ADLINK HSL-4XMO - Manual (Page 54)

44 Operation Theory
The Following table shows the differences between all single axis
motion functions, including preset mode (both trapezoidal and S-
curve motion) and constant velocity mode.
Linear interpolation for 2-4 axes
In this mode, any 2 of the 4, 3 of the 4, or all 4 axes may be cho-
sen to perform linear interpolation. “Interpolation between multi-
axes” means these axes start simultaneously, and reach their end-
ing points at the same time. Linear means the ratio of speed of
every axis is a constant value.
Note that you cannot use 2 groups of 2 axes for linear interpolation
on a single card at the same time. You can however, use one 2-
axis linear and one 2-axis circular interpolation at the same time. If
you want to stop an interpolation group, the function
HSL_M_sd_stop() or HSL_M_emg_stop() can be used.
2 Axes Linear Interpolation
As in the diagram below, 2-axis linear interpolation means to move
the XY position (or any 2 of the 4 axis) from P0 to P1. The 2 axes
start and stop simultaneously, and the path is a straight line.
Velocity Profile
Trapezoidal S-Curve Relative Absolute
HSL_M_tv_move Y ----------- -----------
HSL_M_sv_move Y ----------- -----------
HSL_M_v_change Y Y ----------- -----------
HSL_M_sd_stop Y Y ----------- -----------
HSL_M_emg_stop() ----------- ------------ ----------- -----------
HSL_M_start_ta_move Y Y
HSL_M_start_sa_move Y Y
HSL_M_start_tr_move Y Y
HSL_M_start_sr_move Y Y
Table 4-3: Single Axis Motion Functions