ICP DAS USA I-8090 3-axis encoder card user manual Y X,Y CW X CCW where r adius = sqr tX2 + Y2

I-8091 User Manual Version 1.0 06/2001

automaticly generate a trapezoidal speed profile of X-axis and Y-axis by state-machine-type calculation method. The i8091_INTP_CIRCLE02() 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.

x, y : center point of circle relate to present position.

dir : moving direction. 0 : CW

1 : CCW speed : 0~2040

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

Y

(X,Y)

CW

X

CCW

where r adius = sqr t(X^2 + Y^2)

Example: i8091_INTP_CIRCLE02(CARD1,2000,2000,100,0);

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

(25) i8091_INTP_ARC02(unsigned char cardNo, long x, long y, long R, unsigned char dir, unsigned int speed, unsigned char acc_mode)

This command will generate an interpolation arc 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_ARC02() 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.

http://www.icpdas.com 2-32 ICPDAS