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ICPDAS
I-8092F Software User Manual
152
Demo Program:
Constant Speed Continuous Interpolation
Parameters:
CradNo=1
i8092_SET_R(cardNo, Card[cardNo].ax1, 800000);
i8092_SET_R(cardNo, Card[cardNo].ax2, 800000* 1414L/1000L);
i8092_MOTION_TYPE(cardNo, 0x3, 1);
// 2-axes constant vector speed
i8092_SET_V(cardNo, Card[cardNo].ax1, 1500);
// Set V = SV
i8092_LINE_2D(cardNo, 4500, 0);
//
Segment
1
i8092_NEXT_WAIT(cardNo);
// Wait next command
i8092_ARC_CCW(cardNo, 0, 1500, 1500, 1500);
// Segment 2
i8092_NEXT_WAIT(cardNo);
//
Wait
next
command
i8092_LINE_2D(cardNo, 0, 1500);
//
Segment
3
i8092_NEXT_WAIT(cardNo);
//
Wait
next
command
i8092_ARC_CCW(cardNo, -1500, 0, -1500, 1500);
// Segment 4
i8092_NEXT_WAIT(cardNo);
// Wait next command
i8092_LINE_2D(cardNo, -4500, 0);
//
Segment
5
i8092_NEXT_WAIT(cardNo);
//
Wait
next
command
i8092_ARC_CCW(cardNo, 0, -1500, -1500, -1500);
// Segment 6
i8092_NEXT_WAIT(cardNo);
// Wait next command
i8092_LINE_2D(cardNo, 0, -1500);
//
Segment
7
i8092_NEXT_WAIT(cardNo);
//
Wait
next
command
i8092_ARC_CCW(cardNo, 1500, 0, 1500, -1500);
// Segment 8
i8092_STOP_WAIT(cardNo, Card[cardNo].plane);
Delay(500);
// Because of the servo lag, In eVC use Sleep(500)