ICP DAS USA I-8091 2-axis stepping/servo #Ypulse≤, unsigned int speed unsigned char accmode

I-8091 User Manual		Version 1.0 06/2001
Restriction:
− 524287≤	# Xpulse≤	524287
− 524287≤	#Ypulse≤	524287
Example:

i8091_INTP_LINE(1,2000,-3000);

i8091_INTP_LINE(1,-500,200);

(23)i8091_INTP_LINE02(unsigned char cardNo, long x, long y

,unsigned int speed

,unsigned char acc_mode)

This command will move a long interpolation line in X-Y plane. Host will automaticly generate a trapezoidal speed profile of X-axis and Y-axis by state-machine-type calculation method. The i8091_INTP_LINE02() only set parameters into the driver. User can directly call the do { } while

(i8091_INTP_STOP( ) !=READY) to execute the computing entity.

cardNo : board number 0~19.

speed : 0~2040

acc_mode: 0: enable acceleration and deceleration profile 1: disable acceleration and deceleration profile

Y

(X,Y)

(0,0)X

Example: i8091_INTP_LINE02(CARD1,1000,1000,100,0);

do { } while( i8091_INTP_STOP()!=READY) ; //call state machine

(24) i8091_INTP_CIRCLE02(unsigned char cardNo, long x, long y, unsigned char dir, unsigned int speed, unsigned char acc_mode)

This command will generate an interpolation circle in X-Y plane. Host will

http://www.icpdas.com 2-31 ICPDAS