User`s guide

Function Library • 93
6.10 Interpolation Parameters Configuring
@ Name
map_axes – Configure the axis map for coordinated motion
set_move_speed – Set the vector velocity
set_move_accel – Set the vector acceleration time
set_arc_division – Set the interpolation arc segment length
arc_optimization – Enable/Disable optimum acceleration
calculations for arcs
set_move_ratios – Set the axis resolution ratios
@ Description
map_axes:
This function initializes a group of axes for coordinated motion.
map_axes() must be called before any coordinated motion function is
used. For PCI-8134, coordinated motion is made only between two
axes. For example, if the z and u coordinates correspond to axes 2
and 3, the following code would be used to define the coordinate
system:
int ax[2] = {2, 3};
map_axes(2, ax);
set_move_speed(10000.0); // Set vector velocity = 10000pps
set_move_accel(0.1); // Set vector accel. time = 0.1 sec
set_move_speed, set_move_accel:
The vector velocity and vector acceleration can be specified for
coordinated motion by this two functions. Codes at last samples
demonstrates how to utilize this two function associated with
map_axes().
set_arc_division:
This function specifies the maximum angle (in degrees) between
successive points along the arc. The default is 5 degrees.
arc_optimization:
This function enables (optimize = TRUE) or disable (optimize =
FALSE) the automatic calculation of the optimum acceleration for an
arc. The default state for arc optimization is enabled. When
arc_optimization() is enabled, circular intepolation is greatly
improved by choosing the best acceleration for the motion. The
optimum acceleration is given by the following formula:
A
opt
= V
2
/d;