National Instruments NI-Motion - Manual (Page 44)

Chapter 4 What You Need to Know about Moves
© National Instruments Corporation 4-3 NI-Motion User Manual
• Contoured Move—Is a user-defined move; you generate the
trajectory, and the points loaded into the motion controller are splined
to create a smooth profile
The motion controller uses the specified move constraints, along with the
move data, such as end position or radius and travel angle, to create a
motion profile in all the moves except the contoured moves. Contoured
moves ignore the move constraints and follow the points you have defined.
Coordinate Space
With the exception of the arc move, you can execute all basic moves on
either a single axis or on a coordinate space. A coordinate space is a logical
grouping of axes, such as the XYZ axis shown in Figure 4-3. Arc moves
always execute on a coordinate space.
If you are performing a move that uses more than one axis, you must
specify a coordinate space made up of the axes the move will use, as shown
in Figure 4-3.
Figure 4-3. 3D Coordinate Space
Use the Configure Vector Space function to configure a coordinate space.
This function creates a logical mapping of axes and treats the axes as part
of a coordinate space.The function then executes the move generated by the
trajectory generator on the vector, and treats all the move constraints as
vector values.
Multi-Starts versus Coordinate Spaces
Coordinate spaces always start and end the motion of all axes
simultaneously. You can use multi-starts to create a similar effect without
Z
Y
X
X, Y, Z