User`s manual

80 Operation Theory

The speed ratio along X-axis, Y-axis, and Z-axis is (∆X: ∆Y:

∆Z), respectively, and the vector speed is:

When calling 3-axis linear interpolation functions, the vector

speed is needed to define the start velocity, StrVel, and maxi-

mum velocity, MaxVel. Both trapezoidal and S-curve profiles

are available.

Example

_8164_start_tr_line3(….,1000.0 /*

∆X */ , 2000.0/*∆Y */, 3000.0 /

*DistZ*/, 100.0 /*StrVel*/, 5000.0 /* MaxVel*/, 0.1/*sec*/, 0.2 /*sec*/

)

∆X = 1000 pulse; ∆Y = 2000 pulse; ∆Z = 3000 pulse

Start vector speed=100pps,

X X speed = 100/ = 26.7pps

X Y speed = 2*100/ = 53.3pps

X Z speed = 3*100/ = 80.1pps

Max. vector speed =5000pps,

X X speed= 5000/ = 1336pps

X Y speed = 2*5000/ = 2672pps

X Z speed = 3*5000/ = 4008pps

The following functions are used for 3-axis linear interpolation:

_8164_start_tr_line3(), _8164_start_sr_line3()

_8164_start_ta_line3() , _8164_start_sa_line3()

(Refer to section 6.7)

The characters “t”, “s”, “r”, and “a” after _8164_start mean:

t – Trapezoidal profile

s – S-Curve profile

r – Relative motion