VSEG                Vector linear segment

Syntax                        

VSEG1 Pos_X, Pos_Y

Vector linear SEGment

VSEG2 Pos_X, Pos_Y

 

OperandsPos_X: X axis position increment for 2D trajectory

       Pos_Y: Y axis position increment for 2D trajectory

PlaceTMLOnline

Binary code

VSEG

DescriptionVSEG1 and VSEG2 define a linear segment for 2D trajectory executed in Vector Mode.

Based on Radius, Theta_inc and Theta_start the TML compiler from EasyMotion Studio computes the actual parameters used by the motion controller to generate the PVT points for slave axes.

If the points are sent from a host then the following relations must be used to compute the actual parameters of a path segment:

VSEG_parameters

Example

// 2D linear interpolated profile. Position feedbacks: 500 lines

//incremental encoder

 SETMODE 0xCF00; //Clear buffer

 LPLANE (A, C);        //Slaves A and C define the coordinate system

 MODE LI; // Set Linear Interpolation Mode

 // Increment position with (X, Y) = (0.5[rot], 0.05[rot])

 LPOS1 1000L, 100L; LPOS2 1000L, 100L;

 UPD; //Execute immediate

 // Increment position with (X, Y) = (0.05[rot], 0.5[rot])

 LPOS1 100L, 1000L; LPOS2 100L, 1000L;

 // Increment position with (X, Y) = (0.5[rot], 0.1[rot])

 LPOS1 1000L, 200L; LPOS2 1000L, 200L;

 // Increment position with (X, Y) = (0.5[rot], 0.5[rot])

 LPOS1 1000L, 1000L; LPOS2 1000L, 1000L;