Description, 150 function library – ADLINK PCI-8158 User Manual
Page 160
150
Function Library
_8158_start_sa_arc_cd –Begin a S-curve absolute circular
interpolation for C & D axis
_8158_start_tr_arc2 – Begin a T-curve relative circular inter-
polation for any 2 of 4 axes
_8158_start_ta_arc2 – Begin a T-curve absolute circular
interpolation for any 2 of 4 axes
_8158_start_sr_arc2 – Begin a S-curve relative circular inter-
polation for any 2 of 4 axes
_8158_start_sa_arc2 – Begin a S-curve absolute circular
interpolation for any 2 of 4 axes
@ Description
Those functions perform Circular interpolation motion with differ-
ent profile. Detail Comparisons of those functions are described by
follow table.
Function
Total axes Velocity Profile Relative / Absolute Target Axes
_8158_start_tr_arc_xy
2
trapezoidal
R
Axes 0 & 1
_8158_start_ta_arc_xy
2
trapezoidal
A
Axes 0 & 1
_8158_start_sr_arc_xy
2
S-curve
R
Axes 0 & 1
_8158_start_sa_arc_xy
2
S-curve
A
Axes 0 & 1
_8158_start_tr_arc_zu
2
trapezoidal
R
Axes 2 & 3
_8158_start_ta_arc_zu
2
trapezoidal
A
Axes 2 & 3
_8158_start_sr_arc_zu
2
S-curve
R
Axes 2 & 3
_8158_start_sa_arc_zu
2
S-curve
A
Axes 2 & 3
_8158_start_tr_arc_ab
2
trapezoidal
R
Axes 4 & 5
_8158_start_ta_arc_ab
2
trapezoidal
A
Axes 4 & 5
_8158_start_sr_arc_ab
2
S-curve
R
Axes 4 & 5
_8158_start_sa_arc_ab
2
S-curve
A
Axes 4 & 5
_8158_start_tr_arc_cd
2
trapezoidal
R
Axes 6 & 7
_8158_start_ta_arc_cd
2
trapezoidal
A
Axes 6 & 7
_8158_start_sr_arc_cd
2
S-curve
R
Axes 6 & 7
_8158_start_sa_arc_cd
2
S-curve
A
Axes 6 & 7