ADLINK PCI-8102 - Manual (Page 63)

52 Operations
The command precision of circular interpolation is shown below.
The precision range is at radius ±1/2 pulse.
4.2.9 Continuous Motion
Continuous motion means a series of motion command or position
can be run continuously. Users can set a new command right after
previous one without interrupting it. The motion controller can
make it possible because there are three command buffers (pre-
registers) inside.
When first command is executing, users can set second command
into first buffer and third command into second buffer. Once the
first command is finished, the motion controller will push the sec-
ond command to the executing register and the third command to
first buffer. Now, the second buffer is empty and user can set the
4th command into 2nd buffer. Normally, if users have enough time
to set a new command into 2nd buffer before executing register is
finished, the motion can run endlessly. The following diagram
shows this architecture of continuous motion.
Besides position command, the speed command should be set
correctly to perform a speed continuous profile. For the following
example, there are three motion command of this continuous