ADLINK PCI-8164 - Manual (Page 100)

88 Operation Theory
4.1.9 Continuous motion
The card allows you to perform continuous motion. Both single
axis movement (section 4.1.3: Trapezoidal, section 4.1.4: S-
Curve) and multi-axis interpolation (4.1.5: linear interpolation,
4.1.6: circular interpolation) can be extended to be continuous
motion.
For example, if a user calls the following function to perform a sin-
gle axis preset motion:
1) _8164_set_continuous_move(0, 1)
It enables the continuous move function by keeping current posi-
tion in internal variable. If this function is not enabled, the second
motion function will return busy status and can not do continuous
motion.
2) _8164_start_ta_move(0, 50000, 100, 30000, 0.1, 0.0)
It causes the axis “0” to move to position “50000.0.” Before the
axis arrives, the user can call a second motion (refer to the next
function). Notice that the deceleratin of this function is set to 0. It
means that deceleration is not needed in this command in order to
smoothly link the next command velocity.
3) _8164_start_tr_move(0, 20000, 100, 30000, 0.0, 0.2)
The second function call does not affect the first one. Actually, it
will be executed and written into the card pre-register. After the
first move is finished, the card will continue with the second move
according to the pre-registered value. The time interval between
these two moves can be seen as a continuous move and pulses
will be continuously be generated at the “50000.0” position. Notice
that the acceleration time is set to 0. It means that we do not need
acceleration in this command in order to smoothly link the previ-
ous command velocity.
4) _8164_set_continuous_move(0, 0)
Return to normal move mode.
The theory of continuous motion is described below:
Theory of continuous motion (FIFO architecture)