ADLINK PCI-8164 - Manual (Page 103)

Operation Theory 91
Restrictions of continuous motion
Here are restrictions and suggestions for continuous motion:
1. When the Pre-Registers are full, you may not execute
any more motion functions. Otherwise, the new function
one will overwrite the existing function in Pre-Register2.
2. To get a continuity of velocity between two motions, the
previous end velocity of and starting velocity of the next
must be the same. There are several methods to
achieve this. The easiest way is to set the deceleration/
acceleration time to 0.
3. The dimension of axes can not be changed during con-
tinuous motion
For example:
_8164_set_continuous_move(0, 1)
_8164_set_continuous_move(1, 1)
_8164_set_inp(0,0,0)
_8164_set_inp(1,0,0)
1st motion: _8164_start_tr_move_XY(0,1000,0,0,5000,0.2, 0.0)
2nd motion: _8164_start_r_arc_xy(0,0,500,500,500,1,5000);
_8164_set_inp(0,1,0)
_8164_set_inp(0,1,0)
3rd motion: _8164_start_tr_move_XY(0,0,1000,0,5000,0.0, 0.2)
_8164_set_continuous_move(0, 0)
_8164_set_continuous_move(1, 0)