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Operation Theory 47

The speed ratio along X-axis, Y-axis, and Z-axis is (ΔX: ΔY: ΔZ),

respectively, and the vector speed is:

When calling 3-axis linear interpolation functions, the vector speed

is needed to define the start velocity, StrVel, and maximum veloc-

ity, MaxVel. Both trapezoidal and S-curve profiles are available.

Example:

HSL_M_start_tr_line3(….,1000.0 /*ΔX */ , 2000.0/

ΔY */, 3000.0 /*DistZ*/, 100.0 /*StrVel*/,

5000.0 /* MaxVel*/, 0.1/*sec*/, 0.2 /*sec*/)

ΔX = 1000 pulse; ΔY = 2000 pulse; ΔZ = 3000 pulse

Start vector speed=100pps,X speed = 100/ =

26.7pps

Y speed = 2*100/ = 53.3pps

Z speed = 3*100/ = 80.1pps

Max. vector speed =5000pps,X speed= 5000/ =

1336pps

Y speed = 2*5000/ = 2672pps

Z speed = 3*5000/ = 4008pps

The following functions are used for 3-axis linear interpolation:

HSL_M_start_tr_line3()

HSL_M_start_sr_line3()

HSL_M_start_ta_line3()

HSL_M_start_sa_line3()

The characters “t”, “s”, “r”, and “a” after HSL_M_start mean:

X t – Trapezoidal profile

X s – S-Curve profile

X r – Relative motion

X a – Absolute motion

4-axis Linear Interpolation

With 4-axis linear interpolation, the speed ratio along X-axis, Y-

axis, Z-axis and U-axis is (

ΔX: ΔY: ΔZ: ΔU), respectively, and the

vector speed is:

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Adlink HSL-4XMO Manual do Utilizador Página 57