ElmoMC Multi-Axis Motion Controller-Maestro Motion Control - Manual (Page 6)

1.3 Trajectory generation
1.3.1 Line
Target position for a line is defined by the parameters of the function line():
Two-dimensional line
V1.line(x,y) – produces a line trajectory from the current position to the point (x,y), where x and
y integer values in counts.
Three-dimensional line
V1.line(x,y,z) – produces line trajectory from the current position to the point (x,y,z), where x,y
and z - integer values in counts.
1.3.2 Circle
Radius, initial and sweep angles for a circle must be defined as parameters of a function circle():
V1.circle(radius, init_angle,sweep_angle), where init_angle and sweep_angle must be set in
degrees (float), radius in counts (integer).
Example (Motion Mathematic Lib Samples\ Vector_2D \CircleArc – www.elmomc.com)
v1.vac = 28000000 //max acceleration
v1.vdc = 28000000 //max deceleration
v1.vum = 1 //build trajectory in max. velocity mode
v1.vsp = 250000 //maximum velocity
v1.vse = 0 //end velocity
v1.circle(100000,45,-270) //build circle arc trajectory
v1.bg // start motion
while (a1.ms==2)||(a2.ms==2) //wait until both axes have stopped
wait(10)
end while
1.3.3 Spline
A spline gives the possibility to move a smooth curve through an arbitrary set of points that do not
necessary belong to a particular geometric shape as a circle, ellipse or a line.
The spline that is supported by the Motion Library is an interpolation cubic spline. All the points
P
o
,P
1
,...,P
n
given by the user belong to the spline curve. Between each pair of the neighboring
points
(P
i
,P
i+1
)
, cubic spline is defined by a third-order polynomial.
Maestro Motion Library Tutorial
MAN-INTUG (Ver. 1.7)
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