ADLINK AMP-208C - Manual (Page 131)

Motion Control Theory 117
AMP-204C / AMP-208C
You can set up this with input parameter "Flag". See ASP API user
manual for detailed parameter description.
In essence, the first three methods, method (1), (2) and (3), stops
any running interpolation when new interpolation command is
received and start executing the new interpolation command
immediately. Pending interpolation command in motion buffer shall
be cleared now. These three methods differ in their termination
approach and are commonly used in cases where immediate
interpolation path change is required.
Method (4), (5), (6) and (7) executes by sequence in motion buffer.
Method 4 features its exact execution per interpolation path and
speed schedule without any path error.
Methods (5), (6) and (7) employs a mechanism of speed blending.
Its benefits with smooth track, vibration free, and constant motion
speed. These three methods differ in their beginning time of
blending which may affect the actual calculation path in blending
process and path errors against user's plan. You may select and
adjust as required. These seven speed link methods are described
below:
1. Aborting and blending
If the "aborting" is received the interpolation command take
effects immediately and operation transfer to new command
without slowing down the speed. The controller smooth the
transition track automatically to avoid vibration and to ensure
speed component of each axes translated smoothing. Take
figure below. The first linear interpolation command is for
moving from position S1 to E1, a "aborting" linear interpolation
command is executed for moving to position E2. Figure in the
left is the track diagram. The controller calculate smooth track
(red line) automatically to transfer to new interpolation
command. Figure at right hand side is a track combined
velocity-time (V-T) chart.
Figure 4-35: Velocity blending (method 1)
E1
S1
E2