ADLINK HSL-4XMO - Manual (Page 58)

48 Operation Theory
The following functions are used for 4-axis linear interpolation:
HSL_M_start_tr_line4()
HSL_M_start_sr_line4()
HSL_M_start_ta_line4()
HSL_M_start_sa_line4()
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
Circular interpolation for 2 axes
Any 2 of the 4 axes of the HSL-4XMO can perform circular interpo-
lation. In the example below, circular interpolation means XY (if
axes 0, 1 are selected and assigned to be X, Y respectively) axes
simultaneously start from initial point, (0,0) and stop at end
point,(1800,600). The path between them is an arc, and the Max-
Vel is the tangential speed.
Figure 4-13: Circular interpolation for 2 axes
Example:
HSL_M_start_a_arc_xy(0 /*card No*/, 1000,0 /
*center X*/, 0 /*center Y*/, 1800.0 /* End X
*/, 600.0 /*End Y */ ,1000.0 /* MaxVel */)