Motion Control Theory
108
AMP-204C / AMP-208C
Relevant APS API described below:
I32 APS_line ();
// multi axes straight line interpolation
I32 APS_line_v ();
// multi axes straight line interpolation with
maximum speed settings
I32 APS_line_all ();
// multi axes straight line interpolation with all
speed settings
I32 APS_stop_move ();
// deceleration stop
I32 APS_emg_stop ();
// immediately stop
I32 APS_absolute_linear_move ();
// straight line interpolation
with given absolute position
(in I32 data format)
I32 APS_relative_linear_move ();
// straight line interpolation
with given relative position
(in I32 data format)
• Relevant axis parameters
4.7.2
Arc Interpolation
This controller supports 2-dimension and 3-dimension arc
interpolation as well as multip input methods to deal with demands
of various applications. 2D and 3D arc movement and its
command composition methods are described below.
4.7.2.1
3D Arc Interpolation
An arc can be described by
method 1: given center of circle, angle and normal vector
method 2: given center of circle and end point
Param. No.
Define symbol
Description
07h (7)
PRA_SD_DEC
stop_move (), deceleration rate
20h (32)
PRA_SF
S-factor
21h (33)
PRA_ACC
Acceleration rate
22h (34)
PRA_DEC
Deceleration rate
23h (35)
PRA_VS
Start velocity
24h (36)
PRA_VM
Maximum velocity
25h (37)
PRA_VE
End velocity
Summary of Contents for AMP-204C
Page 8: ...viii Contents ...
Page 12: ...xii List of Figures ...
Page 14: ...xiv List of Tables ...
Page 52: ...38 Getting Start with The Installation ...
Page 71: ...Signal Connection 57 AMP 204C AMP 208C Signal connection diagram ...
Page 72: ...58 Signal Connection Figure 3 13 General purpose digital I O signal connection example ...
