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ICPDAS
I-8092F Software User Manual
105
Fig. A-24 The 0~7Quadrants in circular interpolation calculation
Note
: The calculation steps for the manual deceleration length of circular interpolation
1. First judge the start point and finish point located on which quadrant
2. Calculate the pulse number of the start point and finish point on the quadrant.
(Take notice of the different motion direction (CW/CCW)).
3. Calculate the whole quadrant numbers that passed through in the path planning.
4. The result of step3+step4 is the total pulse number.
5. Users can get the suitable multiple from the setting maximum speed, if the multiple
= M, and then the real start speed: RSV
=
SV×M, real driving speed: RV
=
V×M, real
acceleration: RA
=
A×125×M
By the equation: RSV
=
RV
+
RA×TA, and you can get the time and displacement for the
acceleration area.
6. If the pulse numbers of deceleration segment are same as the acceleration segment, it
can figure easily:
manual decelerating point
=
total output pulse
-
output pulse during acceleration