ADLINK PCI-8164 - Manual (Page 90)

78 Operation Theory
2 axes linear interpolation
In the diagram below, 2-axis linear interpolation means to move
the XY position (or any two of the four axis) from P0 to P1. The
2 axes start and stop simultaneously, and the path is a straight
line.
The speed ratio along X-axis and Y-axis is (
∆
X:
∆
Y), respec-
tively, and the vector speed is:
When calling 2-axis linear interpolation functions, the vector
speed needs to define the start velocity, StrVel, and maximum
velocity, MaxVel. Both trapezoidal and S-curve profiles are
available.
Example:
_8164_start_tr_move_xy(0, 30000.0, 40000.0, 1000.0, 5000.0,
0.1, 0.2) will cause the XY axes (axes 0 & 1) of Card 0 to perform
a linear interpolation movement, in which:
∆
X = 30000 pulses;
∆
Y = 40000 pulses
Start vector speed=1000pps, X speed=600pps, Y speed = 800pps
Max. vector speed =5000pps, X speed=3000pps, Y speed =
4000pps
Acceleration time = 0.1sec; Deceleration time = 0.2sec
There are two groups of functions that provide 2-axis linear inter-
polation. The first group divides the four axes into XY (axis 0 &
axis 1) and ZU (axis 2 & axis 3). By calling these functions, the tar-
get axes are already assigned.
_8164_start_tr_move_xy(), _8164_start_tr_move_zu(),