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Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B01
3-26 Revised March, 2012
3.9 Linear Interpolation Motion Control
3.9.1 Overview
If you wish to use CANopen PDO protocol for motion control you must operate in the
CANopen IP mode.
PCI-DMC-A01 supports 2~3 axis linear interpolation in absolute or relative coordinate
motion modes under the S-curve or T-curve velocity cross-section.
2-axis linear interpolation is as shown in Fig. 3.30.
This is a straight line that starts and P0 and ends at P1 in 2 dimensions.
Velocity is the vector speeds (dX:dY) along the X and Y axes as shown in Fig. 3.37:
X
P
0(X0,Y0)
P
1(X1,Y1)
dX
dY
Y
Figure 3.40
3.9.2 Function List
Table 3.9
Function Name
_DMC_01_start_tr_move_xy
_DMC_01_start_sr_move_xy
_DMC_01_start_ta_move_xy
_DMC_01_start_sa_move_xy
_DMC_01_start_tr_move_xyz
_DMC_01_start_sr_move_xyz
_DMC_01_start_ta_move_xyz
_DMC_01_start_sa_move_xyz
_DMC_01_sd_stop