ADLINK PCI-8258 - Manual (Page 147)

Motion Control Theory 133
PCI-8254 / PCI-8258
4.7.3 On The Fly Change
You may dynamically change position and velocity parameter in
PTP movement process by methods described below:
1. Dynamically change to new position while the velocity
parameter remain intact.
2. Dynamically change the maximum velocity while target
position remain intact.
3. Dynamically change to new position and speed profile.
That is, give whole new PTP command.
Figure 4-33: Dynamically change position and velocity
4.7.4 Continuous PTP Move
Each axis features one motion buffer that can contain 10
commands. After the first PTP command is received, the axis
starts moving immediately. You may give PTP commands during
movement in process. Following commands are stored in buffer
queuing for execution. After the first movement arrived at given
position, the controller continuous executing PTP commands in
buffer until there is no new command in existence. You may set up
blend mechanism for speed commands. Available speed
command blending mechanism are:
1. Buffered: blending speed commands in unit of buffer
2. Blend low: Blend with the one with slower maximum speed
3. Blend high: Blend with the one with faster maximum speed
4. Blend previous: Blend in the maximum speed of the previ-
ous one
5. Blend next: Blend in the maximum speed of the next one
New PTP command
T