ADLINK Technology AMP-204C User Manual page 10

Figure 4-11: Home mode 0 adverse (Case: ORG+EZ)................ 86
Figure 4-12: Home mode 0 decelerate to stop (Case: ORG)....... 87
Figure 4-13: Home mode 1 (Case: EL) ........................................ 88
Figure 4-14: Home mode 1 (Case: EL+EZ) ................................. 90
Figure 4-15: Home mode 2 (Case: EZ)........................................ 92
Figure 4-16: Home mode 2 adverse (Case: EZ) .......................... 93
Figure 4-17: Relation between V-T chart of JOG movement and
JOG-ON signal97
Figure 4-18: Jog step mode .......................................................... 98
Figure 4-19: T-curve V-T chart.................................................... 101
Figure 4-20: Dynamically change position and velocity .............. 103
Figure 4-21: Continuous three position V-T chart ....................... 104
Figure 4-22: Continuous three position V-T chart
(auto speed connection (1)104
Figure 4-23: Continuous three position V-T chart
(auto speed connection (2)104
Figure 4-24: Continuous three position V-T chart
(auto speed connection (3)105
Figure 4-25: Continuous three position V-T chart
(auto speed connection (4)105
Figure 4-26: Two-dimension straight line interpolation ............... 107
Figure 4-27: Three-dimension arc interpolation (method 1)........ 109
Figure 4-28: Defining spatial normal vector ................................ 110
Figure 4-29: Determining arc direction in space ......................... 110
Figure 4-30: Three dimension arc interpolation (method 2) ........ 111
Figure 4-31: Three dimension arc interpolation example............ 112
Figure 4-32: Three dimension spiral interpolation (method 1) .... 113
Figure 4-33: Three-dimension spiral interpolation (method 2) .... 114
Figure 4-34: Illustration on continuous interplotation (Buffer)
movement116
Figure 4-35: Velocity blending (method 1) .................................. 117
Figure 4-36: Velocity blending (method 2) .................................. 118
Figure 4-37: Velocity blending (method 3) .................................. 118
Figure 4-38: Velocity blending (method 4) .................................. 119
Figure 4-39: Velocity blending (method 5) .................................. 119
Figure 4-40: Velocity blending (method 6) .................................. 120
Figure 4-41: Velocity blending (method 7) .................................. 120
Figure 4-42: Continuous interpolation examples......................... 121
Figure 4-43: Motion status monitoring process ........................... 122
Figure 4-44: Relation of different motion signals VS motions ..... 125
x List of Figures