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44 Operation Theory

The Following table shows the differences between all single axis

motion functions, including preset mode (both trapezoidal and S-

curve motion) and constant velocity mode.

Linear interpolation for 2-4 axes

In this mode, any 2 of the 4, 3 of the 4, or all 4 axes may be cho-

sen to perform linear interpolation. “Interpolation between multi-

axes” means these axes start simultaneously, and reach their end-

ing points at the same time. Linear means the ratio of speed of

every axis is a constant value.

Note that you cannot use 2 groups of 2 axes for linear interpolation

on a single card at the same time. You can however, use one 2-

axis linear and one 2-axis circular interpolation at the same time. If

you want to stop an interpolation group, the function

HSL_M_sd_stop() or HSL_M_emg_stop() can be used.

2 Axes Linear Interpolation

As in the diagram below, 2-axis linear interpolation means to move

the XY position (or any 2 of the 4 axis) from P0 to P1. The 2 axes

start and stop simultaneously, and the path is a straight line.

Velocity Profile

Trapezoidal S-Curve Relative Absolute

HSL_M_tv_move Y ----------- -----------

HSL_M_sv_move Y ----------- -----------

HSL_M_v_change Y Y ----------- -----------

HSL_M_sd_stop Y Y ----------- -----------

HSL_M_emg_stop() ----------- ------------ ----------- -----------

HSL_M_start_ta_move Y Y

HSL_M_start_sa_move Y Y

HSL_M_start_tr_move Y Y

HSL_M_start_sr_move Y Y

Table 4-3: Single Axis Motion Functions

1 2 ... 49 50 51 52 53 54 55 56 57 58 59 ... 115 116

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