ADLINK HSL-4XMO - Manual (Page 56)

46 Operation Theory
HSL_M_start_ta_move_zu()
HSL_M_start_sr_move_xy()
HSL_M_start_sr_move_zu()
HSL_M_start_sa_move_xy()
HSL_M_start_sa_move_zu()
The second group allows user to freely assign the 2 target axes.
HSL_M_start_tr_line2()
HSL_M_start_sr_line2()
HSL_M_start_ta_line2()
HSL_M_start_sa_line2()
The characters “t”, “s”, “r”, and “a” after HSL_M_start mean:
X t – Trapezoidal profile
X s – S-Curve profile
X r – Relative motion
X a – Absolute motion
3-Axis Linear Interpolation
Any 3 of the 4 axes of the HSL-4XMO may perform 3-axis linear
interpolation. As shown the figure below, 3-axis linear interpolation
means to move the XYZ (if axes 0, 1, 2 are selected and assigned
to be X, Y, Z respectively) position from P0 to P1, starting and
stopping simultaneously. The path is a straight line in space.
Figure 4-12: 3-Axis Linear Interpolation