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Newport MM4005 User Manual

Newport MM4005
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EDH0162En1040 06/99 5.4
MM4005 Trajectory Functions Tutorial
Trajectory Description and Conventions
When defining and executing a trajectory, a number of rules must be fol-
lowed. For the current MM4005 version, these are the conventions that
guide the contouring implementation:
Multiple trajectories can be defined in a program but only one is active
at a time. This means that the controller can have only one trajectory
ready to be executed.
Once one trajectory is started, it executes in background allowing the
other axes and peripherals to work independently and simultaneously.
Each trajectory must have a beginning and an end. Endless (infinite)
trajectories are not allowed.
The size of a trajectory is limited to 100 trajectory elements. This value
is arbitrary and should satisfy most complex applications.
The trajectory definition process must ensure a continuous motion path
to avoid any excessive accelerations and shocks that could damage the
stages.
The line segments are true linear interpolations:
y = Ax + B
The arc segments must be true arc of circles:
(x - x
0
)
2
+ (y - y
0
)
2
= R
2
A trajectory is always defined relative to the pre-defined stage units. To
avoid confusion, it is recommended to use same units of displacement
on both axes.
Each trajectory is defined relative to its starting point. Thus, every start-
ing point has the coordinates 0, 0.
All trajectories start executing from the current X and Y positions. To
execute a trajectory from a desired location, the two axes correspond-
ing to X and Y must be moved using the standard point-to-point com-
mands (PA, PR, ).
Before executing a trajectory, the controller verifies if its definition does
infringe on any pre-defined motion rules (excessive tangent discontinu-
ity, excessive acceleration, travel limits, ).
Trajectories can be defined in both IMMediate and PRoGram mode.
Geometric Conventions
The coordinate system is an X-Y orthogonal system.
Any valid motion axis can be assigned to be the X or Y axis.
After executing a trajectory, new axes can be assigned to X or Y axis.
The origin of the X-Y coordinate system is in the lower left corner, with
positive values up and to the right.
All angles are measured in degrees, represented as floating points num-
bers.
Angle origin and sign follow the trigonometric convention: positive
angles are measured counter-clockwise.
5.3
5.2
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Newport MM4005 Specifications

General IconGeneral
BrandNewport
ModelMM4005
CategoryController
LanguageEnglish

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