ADLINK PCI-8258 - Manual (Page 152)

138 Motion Control Theory
Relevant APS API described below:
I32 APS_line (); // multi axes straight line interpolation
I32 APS_line_v (); // multi axes straight line interpolation with
maximum speed settings
I32 APS_line_all (); // multi axes straight line interpolation with all
speed settings
I32 APS_stop_move (); // deceleration stop
I32 APS_emg_stop (); // immediately stop
I32 APS_absolute_linear_move (); // straight line interpolation
with given absolute position
(in I32 data format)
I32 APS_relative_linear_move (); // straight line interpolation
with given relative position
(in I32 data format)
• Relevant axis parameters
4.8.2 Arc Interpolation
This controller supports 2-dimension and 3-dimension arc
interpolation as well as multiple input methods to deal with
demands of various applications. 2D and 3D arc movement and its
command composition methods are described below.
4.8.2.1 3D Arc Interpolation
An arc can be described by
method 1: given center of circle, angle and normal vector
method 2: given center of circle and end point
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