ADLINK Technology PCI-8254, User Manual

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List of Figures xi
PCI-8254 / PCI-8258
Figure 4-39: Two-dimension straight line interpolation ............... 137
Figure 4-40: Three-dimension arc interpolation (method 1)........ 139
Figure 4-41: Defining spatial normal vector ................................ 140
Figure 4-42: Determining arc direction in space ......................... 140
Figure 4-43: Three dimension arc interpolation (method 2)........ 141
Figure 4-44: Three dimension arc interpolation example............ 142
Figure 4-45: Three dimension spiral interpolation (method 1) .... 143
Figure 4-46: Three-dimension spiral interpolation (method 2) .... 144
Figure 4-47: Illustration on continuous interpolation (Buffer) move-
ment146
Figure 4-48: Velocity blending (method 1) .................................. 147
Figure 4-49: Velocity blending (method 2) .................................. 148
Figure 4-50: Velocity blending (method 3) .................................. 148
Figure 4-51: Velocity blending (method 4) .................................. 149
Figure 4-52: Velocity blending (method 5) .................................. 149
Figure 4-53: Velocity blending (method 6) .................................. 150
Figure 4-54: Velocity blending (method 7) .................................. 150
Figure 4-55: Continuous interpolation examples ........................ 151
Figure 4-56: Motion status monitoring process........................... 152
Figure 4-57: Relation of different motion signals VS motions ..... 155
Figure 4-58: Relation of motion done (MDN) signals VS motion 156
Figure 4-59: Relation of motion done (MDN), In-homing (HMV) signals
VS motion157
Figure 4-60: Relation of WAIT signals VS motion....................... 158
Figure 4-61: Relation of JOG and motion done(MDN) signals VS mo-
tion159
Figure 4-62: Relation of ASTP VS motion .................................. 159
Figure 4-63: Relation of blending (BLD) signal VS motion ......... 160
Figure 4-64: Relation between pre- and post distance event signals
and movement161
Figure 4-65: Adjust electronic gear's auto engagement speed... 163
Figure 4-66: Compare trigger block diagram .............................. 165
Figure 4-67: Linear compare trigger example............................. 167
Figure 4-68: Table compare trigger example.............................. 168
Figure 4-69: Table compare trigger block diagram ..................... 169
Figure 4-70: Signal sampling structure diagram ......................... 178
Figure 4-71: Interruption flow chart ............................................. 199