Interpolated operations involve two or more axes whose movements are interdependent. There are many types of interpolated moves.  Linear interpolation is when two or more axes works together to create movement along a straight line. For linear interpolation, each axis moves in only one direction, and start and stop at the same time.  Circular interpolation is when two axes work together to create movement along the outer rim of a circle. For circular interpolation, each axis will change direction and speed as required to allow for a circular path of movement. A popular subset of circular interpolation is arc interpolation, when two axes work together to move along the outer rim of a circle for a set number of degrees.  Helical or tangential interpolation is when a circular or arc interpolation of the X and Y-axis is combined with linear interpolation of the center point of the circle and the Z-axis.  This allows for movement along a helical motion path. The Commander core allows for all of these different moves, independently or in combination. These moves can be buffered together to allow for seamless continuous motion.

For more details on how the Commander core handles interpolation, refer to Appendix C - Interpolation.

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