ElmoMC Multi-Axis Motion Controller-Maestro Motion Control - Manual (Page 13)

Maestro Motion Library Tutorial
MAN-INTUG (Ver. 1.7)
10
Yc = Y - R*sin(Teta) // X coordinate of the helix axis
v2.splines() // start spline sequence
for i=0:1:n
v2.splinep(X,Y,Z) // add spline 3D point
Teta = Teta + dTeta // calc teta for the next point
X = Xc + R*cos(Teta) // calc X coordinate for the next point
Y = Yc + R*sin(Teta) // calc Y coordinate for the next point
Z = Z + dZ // calc Z coordinate for the next point
end for
v2.splinee(0) // end spline sequence
v2.bg // begin motion
Figure 1-6: Helix three-dimensional picture for the calculated PVT table drawn in MATLAB
1.3.4 Polyline
To build a polyline, the Maestro user program applies the following calls to the motion library
functions:
vector_name.starts(trj_name) – starts the polyline trajectory sequence with saving the PVT table
built by the Motion Library in a file named trj_name. Parameter trj_name can be missed – in
this case trajectory is saved in a temporary file named vector_name.trj.
vector_name.ends() - ends the polyline trajectory sequence.