ADLINK Technology cPCI-8168, User Manual

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Operation Theory 51
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 commands or posi-
tions can be run continuously. Users can set a new command right
after a previous one without interrupting it. The motion controller
can make it possible because there are three command buffers
(pre-registers) inside.
While the first command is still executing, users are able to set a
second command into the first buffer, and a third command into
the second buffer. Once the first command is finished, the motion
controller will push the second command to the executing register,
and the third command to first buffer. Now, the second buffer is
empty and the 4th command can be set into the 2nd buffer. If