ADLINK Technology PCI-8254, User Manual

Page: 164 / 226

150 Motion Control Theory
6. Blending when residue-distance met
The controller saves newly received command in motion buffer
first. You may set up an offset amount, e.g. the so called
residual distance as shown in figure below, and start the new
interpolation command for blending after the distance of
original interpolation command path from target position is
smaller than the residual distance (E1) as shown in figure
below.
Figure 4-53: Velocity blending (method 6)
5. Blending when residue-distance % met
Similar to method 6 but with given residual distance ratio
(percentage of residual distance to interpolation distance) as
the P% in figure below.
Take figure below. If the residual distance ratio is set to 10%
and the straight line interpolation distance from S1 to E1 is
1000, the the next interpolation command starts for blending
when the motion axis move to position 900 (relative to starting
point).
Figure 4-54: Velocity blending (method 7)
Distance
Blending
E1
S1
E2
Blending E1
S1
E2