www.advantech.com/products Online Download 2-Axis Circular Interpolation 2-axis circular interpolation (Center point specification/CCW direction) The center position can be specified Y axis X axis 2-axis circular interpolation (Center point specification/CW direction) The center position can be specified Y axis X axis The pass point on a arc can be specified 2-axis circular interpolation (Pass point point specification) Y axis X axis Backlash Compensation In order to enhance ball screw repeatability precision, special algorithms and commands can be adopted to eliminate these errors and offset their inherited weakness in mechanism design. Tangential Following The knife control of cutting machine is typical application. For Z axis movement, a motor follows the X-Y movement and curve. As shown below, the tangential direction of the circular movement for the Z axis on this X-Y dimension will be adjusted instantly to ensure that the radius between its movement and the circular trace stays at 90 degrees. Superimposed Move Changethecurrentstateofmotionbysuperimposingnewcommands onto existing movement. E.g. the expected position and speed are 5,000 and 300. The state of motion is changed by superimposing position 1,000 and speed 100. Position Window Output The digital output voltage level within a certain position window can be controlled by using commands. Drive Gear The drection of last calibration move was positive. The drection of last calibration move was negative. Negative backlash distarice Negative backlash distarice is zero Positive backlash distarice is zero Driven Gear Drive Gear Driven Gear (+) (-) Positive backlash distarice t t 400 6000 Velocity Motion Distance 5000 300 200 100 0 0 Superimposed movement 1000 Point to point movement 5000 X Y active nactive active nactive Position Position Lower switching point Upper switching point Lower switching point Upper switching point SoftMotion Introduction Power & Energy Automation 8 5 4 4 10 Panel PCs 9 iDoor Technology Modules 8 Industrial monitors 7 Industrial IoT Gateways 6 Control Cabinet PCs High-Performance Control Panels Industrial Operator Panels 3 2 IntelligentMotionControl andMachineVision 1 WebAccess+ Solution 11 Control IPCs 12 Remote DA&C Systems 13 Wireless IoT Sensing Devices 14 15 RS-485 I/O Modules 16 Thin-Client Terminals Industrial Ethernet Solutions 17 IP Gateway and Serial Device Servers iNetworking 18 19 Ethernet I/O Modules Chapter 2 Table of Contents Table of Contents