Owner's manual

Function Library 147
_8154_start_tr_line4 – Begin a relative 4-axis linear interpo-
lation for any 4 of 4 axes, with trapezoidal profile
_8154_start_ta_line4 – Begin a absolute 4-axis linear inter-
polation for any 4 of 4 axes, with trapezoidal profile
_8154_start_sr_line4 – Begin a relative 4-axis linear interpo-
lation for any 4 of 4 axes, with S-curve profile
_8154_start_sa_line4 – Begin a absolute 4-axis linear inter-
polation for any 4 of 4 axes, with S-curve profile
@ Description
These functions perform linear interpolation motion with different
profile. Detail Comparisons of those functions are described by fol-
low table.
Note: The target two axes of linear interpolation are the 2 of 4 axes
on a card.
Function Total axes
Velocity
Profile
Relative
Absolute
Target Axes
_8154_start_tr_move_xy 2 T R Axes 0 & 1
_8154_start_ta_move_xy 2 T A Axes 0 & 1
_8154_start_sr_move_xy 2 S R Axes 0 & 1
_8154_start_sa_move_xy 2 S A Axes 0 & 1
_8154_start_tr_move_zu 2 T R Axes 2 & 3
_8154_start_ta_move_zu 2 T A Axes 2 & 3
_8154_start_sr_move_zu 2 S R Axes 2 & 3
_8154_start_sa_move_zu 2 S A Axes 2 & 3
Function Total axes
Velocity
Profile
Relative
Absolute
Target Axes
_8154_start_tr_line2 2 T R Any 2 of 4 axes
_8154_start_ta_line2 2 T A Any 2 of 4 axes
_8154_start_sr_line2 2 S R Any 2 of 4 axes
_8154_start_sa_line2 2 S A Any 2 of 4 axes