ADLINK PCI-8164 - Manual (Page 7)

Table of Contents iii
S-curve profile motion ................................................... 75
Linear interpolation for 2-4 axes ................................... 77
Circular interpolation for 2 axes .................................... 82
Circular interpolation with Acc/Dec time ....................... 84
Relationship between velocity and acceleration time ... 85
Continuous motion ........................................................ 88
Home Return Mode ...................................................... 95
Home Search Mode .................................................... 103
Manual Pulser Mode (PCI-8164 Only) ........................ 104
Synchronous starting modes ...................................... 105
4.2 The motor driver interface................................................ 107
INP .............................................................................. 107
ALM ............................................................................ 109
ERC ............................................................................ 110
SVON and RDY .......................................................... 111
4.3 The limit switch interface and I/O status .......................... 112
SD/PCS ...................................................................... 112
EL ............................................................................... 114
ORG ........................................................................... 115
4.4 Counters .......................................................................... 116
Command position counter ......................................... 116
Feedback position counter .......................................... 117
Position error counter ................................................. 119
General purpose counter ............................................ 120
Target position recorder .............................................. 122
4.5 Multiple PCI-8164 Card Operation (PCI-8164 Only)........ 123
4.6 Change position or speed on the fly ................................ 124
Change speed on the fly ............................................. 124
Change position on the fly .......................................... 129
4.7 Position compare and Latch ............................................ 132
Comparators of the 8164 ............................................ 132
Position compare with trigger output .......................... 134
Position Latch ............................................................. 138
4.8 Hardware backlash compensator and
vibration suppression............................................. 139
4.9 Software Limit Function ................................................... 140
4.10 Interrupt Control............................................................... 141
4.11 PXI Trigger Bus (PXI-8164 only) ..................................... 147
5 Motion Creator................................................................ 149