ADLINK PCI-8164 - Manual (Page 92)

80 Operation Theory
The speed ratio along X-axis, Y-axis, and Z-axis is (
∆
X:
∆
Y:
∆
Z), respectively, and the vector speed is:
When calling 3-axis linear interpolation functions, the vector
speed is needed to define the start velocity, StrVel, and maxi-
mum velocity, MaxVel. Both trapezoidal and S-curve profiles
are available.
Example
_8164_start_tr_line3(….,1000.0 /*
∆
X */ , 2000.0/*
∆
Y */, 3000.0 /
*DistZ*/, 100.0 /*StrVel*/, 5000.0 /* MaxVel*/, 0.1/*sec*/, 0.2 /*sec*/
)
∆
X = 1000 pulse;
∆
Y = 2000 pulse;
∆
Z = 3000 pulse
Start vector speed=100pps,
X
X speed = 100/ = 26.7pps
X
Y speed = 2*100/ = 53.3pps
X
Z speed = 3*100/ = 80.1pps
Max. vector speed =5000pps,
X
X speed= 5000/ = 1336pps
X
Y speed = 2*5000/ = 2672pps
X Z speed = 3*5000/ = 4008pps
The following functions are used for 3-axis linear interpolation:
_8164_start_tr_line3(), _8164_start_sr_line3()
_8164_start_ta_line3() , _8164_start_sa_line3()
(Refer to section 6.7)
The characters “t”, “s”, “r”, and “a” after _8164_start mean:
t – Trapezoidal profile
s – S-Curve profile
r – Relative motion
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