# Motion Function

![This is a square icon with rounded corners and a blue gradient background. It features the large white text 'ORG' in the center, with the smaller text 'Home Return' directly below it.](.aps-key-features/b3c1cbc3cb02382e4f7dd1356d54aef919a27688965ec3b993c35a64029086c4.jpg)

# Home Return Modes

To ensure motion repeatability, the mechanism must reset to the zero-position via the dedicated sensor point "ORG", normally completed by combining "ORG", "EL" and "Index" signals.

![The image shows a square icon with a blue gradient background and rounded corners. Inside, there is a white line drawing depicting an inverted trapezoid shape at the top. A vertical dashed line extends downward from the center of this shape. Below the shape is a horizontal line with arrowheads pointing to the left and right. Beneath the diagram, the text 'Position Override' is written in white.](.aps-key-features/b78b50ecaefa62713296532bb261f26a7065b0462a795ff27de92038a4c6d617.jpg)

# Position Override

After movement begins, the position target can be changed on-the-fly even if the motion reaches maximum velocity.

![The image displays a square icon with a blue gradient background. In the center, a white line drawing depicts a helix or spiral shape with an arrow curving upward and to the left, along with a small white dot at the bottom left. Below the graphic, the text 'Helical Interpolation' is written in white.](.aps-key-features/0ce44aed7060c61596f6544c020df7601f911c6eff3b188bc118886de865dc43.jpg)

# Helical Interpolation

If the start point and destination of a circular interpolation movement lie on different planes, a helical function is required to directly regulate the movement.

![The image displays a blue rectangular interface element, likely a button. In the center is a white line graph featuring an upward-pointing vertical arrow and a rightward-pointing horizontal arrow. The graph line rises in a stepped pattern, increasing in height at each step, and ends with a horizontal dashed line. Below the graph, the text 'Speed Override' is printed in white.](.aps-key-features/1a9e94257a1c56152f8d138899901853598f3bab5dbaffd5594de174b6e34bab.jpg)

# Speed Override

Changes rotation speed on-the-fly while the axis is running.

![A blue square button featuring a white line graph of a trapezoid with upward and rightward arrows, accompanied by the text 'T-Curve' below the graph.](.aps-key-features/a0683ff016db575cc5f24a91f79fb17bd5bef6b0dfaa476c3a94d95569e5115f.jpg)

# T-Curve / S-Curve Velocity Profile

Acceleration and deceleration times are programmable, and rates can be set individually, with S-curve motion compensating for generated mechanical vibration.

![This image displays a square icon with a blue gradient background. Inside a rounded border, two white dots are connected by a white line with an arrowhead pointing to the right. Below this graphic, the text 'Linear Interpolation' appears in white font.](.aps-key-features/4b4c1974d8356da6f9a873b1bbd0dd1b786d10ab07553e1fedf8be64d4f3c049.jpg)

# Linear and Circular Interpolation

To complete multidimensional motion, any 2, 3, or even all 6 axes are required for linear interpolation and any 3 axes can execute circular interpolation.

![The image displays a square icon with a blue gradient background. In the center, there is a white line graph showing a curve that rises to a peak and descends, resembling a bell curve, plotted on axes with arrows pointing upwards and to the right. Below the graph, the text 'S-Curve' is written in white.](.aps-key-features/69ee5678f89f01085b32b465e8f8cee229ae2076ed401257ff4da4e952b23393.jpg)

# Continuous Move (Contouring)

Continuous movements comprise a range of linear and circular interpolated paths. Point-Table functions support hundreds of paths to smooth the velocity of continuous movement supported by included velocity planning software..

![This image displays a square icon with a glossy, blue gradient background. In the center, a thick white curved arrow begins with a dot at the bottom left and sweeps upward and to the right, ending in an arrowhead. Below the graphic, the text 'Circular Interpolation' is written in white.](.aps-key-features/870fdbf50402177dd31fae1974cc6ff3029c2bf821d2c1fdac71dd272071b1de.jpg)

# Synchronization

Simultaneous start/stop can be executed on multiple axes in one card, or multiple axes across multiple cards, using software or external input signals. This feature is especially beneficial for complicated motion patterns requiring absolute synchronization of multiple axes.

![The image displays a square, glossy blue button or icon. In the center is a white graphic featuring arrows arranged in a circular loop, suggesting a continuous cycle or rotation. Below this graphic, the text 'Continuous Move' is written in a white, sans-serif font.](.aps-key-features/1ef79f02739db812386a7b87a9940771914fb4cbb94556ddf5813529e27e68a1.jpg)

# Path Blending

Anticipating sharp corners and small arc path execution, path blending is required to decelerate automatically and ensure smoothness of the velocity at junctions of two linear paths.

![The image displays a square icon with a blue gradient background. Three white, horizontal wavy lines are stacked vertically in the upper portion. Below these lines is a rectangular button area containing the word 'Sync' in white text.](.aps-key-features/00ec1c6701471244a445d4483e40acb1f6bd49b4307aea71a95f7c51035518e8.jpg)

# Velocity Planning

Velocity planning is required to smoothly implement continuous movement and reduce vibration. The velocity of each path is generated automatically according to corner angles of complete paths.

![The image displays a blue square icon. Inside, a white line drawing depicts a mountain range with dashed lines forming higher peaks above it. Below the graphic, the text 'Path Blending' appears in white.](.aps-key-features/b5f79b745dbe31abaa5932ec8ce78ede66a09c5be0a281549cb9c9f1972c609d.jpg)

# Program Language

![The image displays a blue square icon with rounded corners, resembling a software shortcut button. In the center is a white arrow pointing downward into a horizontal slot, representing a download action. Below the arrow, white text reads 'Program Download'. The blue background features a gradient that is lighter at the top and darker at the bottom.](.aps-key-features/3cae0a7395ca3f2d8f9627b41f0b66f462e3752e9804c1f3822fdf011d92e24e.jpg)

# Program Download

To ensure real-time control performance, programs are downloadable into onboard processors, with support for up to 8 tasks.

![A square icon with a blue gradient background displays a white line graph featuring fluctuating peaks and axes, with the text 'Velocity Planning' centered at the bottom.](.aps-key-features/d21fa8a5c5052dc8ccf5d796d03c4654da11b076bb22febe4d45c35cdf85c20b.jpg)

# IEC 61131-3

The third section of the open international standard IEC 61131 for programmable logic controllers, CODESYS (provided by 3S enterprise) is integrated into specific ADLINK motion controllers.

![The image features a logo set against a light blue gradient background. A large white numeral '1' is positioned on the left, next to the word 'Virtual' in white text. These elements are enclosed within a white dashed rectangular border. Below the rectangle, the phrase 'Virtual Axes' is written in smaller white text.](.aps-key-features/df880ee58d17de223616205fe9ddbeb7fad12052610a57c083b721d79b6f56ab.jpg)

# Virtual Axes

To implement multi-axis synch or following motion, virtual axes act as a model to synchronize the motion of selected axes.

![A blue square label with white graphics and text. The upper portion features a schematic diagram showing a vertical line on the left connected to three horizontal lines on the right, each terminating in a symbol resembling a pair of parentheses '()'. Below the diagram is the text 'IEC 61113-3'.](.aps-key-features/ff73d7df37916dcef6163dde83c276f615b8aee716bc7048a043427ed5f980e1.jpg)

# G Code

Commonly used designation for the most widely used CNC-like programming language, with many implementations. Used mainly in automation, it is part of computer-aided engineering. G-code directs CNC where to move, how fast to move, and along what path.

# Control

![The image displays a rectangular icon with a green gradient background and rounded corners. Inside is a white schematic diagram. In the center is a square box containing the letters 'PID'. Horizontal lines extend from the left and right sides of this box. At the outer ends of these lines are 'X' shaped symbols. Arrows on the lines point inward toward the central 'PID' box. Below the diagram, the text 'PID Control' is written in white. The icon casts a shadow below it.](.aps-key-features/4947667673f4fd2f1a1c3082f90373b25db10b9f554ca60f73aeb7ae33057a63.jpg)

# PID Plus Feedforward Gain Control

All servo applications require specified safe and stable PID loop parameters in order to perform position control, ADLINK Softmotion provides a proportional-integral-derivative (PID) algorithm with adjustable acceleration and velocity and feed-forward gain to simplify servo application development..

![A light green square screen displays a white schematic diagram of a control loop. In the top left corner is the letter **P**. Centered in the diagram is a box labeled **PID**. Below the diagram, the text **AUTO** is stacked above the text **Auto-tuning**.](.aps-key-features/4fc86930b1b085f7e78c9904767a7d2b3b784a35ff32280a187f6138e19828f0.jpg)

# Auto-tuning

In order to reduce tuning efforts and acquire accurate PID parameters, auto-tuning applications are provided in ADLINK dedicated software, allowing conditions to be configured according to real application requirements.

![The image displays a square icon with a teal gradient background. Inside, there are two white rectangular frames stacked vertically, each containing a graph with a downward-sloping line over a grid background. Below the graphics, centered white text reads 'Frequency Response' on the first line and 'Analysis' on the second line.](.aps-key-features/f7818e8d1bca53818d6010ca0caacf5b399311191b8746f78aa7fd370a2a5fad.jpg)

# Frequency Response Analysis

A bode plot is a graph of the transfer function of a linear, time-invariant system versus frequency, plotted with a log-frequency axis, to show the system's frequency response and find the cutoff frequency defining the 2nd notch filter to reduce resonance.

# Application Function

![The image displays a square icon with rounded corners featuring a purple gradient background that is lighter at the top and darker at the bottom. Superimposed on the background are two white, interlocking gear or cog shapes. Below the gears, centered at the bottom of the icon, is the white text 'E Gearing'.](.aps-key-features/b3a2d7e283fbd5c439b6a299d2b8f03f4075b99fbc2b239931262e0c17dcd3ab.jpg)

# Electronic Gearing

To implement multi-axis synchronization, this function sets a ratio between multiple slave axes and one master axis to simplify mechanism. One example is a system where two rotating drums turn at a given ratio to each other.

![This is a square icon with a purple background. The upper portion features a white waveform graphic resembling a jagged sawtooth wave. Below that is a line graph with x and y axes indicated by arrows, displaying a fluctuating black line and a dashed line beneath it. At the bottom, white text reads 'Pitch Compensation'.](.aps-key-features/f202bae91af2f0d752c9c2fef6473aa0e3a3f0b0931fb3c45da185be7699dad7.jpg)

# Pitch Compensation

Irrespective of the type of ball screw system used, there always exists the non-linear section of the whole ball screw that affects the accuracy of overall motion. This function compensates for pitch error in real time.

![This image displays a square icon with a purple background and rounded corners. It features white line drawings of waveforms. The top graphic is a trapezoidal pulse, while the bottom graphic is a series of rectangular pulses (a square wave). An arrow points to the right beneath the top waveform. The text 'Trigger Output' is written in white at the bottom.](.aps-key-features/2000ddfdfbca989754a7cb85e3aa99688ea3f90440ee318694b3cc097a8b959c.jpg)

# Position Compare & Trigger Output

Up to 20MHz encoder input frequency, hardware-based high-speed position comparison, and trigger output, ideal for AOI applications.

![The image shows a square icon with a purple background. In the center, there is a white line drawing of a trapezoid shape, where the right side is filled with diagonal hatching lines. Beneath the shape is a small yellow lightning bolt. At the bottom, white text reads 'Encoder Event'. A small white arrow pointing up and to the left is located in the top-left corner.](.aps-key-features/4ca43f4ed08ff0610c3d55050b1d36b976f21f4c0afef384c9f9686dff16da20.jpg)

# Encoder Event

To accelerate the throughout of entire motion system, the encoder event is used to triggers other axis movement immediately when the target axis achieves the planned position.

![The image shows a square icon with rounded corners featuring a purple gradient background. In the center is a white line drawing depicting a stepped waveform, resembling a mechanical backlash curve. Below the graphic, the text 'Backlash' is written in white. A few small white dots are visible near the bottom right of the line drawing.](.aps-key-features/3b6021ff73cd7147a11cb235a7dd8f6e56f19bbea3251eb5f1924ab03e22c7c1.jpg)

# Automatic Backlash Compensation

Upon direction change, outputs backlash corrective pulses before sending commands. This function only supports single-axis movement.

![The image displays a glossy, square icon with rounded corners featuring a pinkish-mauve gradient background. Centered on the icon is a white line graphic depicting a square wave pattern. Below the wave, the text 'PWM' appears in white, capital letters.](.aps-key-features/62382e30b71920913a81b74d3ad23a6a4de526775146804c2052972ea15d503b.jpg)

# PWM Generation

In general PWM generates pulse up to 25MHz with either fixed frequency or fixed duty-cycle modes, and is suitable for laser, and dispensing applications.

![The image displays a square purple icon. In the center, white arrows radiate outward in various directions, including solid and dashed lines. Below the arrows, white text reads 'Coordination' on the top line and 'Transformation' on the bottom line.](.aps-key-features/77dae9d52012716d7281f1f0f2185a95ca0e940c32ad8996527b686f3705f7ec.jpg)

# Coordination Transformation

Often used with robotic systems, it is one of the most important features of an advanced control system for articulated robots, providing the ability to transform workspace coordinates to corresponding joint coordinates.

![The image displays a square graphic with a purple gradient background. Centered within the square is a white outline of a kidney-shaped object, surrounded by two white arrows indicating a clockwise rotation. Below the graphic is the text 'ECAM' in white capital letters.](.aps-key-features/80e0be7d53de9d64dfaa2b45fecf212c0015df1bd64b6340b779a6c032bf549f.jpg)

# Electronic CAM

With electronic cam, a slave axis follows a profile that is a function of the master position. This profile need not be salted, but it must be an animated function, electronically commanding one axis position as a function of another axis with a CAM table and fire I/O during the move.

![This image displays a square icon with a purple gradient background. At the top center, there is a yellow lightning bolt symbol. Below it is a white line diagram illustrating a latch mechanism, featuring a trapezoidal shape with outward arrows and a downward arrow pointing to a latch below. The word 'Latch' is written in white text at the bottom.](.aps-key-features/592946e3c0450ba5de2318900dd1c86eb43f4eaf23f8f2ebc68b29a853995021.jpg)

# Position Latch

The latch function captures the instant counter value of one certain axis when the latch signal activates. The LTC channel is used to receive the latch pulse and the latch function is implemented with hardware.

# Signal

![The image displays a square, golden-yellow icon with rounded corners, resembling a glossy button. Centered within the icon is the white text 'DSP' in a bold, sans-serif typeface. The background features a subtle gradient that is lighter at the top left and darker at the bottom right.](.aps-key-features/2e83feb154af349fb3ce3101a3d9b9c3bc9fbdbd8bb0f8c56455e7067ef0d30b.jpg)

# DSP

Digital Signal Processing allows time-critical motion control, multiple axis synchronization, and standalone control in a variety of applications.

![The image shows a square icon with a golden-yellow gradient background. It features three horizontal sine waves stacked vertically on the left and a vertical column of the capital letters 'A', 'B', and 'Z' on the right. Below these graphics, centered at the bottom, is the text 'SIN-COS Encoder Input'.](.aps-key-features/aabe454ab63f9603ee8979fa0547dba5fda8531d553411130f031441b7c21d5b.jpg)

# SIN-COS Encoder Input

To receive higher resolution of feedback position, SIN-COS encoders appear in advanced motion systems with up to 12 bit conversion rate.

![The image features a square button with a golden gradient background. In the center is a white line drawing of a hand inside a circle. Below the graphic is the text 'Pulsar Input' in white.](.aps-key-features/39c6d703b85c384bee2c7f4e6d10ede826434d97331e6d046b620b15aad83b48.jpg)

# Manual Pulsar Input Interface

Some motion control solutions provide an interface that connects manual pulsar input devices, which can be used to move the axes.

![The image displays a square, golden-yellow icon featuring a white line drawing of a hand reaching to press a button. The button is a white circle containing the word 'STOP' in black capital letters. Below the graphic, the text reads 'Emergency Stop Input'.](.aps-key-features/9fd55b2e743b761c6629b120bb5b750921f2ac0277da40498db4aec52e45d17b.jpg)

# Hardware Emergency Input

A safety protection feature providing emergency shutdown in case of malfunction.

![This image shows a square icon with a gold background. It features a white line drawing on the left resembling a digital signal trace, positioned next to a vertical rectangle containing the letters 'A', 'B', and 'Z' stacked vertically. Below these graphics, the text 'Digital Encoder Input' is written in white sans-serif font.](.aps-key-features/cc3e74efebcf2c0b71e034609f1dbca20cbd53a98ab97463f3ceae227e53841f.jpg)

# Digital Encoder Input

Most feedback signals can be classified as digital pulse types consisting of A, B phase and index signals. Normally the frequency of digital encoder can be supported up to 20MHz (@4xAB phase).

![The image displays a square, golden-yellow interface button or icon. In the center, there is a white circle containing a white line graph resembling an electrocardiogram (ECG) waveform. A white arrow points to the right, extending from the circle. Below the graphic, the text 'AO' is written in white capital letters.](.aps-key-features/770637dc263bc6fc5d3aecf08687d336e900da830219783fea0759f44ddd39f5.jpg)

![The image displays a square icon with a yellow-gold gradient background. Centered within the icon is a white circle containing a white line graph that resembles a waveform or heartbeat signal. To the left of the circle is a white arrow pointing leftward. Below the graphic, the text 'AI' is written in white capital letters.](.aps-key-features/402a2bb870181a38724bff7320e455ed3a12a248c2705b5b7852d18fa0825a63.jpg)

# Analog Output /

# Analog Input Channels

Some products offer analog output/input channels for voltage signals.

# Connectivity

![This image displays a square icon with rounded corners featuring a green gradient background that transitions from a lighter, glossy green at the top to a darker green at the bottom. Centered on the icon is a white line drawing resembling a hierarchy or organizational chart. It depicts a single square at the top connected by a vertical line to a horizontal line, which then branches downward into two separate squares at the bottom. There is no text in the image.](.aps-key-features/891c01cac873df1a44350b74f1660eaf7397aaf0537635b63fc6fb23dfbd7b7d.jpg)

# Ethernet Connectivity

Considering the cost and flexibility of overall automation equipment design, Ethernet connectivity allows localization of movement or I/O modules to save space and extend control through adding the modules.

![The image displays a green square icon with rounded corners. Inside, there is a white diagram. At the top left is a white square, and to its right is the word 'Field' in white text. Below the top square and text are two parallel horizontal white lines. Underneath these lines, there is a white square on the left connected by a short vertical line to the middle section, and this bottom-left square is connected by a horizontal line to another white square on the right.](.aps-key-features/06588f8bc3376e154f1b69fa4b8f04605354044f4e0613e79923316bb1820732.jpg)

# Field Bus Connectivity

Field Bus Connectivity localizes motion of I/O modules to save space and extend control through addition of modules, with dedicated I/O and Motion provided as "HSL" and "MNET" respectively.
[🔗 Link to the original document](.aps-key-features/aps-key-features.pdf)