VSEG Vector linear segment |
Syntax
Pos_Y: Y axis position increment for 2D trajectory Binary code
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:
// 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;
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