NPM PPCI7443, User Manual

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48
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Operation Theorem
These functions related to 3 axes linear interpolation are listed below:
_7443_start_tr_line3(), _7443_start_sr_line3()
_7443_start_ta_line3() , _7443_start_sa_line3()
: Refer to section 6.7
The characters “t”, “s”, “r”, “a” after _7443_start means:
t – Trapezoidal profile
s – S-curve profile
r – Relative motion
a – Absolute motion
4 axes linear interpolation
In 4 axes linear interpolation, the speed ratio along X-axis, Y-axis, Z-axis
and U-axis Is (
∆
X:
∆
Y:
∆
Z:
∆
U), respectively, and the vector speed is:
The functions related to 4 axes linear interpolation are listed below:
_7443_start_tr_line4(), _7443_start_sr_line4()
_7443_start_ta_line4(),_7443_start_sa_line4()
: Refer to section 6.7
The characters “t”, “s”, “r”, “a” after _7443_start means:
t – Trapezoidal profile
s – S-curve profile
r – Relative motion
a – Absolute motion
4.1.6 Circular interpolation for 2 axes
Any 2 of the 4 axes of PPCI7443 can perform circular interpolation. As the
example below, the circular interpolation means XY (if axes 0, 1 are
selected and assigned to be X, Y respectively) axes simultaneously start
from initial point, (0,0) and stop at end point,(1800,600). The path between
them is an arc, and the MaxVel is the tangent speed.
Example:
_7443_start_a_arc_xy(0 /*card No*/, 1000,0 /*center X*/, 0 /*center Y*/,
1800.0 /* End X */, 600.0 /*End Y */ ,1000.0 /* MaxVel */)
2 2 2 2
) ( ) ( ) ( ) (
t
U
t
Z
t
Y
t
X
t
P
∆
∆
+
∆
∆
+
∆
∆
+
∆
∆
=
∆
∆