ElmoMC Multi-Axis Motion Controller-Maestro Motion Control User Manual
Page 8
1.3.3.1 Examples for the two-dimensional spline interpolation
Example Example (Motion Mathematic Lib Samples\ Vector_2D \ Spline_Ellipse –
www.elmomc.com)
Ellipse trajectory (2D spline interpolation)
v1.vum=1
//build trajectory in max velocity mode
v1.vac = 28000000
//max acceleration
v1.vdc = 28000000
//max deceleration
v1.vsp = 50000
//max. velocity
v1.vse = 0
//end velocity
pi = 3.14159265358979
a = 100000
//
ellipse axis
a
b = 50000
//
ellipse axis
b
Xc = 0
//
ellipse center coordinate
by
X
Yc = 0
//
ellipse center coordinate
by
Y
v1.splines()
//
start spline trajectory
for teta = 0:pi/18:2*pi
x = Xc + a*cos(teta)
y = Yc + b*sin(teta)
v1.splinep(x,y)
//
add point to the spline trajectory
end for
v1.splinee(0)
//
end spline trajectory
v1.bg
//start motion
After homing drives must at the first point of the sequence.
Example Example (Motion Mathematic Lib Samples\ Vector_2D \ Lissajous curves –
www.elmomc.com)
v1.vac = 28000000 //max vector acceleration
v1.vdc = 28000000 //max vector deceleration
v1.vsp = 100000 //set max. velocity
v1.vse = 0
//set end velocity
v1.splines() // start spline sequence
Maestro Motion Library Tutorial
MAN-INTUG (Ver. 1.7)
5