Vector Mode – TML Programming Details |
In Vector Mode the motion controller together with the slave axes execute a 2D path. The trajectory is defined through a series of linear and/or circular segments. Optionally, for each segment a vector speed and acceleration can be specified. The motion controller splits each segment in PVT (Position, Velocity and Time) points and sends them to the slave axes. On receiving the PVT points the slaves rebuild their path using 3rd order interpolation. For applications that require a third axis tangent to the path, the Vector Mode allows to define the tangent axis. The tangent axis must have a rotary load. The 2D path can be stored locally in the non-volatile memory of the motion controller or it can be received via communication channel from a host. Remarks:
Upon reception, each segment is stored in a reception buffer. The segment buffer is of type FIFO (first in, first out). The reference generator from the motion controller empties the buffer as the segments are executed. The motion controller automatically sends warning messages when the buffer is full, low or empty. The host address is taken from the TML parameter MASTERID. The buffer full condition occurs when the number of segments in the buffer is equal with the buffer size. The buffer low condition occurs when the number of segments in the buffer is less or equal with a programmable value. The buffer empty condition occurs when the buffer is empty and the execution of the last segment is over. When the buffer becomes empty the motion controller:
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