ICPDAS I-8094 Software User Manual 5
6.4.4 Mixed Linear and Circular 2-axis motions in Continuous Interpolation......90
6.4.5 Multi-Segment Continuous Interpolation (Using Array)................................93
6.4.6 3-Axis Helical Motion........................................................................................95
6.4.7 2-Axis Ratio Motion...........................................................................................97
6.5 Set the Interrupt Factors.........................................................................99
6.5.1 Set the Interrupt Factors ..................................................................................99
6.5.2 Interrupt Disabled ...........................................................................................102
6.5.3 Read the Interrupt Occurrence ......................................................................103
6.6 Other functions.......................................................................................104
6.6.1 Holding the Driving Command ......................................................................104
6.6.2 Release the Holding Status, and Start the Driving.......................................105
6.6.3 Waiting until the Motion Is Completed..........................................................106
6.6.4 Stopping the Axes...........................................................................................107
6.6.5 Clear the Stop Status......................................................................................111
6.6.6 End of Interpolation........................................................................................111
APPENDIX A (I-8094 BASIC FUNCTIONS) .................112
A.1 i8094 Command Set.............................................................................. 112
A.2 Pulse Output Command.......................................................................113
A.2.1 Signal Types....................................................................................................113
A.2.2 Fixed Pulse Driving........................................................................................115
A.2.3 Changing Output Pulse Numbers in Driving ...............................................115
A.2.4 Offset Setting for Acceleration/Deceleration Driving..................................115
A.2.5 Continuous Drive Pulse Output ....................................................................117
A.2.6 Constant Speed Driving.................................................................................118
A.3 Profile Acceleration/Deceleration Planning........................................ 119
A.3.1 Trapezoidal Driving [Symmetric]...................................................................119
A.3.2 Trapezoidal Driving [Asymmetric] ................................................................121
A.3.3 Triangle Prevention ........................................................................................123
A.3.4 S-curve Acceleration / Deceleration [Symmetry].........................................124
A.3.5 S-curve Acceleration / Deceleration [Asymmetry] ......................................128
A.4 Pulse Output Commands .....................................................................129
A.4.1 2/3 Axes Interpolation ....................................................................................129
A.4.2 Circular Interpolation.....................................................................................130
A.4.3 Bit Pattern Interpolation.................................................................................133
A.4.4 Continuous Interpolation...............................................................................135
A.5 Automatic Home Search.......................................................................137
A.5.1 Step 1: High-Speed Near Home Search........................................................139
A.5.2 Step 2: Low-Speed Home Search..................................................................140
A.5.3 Step 3: Low-Speed Z-phase Search..............................................................141
A.5.4 Step 4: High-Speed Offset Drive ...................................................................142
A.6 Synchronous Action ..............................................................................143
A.7 I-8094 Function Library.......................................................................147
A.7.1 Register management functions...................................................................147
A.7.2 Functions for Initial Setting...........................................................................154
A.7.3 Motion Status Management Functions.........................................................160