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Chapter 19 2-Axis Linear Interpolation Motion Control API | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012 19-3
Description
As shown in Fig. 19.1, 2-axis linear interpolation means Position moving by X and Y from P0 to
P1. The two axes will start and end at the same time. Motion displacement will also be on the
same straight line.
X-Axis
Y-Axis
DistX
DistY
Figure 19.1 Figure 19.2
The relationship between speed ratio and velocity when moving along the X and Y axes
(DistX:DistY) is as follows:
22
t
DistY
t
DistX
t
P
From the above, as shown in Fig. 19.2, it can be seen that the relationship between Maximum
velocity (MaxVel), speed of X-axis (speed X), and speed of Y-axis (speed Y) is as follows:
Example
U16 CardNo=0;
U16 NodeIDArray[2]={1,2};
U16 SlotID[2] ={0, 0};
I32 DisX=30000;
I32 DisY=40000;
I32 StrVel=0;
I32 MaxVel=3000;
F64 Tacc=0.1;
F64 Tdec=0.1;
I16 status= _DMC_01_start_tr_move_xy (CardNo, NodeIDArray, SlotID, DistX, DistY, StrVel,
MaxVel, Tacc, Tdec);
// When MaxVel is set as 3000RPM, speed X is then 1800RPM; speed Y is 2400RPM