symbol Description
07h (7) PRA_SD_DEC stop_move (), deceleration rate
20h (32) PRA_SF S-factor
21h (33) PRA_ACC Acceleration rate
22h (34) PRA_DEC Deceleration rate
23h (35) PRA_VS Start velocity
24h (36) PRA_VM Maximum velocity
25h (37) PRA_VE End velocity