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48 Operation Theory

The following functions are used for 4-axis linear interpolation:

HSL_M_start_tr_line4()

HSL_M_start_sr_line4()

HSL_M_start_ta_line4()

HSL_M_start_sa_line4()

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

Circular interpolation for 2 axes

Any 2 of the 4 axes of the HSL-4XMO can perform circular interpo-

lation. In the example below, circular interpolation means XY (if

axes 0, 1 are selected and assigned to be X, Y respectively) axes

simultaneously start from initial point, (0,0) and stop at end

point,(1800,600). The path between them is an arc, and the Max-

Vel is the tangential speed.

Figure 4-13: Circular interpolation for 2 axes

Example:

HSL_M_start_a_arc_xy(0 /*card No*/, 1000,0 /

*center X*/, 0 /*center Y*/, 1800.0 /* End X

*/, 600.0 /*End Y */ ,1000.0 /* MaxVel */)

1 2 ... 53 54 55 56 57 58 59 60 61 62 63 ... 115 116

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