NPM PPCI7443, Руководство пользователя

Страница: 53 / 183

Operation Theorem
•
45
When calling the 2 axes linear interpolation functions, it is the vector speed
to define the start velocity, StrVel, and maximum velocity, MaxVel, Both
trapezoidal and S-curve profile are available.
Example:
_7443_start_tr_move_xy(0 , 30000.0 , 40000.0 , 1000.0 , 5000.0 , 0.1,0.2 )
It will cause the X,Y axes (axes 0 & 1) of Card 0 to perform a linear
interpolation movement, in which:
∆; SXOVH
∆< SXOVH
6WDUWYHFWRUVSHHG SSV;VSHHG SSV<VSHHG
SSV
0D[ YHFWRU VSHHG SSV ; VSHHG SSV< VSHHG
SSV
Acceleration time = 0.1 sec
Deceleration time = 0.2 sec
There are two groups of functions that provide 2 axes linear interpolation.
The first group divides the 4 axes into XY (axis 0 & axis 1) and ZU(axis 2 &
axis 3). By calling these functions, the target axes are already assigned.
_7443_start_tr_move_xy(), _7443_start_tr_move_zu(),
_7443_start_ta_move_xy(), _7443_start_ta_move_zu(),
_7443_start_sr_move_xy(), _7443_start_sr_move_zu(),
_7443_start_sa_move_xy(), _7443_start_sa_move_zu(),
: Refer to section 6.7
The second group allows user to freely assign the 2 target axes.
_7443_start_tr_line2(), _7443_start_sr_line2(),
_7443_start_ta_line2(),_7443_start_sa_line2(),
: 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
3 axes linear interpolation
Any 3 of the 4 axes of PPCI7443 may perform 3 axes linear interpolation.
As the figure below, 3 axes linear interpolation means to move the XYZ (if