ElmoMC Multi-Axis Motion Controller-Maestro Motion Control - Manual (Page 4)

Chapter 1:
General Description
1.1 Introduction
The Motion Library (ML) produces trajectories based on the PVT mechanism. It implements a set
of functions that calculate trajectories as PVT tables for the vector motion. As a result of a call to the
Motion Library functions, the user gets a PVT table for the requested trajectory. It supports two
and three-dimensional vector motion.
A PVT table is a two or three-dimensional sequence of PVT points.
Each PVT point is defined by:
• position value
•
velocity for this position
• time interval that is necessary to arrive from the current position to the position defined by
the next PVT point
It supports
1. Single shape trajectories:
line (2D,3D)
circle (2D)
2. Trajectory built from an arbitrary set of pointes interpolated by the cubic spline (2D,3D)
3. Polyline trajectory that can include a number of single shapes:
line segments (2D,3D)
circle arc segments (2D)
spline points (2D,3D)
Inside polyline transition from one shape to another can be executed with a non-zero velocity. In
this case, an additional element – switch circle arc-- is inserted between two shapes.
In the case of two-dimensional vector motion, switch arcs can be built for the line-line, line-circle,
circle-line and circle-circle intersections. In the case of a three-dimensional polyline, switch arcs can
be built for the line-line intersection.
1.2 Vector properties
Geometry of trajectory is defined by the set of vector functions such as circle() or line(). The
Velocity profile is also influenced by the set of the following parameters (vector properties):
maximum vector acceleration/deceleration (vac/vdc)
maximum vector velocity (vsp)
end velocity (vse)
Maestro Motion Library Tutorial
MAN-INTUG (Ver. 1.7)
1