ElmoMC Multi-Axis Motion Controller-Maestro Motion Control - Manual (Page 8)

1.3.3.1 Examples for the two-dimensional spline interpolation
Example Example (Motion Mathematic Lib Samples\ Vector_2D \ Spline_Ellipse –
www.elmomc.com)
Ellipse trajectory (2D spline interpolation)
v1.vum=1 //build trajectory in max velocity mode
v1.vac = 28000000 //max acceleration
v1.vdc = 28000000 //max deceleration
v1.vsp = 50000 //max. velocity
v1.vse = 0 //end velocity
pi = 3.14159265358979
a = 100000 // ellipse axis
a
b = 50000 //
ellipse axis
b
Xc = 0 // ellipse center coordinate by X
Yc = 0 // ellipse center coordinate by Y
v1.splines() // start spline trajectory
for teta = 0:pi/18:2*pi
x = Xc + a*cos(teta)
y = Yc + b*sin(teta)
v1.splinep(x,y) // add point to the spline trajectory
end for
v1.splinee(0) // end spline trajectory
v1.bg //start motion
After homing drives must at the first point of the sequence.
Example Example (Motion Mathematic Lib Samples\ Vector_2D \ Lissajous curves –
www.elmomc.com)
v1.vac = 28000000 //max vector acceleration
v1.vdc = 28000000 //max vector deceleration
v1.vsp = 100000 //set max. velocity
v1.vse = 0 //set end velocity
v1.splines() // start spline sequence
Maestro Motion Library Tutorial
MAN-INTUG (Ver. 1.7)
5