User`s manual

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Definition Four-axis linear interpolation
Input parameter
dev_num: device number
pulse1,pulse2,pulse3,
pulse4:
relative distance the axis travels
Output
parameter
None
Return value 0: execution OK; -1: transmission abnormity; -4: disabled device interface
Note
i. The interpolation speed is based on the axis X’s speed.
ii. At present, the four-axis interpolation is performed through the fixed axis
1, axis 2, axis 3 and axis 4.
5.10 adt8840a_continue_move( )
Name
int
adt8840a_
continue_move(int dev_num,int axis, int dir)
Definition Single-axis continuous motion
Input parameter
dev_num: device number
axis: axis number (1-4
dir: motion direction
Output
parameter
None
Return value 0: execution OK; -1: transmission abnormity; -4: disabled device interface
Note
The parameters needed by the velocity curve must be set before the drive command is
written.
5.11 ArcComp( )
Name BOOL ArcComp()
Definition Arc parameters computation
Input parameter
double fix[]: Coordinates of any three point in the plane. fix[0]: coordinate of endpoint on
axis X; fix[1]: coordinate of endpoint on axis Y; fix[2]: coordinate of midpoint
on axis X; fix[3]: coordinate of midpoint on axis Y; fix[4]: coordinate of start
point on axis X; fix[5]: coordinate of start point on axis Y.
Output
parameter
float cen[]: arc’s parameter structure. cen[0]: coordinate X of center of circle; cen[1]:
coordinate Y of center of circle; cen[2]: included angle of endpoint; cen[3]: included angle
of start point; cen[4]: radius; cen[5]: arcing angle.
Return value 0: arc computation OK; -1: arc computation failure