Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Manuel d'utilisateur télécharger pdf (Page 8)

1.3.3.1 Examples for the two-dimensional spline interpolation

Example Example (Motion Mathematic Lib Samples\ Vector_2D \ Spline_Ellipse –

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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./jointfilesconvert/1588247/bg //start motion

After homing drives must at the first point of the sequence.

Example Example (Motion Mathematic Lib Samples\ Vector_2D \ Lissajous curves –

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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)

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Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Manuel d'utilisateur Page 8