NPM PPCI7443, Руководство пользователя

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Operation Theorem
4.1.7 Circular interpolation with Acc/Dec time
In section 4.1.6, the circular interpolation functions don't have acceleration
and deceleration parameters. It can't perform a Trapezoidal or S-curve
speed profile during operation. Sometimes, users need this kind of speed
profile to make their machine run smoothly in circular interpolation mode.
PPCI7443 has another groups of circular interpolation functions to perform
it but they need Axis3 as an aided axis to run it. It means users can't use
Axis3 for other purpose when running these functions. For example, users
need Axis0 and Axis1 to perform a circular interpolation with Trapezoidal
speed profile. They can use _7443_start_tr_arc_xyu() to run it. The function
name tells users not only Axis0 and Axis1 but also Axis3 will be used.
(Axis0=x,Axis1=y,Axis2=z,Axis3=u).
For the full lists of these
functions,please refer to section 6.8.
_7443_version_info() will return a hardware information for this card. If the
hardware version number's 4th digit is greater than 0, for example '1003',
users can use another group of circular interpolation to perform S-curve or
Trapezoidal speed profile without Axis3 for aid. For example, users need
Axis2 and Axis3 to perform a circular interpolation with Trapezoidal speed
profile. They can use _7443_start_tr_arc_zu() to run it. If the hardware
version number's 4th digit is 0, for example '3' or '0', users can't use this
function group. For the full lists of these functions, please refer to section
6.8.
Time
Spee
d
(p
p
s)
Tsacc
Tlacc
Tsacc