5.3 EDH0162En1040 – 06/99
MM4005 4-Axis Motion Controller/Driver
Section 5
Trajectory Functions Tutorial
Definition of Terms
5.1.1 Trajectory
A continuous multi-dimensional motion path. In the MM4005 case, the tra-
jectory is defined in a two-dimensional X-Y plane. The major requirement in
executing a trajectory is to maintain a constant vector velocity throughout
the entire path, with the exception of the acceleration and deceleration
periods.
5.1.2 Trajectory Element
A segment of a trajectory that can be defined by a simple geometric shape,
in our case a line or an arc of circle.
5.1.3 Trajectory Vector
The tangent to the trajectory in any particular point.
5.1.4 Vector Velocity
The linear velocity (the speed) along the trajectory during its execution.
5.1.5 Vector Acceleration
The tangential linear acceleration used to start and end a trajectory.
(Acceleration and deceleration are equal by default).
5.1
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