NPM PPCI7443, Руководство пользователя

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Operation Theorem
•
47
The speed ratio along X-axis, Y-axis and Z-axis is (
∆
X :
∆
Y :
∆
Z),
respectively, and the vector speed is:
When calling those 3 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.
For example:
_7443_start_tr_line3(….,1000.0 /*
˂
X */ , 2000.0/*
˂ <
*/, 3000.0 /*DistZ*/,
100.0 /*StrVel*/, 5000.0 /* MaxVel*/, 0.1/*sec*/, 0.2 /*sec*/)
∆; SXOVH
∆< SXOVH
∆= SXOVH
6WDUWYHFWRUVSHHG SSV;VSSHG
14
SSV
<VSSHG
14
SSV
]VSSHG
14
SSV
0D[YHFWRUVSHHG SSV;VSSHG
14
SSV
<VSSHG
14
SSV
]VSSHG
14
SSV
2 2 2
) ( ) ( ) (
t
Z
t
Y
t
X
t
P
∆
∆
+
∆
∆
+
∆
∆
=
∆
∆
P0(X0,Y0,Z0)
P1(X1,Y1,Z1)
X-Axis
Y-Ax
is
∆
X
∆
Y
Z-Axis
∆
Z