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Motion Generator User Manual

1. PTS AND PTS TOOLKIT SOFTWARE MOTION GENERATOR PACKAGE USER MANUAL Issue 1 June 1996 MAN520 Copyright Notice Copyright 1996 Quin Systems Limited All rights reserved Reproduction of this document in part or whole by any means without the prior written consent of Quin Systems Limited is strictly prohibited Software Version This manual reflects the following firmware software versions e PTS Toolkit software version 1 2 Motion or Professional edition PTS Firmware version 1 7 3 or later Important Notice Quin Systems reserves the right to make changes without notice in the products described in this document in order to improve design or performance and for further product development Examples given are for illustration only and no responsibility is assumed for their suitability in particular applications Although every attempt has been made to ensure the accuracy of the information in this document Quin Systems assumes no liability for inadvertent errors Suggestions for improvements in either the products or the documentation are welcome and should be addressed to Quin Systems Limited Oaklands Business Centre Oaklands Park Wokingham Bershire RG41 2FD Telephone 0118 977 1077 Facsimilie 0118 977 6728 E Mail Support Quin co uk CompuServe 100572 1631 Windows is a trademark of Microsoft Corporation Issue 1 2 1 2 2 23 2 4 2 5 3 1 3 2 3 3 Motion Generator User Manual Co
2. O NO value specified Z Absolute end positions Value as specified Position changes Apply numeric changes Select segment The segment end tab displays the parameters and constraints that apply at the end of the selected segment Copyright 1996 Quin Systems Ltd Page 15 Motion Generator User Manual Issue 1 Absolute Relative positions two radio buttons allow you to choose whether the position co ordinates are displayed as relative position changes across the segment or absolute end of segment position co ordinates co ordinates This also affects what happens if you change the values as will be explained below Master position change OR Master end position the length of the segment can be specified in one of two ways as a relative or an absolute co ordinate This is determined by the two radio buttons immediately below the master axis text box By modifying the absolute master position both the segment being edited and the next higher segment are altered this 1s the same as when using the mouse to perform this operation Note if the next segment cannot accommodate the position change then a ripple through will happen until a segment which can accommodate this change is reached By modifying the relative master position master position change the segment being edited is affected and all higher segments are moved to match the new segment length Slave Position Velocity Acceleration Jerk Depending u
3. to store a map table depends upon the length of the table The motion generator was unable to transfer the map or profile This would occur when the previous version of the map is being used by the PTS A position list is required for segment nn PTS commands ET and LT enter and list position lists Position greater than 4194303 either for master axis or for individual slave table entry The map step is determined by length of master axis Map Step SNPT Map step MS parameter can never exceed 65535 R LTnn Position list is undefined Table 3 Embedded Motion Generator Error Codes 3 3 Example of Using the PTS based Motion Generator This is the same example as described in section 2 4 on page 19 The on line map generation using the Motion Generator within the PTS is required to produce maps based on operator entered values in this example using new print and registration lengths The example assumes that the cutoff lengths are entered via the Operator Panel into variables LEN for print length in mm and REG for registration distance again in mm The entered values need to be scaled for use using further variables ECM for web encoder counts per mm x 100 and PCM for print drum encoder these values would generally have been preset and saved using the panel The example uses one further variable MSG to select the displayed message on the panel The code to start the map generation would normally be enca
4. Calculation Engine Errors The calculation of the map cannot continue because of a problem with the map shape These errors are listed in Appendix A on page 44 Whatever the source of the error the error number will be returned in the MST variable and the error message will be sent to a terminal connected to the serial port eee Taror Explanation Number Message p 11 Error No master start position The variable M00 must be defined for a map 11 Error MO1 required The variable M01 must be defined for a map 12 Error No slave start position The variable S00 must be defined for a map Error can t read map number The variable NUM must be defined range 1 to 255 inclusive Error map number out of range The value of NUM must be in the range to 255 inclusive 14 Error can t read number of steps The variable NPT must be defined range 3 to 2400 inclusive any other value will be saturated at these values Table 3 Embedded Motion Generator Error Codes Page 24 Copyright 1996 Quin Systems Ltd Issue 1 Error Number Error Message Insufficient free memory for Motion Generator Error during map profile transfer time Error Master axis is too long or Error Map table entry too large Error Map step too large Motion Generator User Manual Explanation The quantity of memory required to generate a map depends upon the number of segments and their types The quantity of memory required
5. custom machine motion is called a MAP one axis is mapped to another There are a number of terms and phrases associated with the motion generator which have specific meanings see the Motion Generator Glossary of Terms section 1 2 on page 6 for a full description of these This manual covers both the PTS based motion generator and the PC based PTS Toolkit motion generator s The PC based PTS Toolkit motion generator is part of the Windows based PTS Toolkit It has been developed to allow you to graphically design custom machine motions between two axes of a machine controlled by a PTS This graphical design called a map shape can then either be processed to form a map table a master slave position table which the PTS will use to perform positional mapping between the two axes which can be downloaded and stored in the PTS or downloaded to a PTS as a map shape and the PTS based motion generator used to perform the map table generation e The PTS based motion generator is a built in function that can be purchased for the PTS It is a calculation engine that processes map shape information provided in PTS variables to generate a map table The format of this manual is arranged as follows Remainder of this chapter overview and glossary for the motion generator Chapter 2 The PC based PTS Toolkit motion generator A description of using the motion generator as part of the PTS Toolkit software explanation of all menus and dialogue box
6. get X segment number too low get X segment number too big Issue 1 Comments Information Ps refers to Xnn start age Working memory full PC PTS T is not used at present Copyright 1996 Quin Systems Ltd Issue 1 Error No 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 Error Message PC based get X segment not found set A segment number too low set A segment number too big set A segment not found get A segment number too low get A segment number too big get A segment not found set Y segment number too low set Y segment number too big set Y segment not found get Y segment number too low get Y segment number too big get Y segment not found set B segment number too low set B segment number too big set B segment not found get B segment number too low set B segment number too big set B segment not found set Z segment number too low set Z segment number too big set Z segment not found get Z node number too low get Z node number too big get Z segment not found set C segment number too low set C segment number too big set C segment not found get C segment number too low get C segment number too big get C segment not found get W segment number too low get W segment number too big get W segment not found get CW segment number too low get CW
7. modified sine segment 30 D modified trapezoidal segment 30 mouse delete segment 9 actions 19 buttons 19 O edit menu 9 l end percentage 38 opuons menu 19 error codes P calculation engine 44 interpreter 24 g PTS based 24 polynomial segment 6 32 returned through MST 23 position list segment 35 example Profile 8 17 PC based 19 progress messages 24 PTS based 25 PTS variables 8 18 22 23 41 Copyright 1996 Quin Systems Ltd Page 51 Motion Generator User Manual Issue 1 Q slave axis units 12 Slave cycle start 12 quadratic spline segment 36 split segment 9 start percentage 38 R ramp segment 34 T Redo 9 throw segment 34 Relative editing 16 n 6 12 ugo oe 7 triple harmonic segment 31 right mouse button 19 U rotary map shape 5 22 Undo 9 S scaling factors 11 12 segment append 9 constant acceleration 29 constant position 28 constant velocity 28 cubic spline 36 cycloidal 29 defintion 6 delete 9 end percentage 38 insert 9 modified sine 30 modified trapezoidal 30 polynomial 6 32 position list 35 PTS variable 41 quadratic spline 36 ramp 34 setting type 14 simple harmonic 37 sine constant cosine 36 sine square velocity 29 sinusoidal 31 split 9 start percentage 38 throw 34 triple harmonic 31 segment boundaries first to last 5 general 4 segment settings dialogue 13 sequence enclosing map shape in 18 shape settings dialogue 10 simple harmonic segment 37 sine constant cosine segment 36 sine square
8. off for this segment The acceleration profile throughout the segment is defined by the parameters required three normalised amplitudes for the harmonics used to construct the curve These normalised values form the three coefficients of a three term fourier series One example is set the first harmonic to 27 and both the second and third harmonics to zero the acceleration profile will then be identical to a cycloidal segment However you only have to specify the first two of these as the third is calculated to satisfy the constraints placed on the segment from the neighbouring segments Parameters e Segment type Fnn 7 e Segment start constraints P matching V matching Wnn 22000000 or unspecified Wnn 20000000 A amp J unspecified e Segment end constraints P specified V A amp J unspecified e Master end position Mnn lt value gt sets segment end master position co ordinate e Slave end position Snn lt value gt sets segment end slave position co ordinate e Amplitudes of the three harmonics Ann lt value gt Bnn lt value gt and Cnn lt value gt in normalised units of a three term fourier series x10 4 8 Sinusoidal Segment This segment is a sine wave in master slave position You can set the start position in terms of degrees along the sine shape the amplitude in slave axis units and the number of cycles of the sine wave used for the segment These three parameters determine the slave end position of thi
9. percentage for the segment Segment 11 Modified Sine Modified Sine Apply numernie Changes Page 14 Copyright 1996 Quin Systems Ltd Issue 1 Motion Generator User Manual 2 2 2 3 Segment Start Tab Segment 11 Modified Sine x Segment Iype Info Change Master position start at Slave position slave 10000 Counts Slave Z TT position must match O NO value specified Z O Value as specified currentiy Match with previous a Select segment 4 _ gt _ Close The segment start tab displays the parameters and constraints that apply at the start of the selected segment Info This text box contains information relevant to the start of the segment and the current derivative Slave Position Velocity Acceleration Jerk Depending upon the current derivative selected the slave display will change The radio buttons will show what if any options are available The text entry box or the arrow buttons alongside the text box can be used to specify a new value when radio button option Value as specified is selected Slave derivative For each segment type there are four constraints given by the four slave derivatives available position velocity acceleration and jerk Use these arrow buttons to change the current derivative information displayed in the dialogue box 2 2 2 4 Segment End Tab Segment 16 Constant cceleration x Segment End Master end position Slave end position ae o he
10. rather than encoder counts To do this the Motion Generator requires to know the conversion factors The slave position conversion factor is in encoder counts per user unit The slave velocity conversion factor is in user position units per user velocity unit Map Shape Settings Machine Parameters To display velocity acceleration Cycles Min hae and jerk values both the length of the master axis and the number of machine cycles per minute are required Length of master axis is entered on Master Axis tab Calculated master speed is 9945 834 Counts second Cycles Min A map shape does not contain any time data However to allow you to model the shape correctly and within the mechanical limits of your machine you can set the machine cycles per minute This determines the constant velocity of the master axis and allows the motion generator to put a scale to the slave velocity acceleration and jerk axes Page 12 Copyright 1996 Quin Systems Ltd Issue 1 Motion Generator User Manual 2 2 2 Edit Segment Settings The edit segment settings dialogue box chosen from the Edit menu brings together all the parameters that apply to each segment in one dialogue box To do this tab buttons are used The dialogue is also different from standard Windows dialogue boxes in that it can remain on the screen whilst you edit the map via the mouse or use other menu commands This is a very powerful feature allowing yo
11. segment number too big get CW segment not found get F segment number too low get F segment number too big get F segment not found node number negative Copyright 1996 Quin Systems Ltd Motion Generator User Manual Comments Information A refers to Ann CW refers to Wnn Page 47 Motion Generator User Manual Issue 1 Error No 649 650 to 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 901 924 925 926 927 928 to 930 Page 48 Error Message Comments PC based Information node number too big negative number of steps get Pabc segment number too low Get is used by the PC version only get Pabc segment number too big get Pabc segment not found get Pes segment number too low get Pes segment number too big get Pes segment not found get triple segment number too low get triple segment number too big get triple not for this type of segment get sin segment number too low get sine segment number too big get sin not for this type of segment set nupts segment number too low nupts refers to NPT set nupts segment number too big set nupts segment not found set point segment number too low set point segment number too big set point segment not found invalid map number set X segment number too low set X segment not found set X segment number too low set X segment number too big set
12. segment to the left of the currently selected segment The new segment will be 200 counts long scaled as appropriate to the user units and of a polynomial type All segments to the right of the inserted segment will be shifted to the right by the appropriate amount Split Segment Splits the current segment at the position indicated by clicking with the mouse Only certain segments are splittable and this menu option will not be available if the currently selected segment cannot be split Edit Segment Configure the currently selected segment settings using the dialogue box detailed in section 2 2 2 on page 13 Edit Map Settings Configure the map shape settings using the dialogue box detailed in section 2 2 1 on page 10 Display Colours Allows you to modify the colours of the motion generator screen display Line Settings Allows you to modify the thicknesses map shape line on the screen display Copyright 1996 Quin Systems Ltd Page 9 Motion Generator User Manual Issue 1 2 1 3 Options Menu Position Velocity Acceleration Jerk You can choose which derivatives are displayed on the motion generator screen at any one time Each derivative is displayed as a horizontal tile with the position derivative at the top of the screen You can work in any derivative window and see how changes you have made affect the other derivatives as you work It is not possible to turn off the display of all four derivatives the position derivativ
13. tangent fera I shape of map lt Segment nn D Position list Segment nn 1 e File name for position list PC based motion generator and only required once Copyright 1996 Quin Systems Ltd Page 35 Motion Generator User Manual Issue 1 4 13 Quadratic Spline Segment A quadratic spline is a special case of a polynomial segment It has continuity of both position and velocity from the previous segment at the beginning of the curve The length and width of the segment can be changed Having a number of these segments in series performs a quadratic spline between the data points end segment co ordinates Parameters e Segment type Fnn 13 e Segment start constraints P amp V matching A amp J unspecified e Segment end constraints P specified V A amp J unspecified e Master end position Mnn lt value gt sets segment end master position co ordinate e Slave end position Snn lt value gt sets segment end slave position co ordinate 4 14 Cubic Spline Segment A cubic spline is a special case of a polynomial segment It has continuity of position velocity and acceleration from the previous segment at the beginning of the curve The length and width of the segment can be changed Having a number of these segments in series performs a cubic spline between the data points end segment co ordinates Parameters s Segment type Fnn 14 e Segment start constraints P V amp A matching J unspecified e
14. 1996 Quin Systems Ltd Page 7 Motion Generator User Manual Issue 1 2 1 1 New Open Save File Menu Gives a new blank map for editing You will be prompted to initially configure the map using the map shape settings dialogue this same dialogue can be used at a later stage to alter the map configurations see section 2 2 1 on page 10 for an explanation of the dialogue box Loads a map that you had previously saved from the PC disk The file extension used is SHP Saves the current map to the PC disk The file extension used is SHP Save as PTS file Saves the current map shape to the PC disk as a map shape This is the format used to download the map shape to the PTS The file extension used is PTS and the file can be loaded into PTS Note or downloaded to a PTS via the terminal window Three dialogue boxes are presented during this process the standard windows file save dialogue box to specify a file name a dialogue box see section 2 2 4 on page 18 allowing you to configure how the map shape is stored in the PTS and finally a dialogue allowing you to specify the required number of points on the map see section 2 2 3 on page 17 Save as Camlinks Data Saves the current map shape to the PC disk for reading into the Camlinks motion modelling package in the MOT file format detailed in the Camlinks documentation Import PTS file Loads a file which contains PTS variables forming a map sha
15. 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 Page 46 Error Message PC based set Pe segment not found set Ps segment not found set Ps segment number too big set Ps segment not found set throw segment number too low set throw segment number too big set throw not for this type of segment get throw segment number too low get throw segment number too big set throw not for this type of segment set ramp segment number too low set ramp segment number too big set ramp not for this type of segment get ramp segment number too low get ramp segment number too big get ramp not for this type of segment set triple segment number too low set triple segment number too big set triple not for this type of segment set sin segment number too low set sin segment number too big set sin not for this type of segment load points segment number too low load points segment number too big load points segment not found scale x number of steps too low get width segment not found get height segment not found new node number out of range new node master count out of range new node out of memory set T segment number too low set T segment number too big set T segment not found get T segment number too low get T segment number too big get T segment not found get W segment number too low get W segment number too big
16. ES10 SMSG 3 M00 0 M01 LEN 2 5 SECM 100 M02 REG ECM 200 M04 REG ECM 100 M03 M04 S M01 M05 0 S00 0 S01 LEN 2 5 SPCM 100 S04 374 SPCM 100 S02 S04 2 S03 S04 S01 W02 32201010 W03 32201110 Y02 0 X03 S01 100000 M01 10 Y03 0 SFO1 1 SF02 9 F03 9 F04 SNUM 73 SNPT 400 CH2 ST SMST gt SMST 1 SMST gt XS201 SMTR 1 4 Trigger motion generation Note that variable MST has been set up as a trigger variable to run another sequence when the map generator indicates completion status This sequence would select a new message for panel display flagging any error or confirming completion and proceeding with further machine start up tasks The remainder of this application is given as an example and fully described in the Quin PTS User s Guide Revision 2 or later The above PTS code can also be imported into the PC based PTS Toolkit motion generator using the File Import PTS File menu option All the equations will be interpreted as required unnecessary lines discarded and any missing variables prompted for The map shape seen on the motion generator would then be the same as was designed in section 2 4 on page 19 Page 26 Copyright 1996 Quin Systems Ltd Issue 1 Motion Generator User Manual 4 Detail of map segment types The following segment types are available in the motion generator the index number refers to the value that would be assigned
17. Segment end constraints P specified V A amp J unspecified e Master end position Mnn lt value gt sets segment end master position co ordinate e Slave end position Snn lt value gt sets segment end slave position co ordinate 4 15 Sine Constant Cosine Segment This is a very adjustable segment and can often be used in place of other segments which have sine and cosine acceleration profiles The acceleration profile is fixed to a sine wave followed by a constant portion followed by a cosine wave It is however possible to modify the percentage of the segment taken by each of these portions so creating quite complex shapes The magnitude of the acceleration is set by the master position increment and the slave position change Parameters s Segment type Fnn 15 e Segment start constraints P matching V matching Wnn 22000000 or unspecified Wnn 20000000 A amp J unspecified e Segment end constraints P specified V A amp J unspecified e Master end position Mnn lt value gt sets segment end master position co ordinate Page 36 Copyright 1996 Quin Systems Ltd Issue 1 Motion Generator User Manual e Slave end position Snn lt value gt sets segment end slave position co ordinate s Length of first portion of the segment given to sine acceleration Ann lt value gt in percent x10 range 0 to 100 inclusive e Length of second portion of the segment given to constant acceleration Bnn lt value gt in perce
18. Wnn 21101110 indicates that the start velocity and acceleration along with the end velocity and acceleration have been specified therefore variables Ann Bnn Xnn and Ynn would need to be present for this segment Note the format of this constraint word applies to all segments though different segments have different limitations upon which boundary constraints can be altered e Master end position Mnn lt value gt sets segment end master position co ordinate e Slave end position Snn lt value gt sets segment end slave position co ordinate e Derivative specification parameters used when the segment constraint specifies that the particular derivative is specified Segment tu Variable Units Derivative boundary Name Slave encoder counts per Velocity 7 1x10 master encoder counts Acceleration 1x10 master encoder counts Jerk 1x10 master encoder counts Velocity 7 1x10 master encoder counts Acceleration k 1x108 master encoder counts Jerk 1x10 master encoder counts Table 5 Polynomial Derivative Parameters Examples For every master position count Ann 1000000 means that the slave position increases by 1 count Ann 24000000 means that the slave position decreases by 24 counts Ann 50000 means that the slave position increases by 0 05 counts Bnn 50000000 means that the slave velocity increases by 0 5 counts per master count equivalent to a increase in Ann of 500000 Znn 2000000000 means that th
19. X segment number too low set X segment not found set A segment number too low set A segment number too big set A segment not found set X segment number too low set X segment number too big set width too low not allowed for this segment type set width too low crop ratio out of range unknown boundary condition uncompiled polynomial segment Copyright 1996 Quin Systems Ltd Issue 1 Error No 931 932 933 934 935 936 938 939 940 941 942 943 944 951 952 953 954 1001 1004 1005 1006 1007 1008 1011 1012 1013 1014 1017 1018 1024 1025 1026 1027 1028 1031 1032 1033 1034 Motion Generator User Manual Error Message Comments PC based Information uncompiled segment SCCA set width too low SCCA segment split out of place Pa Pb Pc parameter out of range unknown set Parameter operation unknown parameter type uncompiled segment CACR segment split out of place segment split out of place boundary condition unacceptable segment split out of place uncompiled segment set width too low crop not allowed for sinusoidal segment uncompiled segment crop not allowed for ramp uncompiled ramp segment ramp parameters unacceptable ramp set B parameter unacceptable crop not allowed for throw segment uncompiled throw segment set position list width too low crop not allowed for position list Copyright 1996 Quin Systems Ltd Pa
20. able produced MTR 2 repeats the same process but produces a profile table rather than a map table MTR 0 will provide a list of the PTS variables that the motion generator finds without actually compiling and creating the map profile table Page 42 Copyright 1996 Quin Systems Ltd Issue 1 Motion Generator User Manual MST is the variable used to return the success or failure of the motion generator 0 indicates success a non zero value will indicate failure see section 3 2 on page 24 for a list of error codes 5 4 3 Map scale units Where applicable the map scale units for the PC based PTS Toolkit motion generator are position velocity acceleration and jerk user specified defaults are encoder counts for positional information and encoder counts per second for velocity information Acceleration and jerk are higher derivatives of the velocity units Optionally user supplies conversion factors between user defined units and default units as determined by the mechanical construction of the machine Where applicable the map scale units for the PTS based motion generator are Position encoder counts Individual positions are specified in encoder counts maximum range is from 4194304 to 4194304 encoder counts Maximum length of a master axis is 4194304 encoder counts Maximum length of slave axis is from 4194304 to 4194304 encoder counts Resolution is 1 encoder count for both the master and slave axes Velocity slave enco
21. aded to the PTS in the form of PTS variables defining the map shape This requires the PTS based motion generator to process these variables to create the appropriate map table As will be explained in chapter 3 on page 23 this method is appropriate when the map shape is further configured to interact with the PTS user panel for example to provide operator definable parameters For more information on this process refer to chapter 3 on page 23 Page 22 Copyright 1996 Quin Systems Ltd Issue 1 Motion Generator User Manual 3 PTS based Motion Generator The PTS based motion generator is a calculation engine that can process a map shape to produce a map table The map shape is defined using specific PTS variables which have set meanings and scalings see chapter 4 on page 27 for a full list of segments variables and scalings and chapter 5 on page 38 for a list of further global variables used by the motion generator plus a summary of the segment specific variables The PTS based motion generator reads these variables and then creates the appropriate map table The PC based PTS Toolkit motion generator should be used to design the map shape initially A PTS variable map shape data file can then be created and downloaded into the PTS If the map shape is to remain in nonvolatile memory on the PTS it needs to be enclosed in a sequence and the PC based PTS Toolkit motion generator will prompt for a sequence number Once the sequence PTS v
22. ariable is dependent upon segment type as follows Segment Applicable sua 5 PP l Description Number Variables 1 Ann Start velocity required only when velocity matching at start is turned off using Wnn See section 5 4 3 on page 43 for scaling 7 Ann Bnn Normalised amplitudes of the three harmonics of amp Cnn a three term fourier series x10 Ann Bnn Cycle start angle degrees x10 amplitude amp Cnn encoder counts amp No cycles no units x10 Ann Bnn Start amp End derivative values when applicable Cnn Xnn as determined by Wnn See section 5 4 3 on Ynn amp Znn page 43 for scalings 10 Xnn amp Ynn Start amp End percentages x10 11 Extent of throw encoder counts 12 Slave end position encoder counts Ann Bnn Percentage x10 of sine constant and cosine Cnn portion of segment Xnn amp Ynn Start amp End percentages x10 16 Xnn amp Ynn Start amp End percentages x10 Table 9 Segments and Applicable Variables 5 a EEE a ce a Global to motion generator e NUM sets map number range Ito 255 inclusive no units Note maps 1 to 200 inclusive will be saved in PTS NVM maps 201 to 255 inclusive are not NPT sets the number of points in the generated map table max 2400 no units MTR is the command word for the motion generator MTR 1 triggers the motion generator the relevant variables will be read and the resultant map t
23. ariables are present in the PTS the motion generator needs to be instructed to create the appropriate map table This is done using the PTS variable MTR 1 definition often the last line of the sequence containing the map shape variables A message will be given indicating that the motion generator has started and is processing the map shape information Success or failure is indicated by further messages Once the motion generator has finished the new map table will exist The most powerful feature of the PTS based motion generator is the ability to modify the map shape using operator specified values or dimensions either input via the Quin Operators Panel or from a SCADA package Because the map shape is defined as variables it is possible to write sequences which modify the values of these variables therefore modifying the map shape This allows the operator to for example specify the product length and then the motion generator can recalculate the map table to suit The example given in this chapter explains this process and the programming involved 3 1 Commands required to operate the Motion Generator The PTS based motion generator receives one command only and this is done via the PTS variable MTR This is a trigger variable and tells the motion generator to read the map shape from the relevant PTS variables and generate the appropriate table e MTR 1 will tell the motion generator to generate a map table e MTR 2 will tell the moti
24. ation about the motion generator 5 4 1 Maximum number of segments PC based PTS Toolkit motion generator limited by memory but practical limits will also apply PTS based motion generator 99 01 to 99 inclusive 5 4 2 PTS variable names used PTS based motion generator specific Map start co ordinates e MO0 master position co ordinate range 4194304 units encoder counts e S00 slave position co ordinate range 4194304 units encoder counts For each segment where nn is 01 to 99 inclusive with leading zero when appropriate s Fnn segment type range 0 to 16 inclusive no units e Mmn master position co ordinate range 4194304 units encoder counts NOTE to end a map shape the motion generator looks for a value of Mnn that is less than the value of Mnn and so calculates that the map shape has nn segments e Snn slave position co ordinate range 4194304 units encoder counts s Wnn constraint word for segment Segment Boundary Entry boundary constraint position velocity acceleration jerk position velocity acceleration jerk Table 8 Constraint Word Entries Where each entry can be 0 unspecified 1 specified 2 match start boundary only 3 don t care uses previous or default value Valid entries will depend upon segment type Copyright 1996 Quin Systems Ltd Page 41 Motion Generator User Manual Issue 1 e Ann Bnn Cnn Xnn Ynn amp Znn meaning of v
25. ator value will be correct for map as saved e Start velocity Ann lt value gt sets start velocity if required by Wnn Scaling of Ann is as per a polynomial segment see section 4 9 on page 32 Page 28 Copyright 1996 Quin Systems Ltd Issue 1 Motion Generator User Manual 4 3 Constant Acceleration amp Constant Retardation Segment ACCELERATION A segment with the acceleration fixed at a constant value For the first half of the i i segment the acceleration is positive for i i the second half it is negative The difference between start and end positions determines the value of the a K acceleration and deceleration this segment modify master POSITION A more detailed name for this segment increment would be constant acceleration followed by constant retardation modify slave position Parameters e Segment type Fnn 2 e Segment start constraints P matching V matching Wnn 22000000 or unspecified Wnn 20000000 A amp J unspecified e Segment end constraints P specified V A amp J unspecified e Master end position Mnn lt value gt sets segment end master position co ordinate e Slave end position Snn lt value gt sets segment end slave position co ordinate s Percentage of segment used start at Xnn lt value gt amp end at Ynn lt value gt see section 5 1 on page 38 for scaling information 4 4 Sine Squared Velocity Cycloidal Segments Math
26. cified unspecified P match V match or specified 1 Constant Velocity P specified A J unspecified VAJ P V match 13 Quadratic Spline A J unspecified unspecified P V A match 14 Cubic Spline J unspecified P match Constant Acceleration V match or Sine Squared Velocity unspecified Cycloidal A J unspecified Modified Trapezoidal Modified Sine Triple Harmonic 8 Sinusoidal 10 Ramp 11 Throw 12 Position List 15 Sine Constant Cosine 16 Simple Harmonic P specified VAJ specified or unspecified P match 9 Polynomial V A J match or specified or unspecified P Positi Table 6 Segment Start Constraints aa A Acceleration e Match means that the derivative value doesn t change from the end of one segment to the beginning of the next e Specified means that the derivative value can be set at that point on the segment e Unspecified means that the derivative value cannot or has not been altered at that point on the segment Copyright 1996 Quin Systems Ltd Motion Generator User Manual 0 Constant Position 1 Constant Velocity 8 Sinusoidal 11 Throw 12 Position list 2 Constant Acceleration 3 Sine Squared Velocity 4 Cycloidal 5 Modified Trapezoidal 6 Modified sine 7 Triple Harmonic 10 Ramp 13 Quadratic Spline 14 Cubic Spline 15 Sine Constant Cosine 16 Simple Harmonic 9 Polynomial Table 7 Segment End Constraints P can be specified if pos
27. d velocity segment 29 sinusoidal segment 31 Page 52 Copyright 1996 Quin Systems Ltd
28. der counts per 1x10 master counts Maximum range is 2147483648 to 2147483648 which equates to 2147 48 to 2147 48 slave encoder counts per master count Resolution is 0 000001 1x10 slave encoder counts per master count Acceleration slave encoder counts per 1x108 master counts Maximum range is 2147483648 to 2147483648 which equates to 21 4748 to 21 4748 slave encoder counts per master count Resolution is 0 00000001 1x107 slave encoder counts per master count Jerk slave encoder counts per 1x10 master counts Maximum range 1s 2147483648 to 2147483648 which equates to 2 14748 to 2 14748 slave encoder counts per master count Resolution is 0 000000001 1x107 slave encoder counts per master count Copyright 1996 Quin Systems Ltd Page 43 Motion Generator User Manual Issue 1 Appendix A Motion Generator Calculation Engine Error Codes The following error codes can be generated by the motion generator calculation engine itself either the PC or the PTS based version e PC motion generator Standard Windows message box informing of the error e PTS embedded motion generator error message format following text sent through the serial port lt number gt returned in variable MST Error lt number gt lt variable gt lt value gt The variable and value will help in determining the segment number and therefore the segment type and parameter that caused this error Note that an error message
29. e position change For the PC based PTS Toolkit motion generator the position list will be assumed to be in the units that you are currently working in if there is non overall change in position i e first and last values of the position list are identical or otherwise will be normalised and scaled to suit the required slave position change across the segment The PTS based motion generator stores position lists using the ETnn command where nn is the segment number using the same format as above and these lists are held in encoder counts if there is no overall change in position or otherwise in normalised units which are scaled to suit the required change in slave position Parameters e Segment type Fnn 12 e Segment start constraints P matching V matching Wnn 22000000 or unspecified Wnn 20000000 A amp J unspecified e Segment end constraints P V A amp J all unspecified unless position list has net change in which case P can be specified e Master end position Mnn lt value gt sets segment end master position co ordinate e Slave end position Snn lt value gt sets segment end slave position co ordinate except for two specific cases 1 the position list starts and ends at the same slave co ordinate 2 velocity matching is on at the start of the segment and the velocity tangent at the start of the position list passes through the end position co ordinate of the list velocity Viewing position l l
30. e slave acceleration decreases by 2 counts per master count equivalent to a decrease in Ynn of 200000000 Copyright 1996 Quin Systems Ltd Page 33 Motion Generator User Manual Issue 1 4 10 Ramp Segment ACCEL RATION The acceleration profile of a ramp segment is fixed to the shape shown which consists of two sinusoidal portions joined by a zero acceleration section however the width of the acceleration and deceleration pulses can be changed here set to 50 and 20 respectively this segment Parameters Segment type Fnn 10 Segment start constraints P matching V matching Wnn 22000000 or unspecified Wnn 20000000 A amp J unspecified Segment end constraints P specified V A amp J unspecified Master end position Mnn lt value gt sets segment end master position co ordinate Slave end position Snn lt value gt sets segment end slave position co ordinate Length of initial acceleration pulse Ann lt value gt and of final deceleration pulse Bnn lt value gt both in percent x10 range 0 to 100 inclusive and Ann Bnn lt 100 always 4 11 Throw Segment A throw segment gives a smooth motion starting and finishing with zero velocity and acceleration with an overall slave position change of zero The magnitude of the position change at the midpoint of the segment is definable The segment is symmetrical about the midpoint and should be used in preference to two sequential ramp segments as t
31. e will always be made visible if you do Auto Y Scale When selected this option causes a continuous auto Y scale of the map shape Grid Toggles the grid on the motion generator screen display on or off Toolbar Toggles the toolbar display on or off 2 2 Dialogue boxes The following dialogue boxes are presented by menu options or mouse actions when using the PC based PTS Toolkit motion generator and are unique to the motion generator 2 2 1 Map Shape Settings The map shape settings dialogue is presented for a new map or when the menu option Edit map settings is chosen from the Edit menu The dialogue consists of four tabs Basic Master Axis Slave Axis and Display Each tab deals with an aspect of the global settings required to display a map shape appropriately When a new map is created you will be required to visit all four tabs Later you can adjust individual settings by selecting the appropriate tab Map Shape Settings Map Identification Each map requires a unique Map No identification number in a PTS maps numbered 1 to 200 inclusive are saved in NYM 201 to 255 inclusive are not Display Map Table Generation Specifies the resolution of both the No Steps 750 screen image and the PTS map table Up to 2000 steps are allowed The more steps the more memory required You can change this at a later stage Cancel Page 10 Copyright 1996 Quin Systems Ltd Issue 1 Motion Generator Us
32. egment number too low set C segment number too big set C segment not found set W segment number too low set W segment number too big set W segment not found set W segment number too low set W segment number too big set W segment not found set W segment number too low set W segment number too big set W segment not found set F segment number too low set F segment number too big set F segment not found set F function type not known set F out of memory set spec segment number too low set spec segment number too big set spec segment not found get spec segment number too low get spec segment number too big get spec segment not found set siz value out of range set npts value out of range number of steps too low set Pa segment number too big set Pa segment not found set Pb segment number too low set Pb segment number too big set Pb segment not found set Pc segment number too low set Pc segment number too big set Pc segment not found set Pe segment number too low set Pe segment number too big Copyright 1996 Quin Systems Ltd Motion Generator User Manual Comments Information Z refers to Znn C refers to Cnn W refers to Wnn F refers to Fnn Working memory full PC PTS npts refers to NPT Pa refers to Ann parameter Pb refers to Bnn parameter Pc refers to Cnn parameter Pe refers to Ynn end age Page 45 Motion Generator User Manual Error No 567 568 569 570 571 572 573
33. ematically both the Sine Squared Velocity segment type and the Cycloidal segment type are identical The acceleration profile is one cycle of a sine wave the length is set by the master position increment and the magnitude is set by the slave position change across the segment Parameters e Segment type Fnn 3 for Sine Squared or Fnn 4 for cycloidal e Segment start constraints P matching V matching Wnn 22000000 or unspecified Wnn 20222222 A amp J unspecified e Segment end constraints P specified V A amp J unspecified e Master end position Mnn lt value gt sets segment end master position co ordinate e Slave end position Snn lt value gt sets segment end slave position co ordinate e Percentage of segment used start at Xnn lt value gt amp end at Ynn lt value gt see section 5 1 on page 38 for scale information Copyright 1996 Quin Systems Ltd Page 29 Motion Generator User Manual Issue 1 4 5 Modified Trapezoidal Segment The acceleration profile as fixed to the shape shown in the diagram however its magnitude this segment is set by the master position increment and the slave position change across the segment This type of segment is useful for heavy stiff systems running at low or medium speeds ACCELERATION Parameters Segment type Fnn 5 Segment start constraints P matching V matching Wnn 22000000 or unspecified Wnn 20000000 A amp J unspecified Segment end constra
34. ents and held down can be used to graphically adjust the segment Nodes are displayed with either a M can be edited using the mouse or a fixed The same node viewed in different derivatives may be editable in one derivative and not in another Note that segment editing with the mouse always uses the node at the end of the segment and affects the end constraints of that segment It is not possible to graphically edit the start of segment constraints All mouse editing is absolute it is changing the end co ordinates of the selected segment and will therefore affect the shape of the selected segment and the next higher segment Note if the next segment cannot accommodate the changes made using the mouse then a ripple through effect will be seen until a segment which can accommodate this change is reached The left mouse button when clicked away from the map shape and held down performs a pan action The map shape is scrolled along in the direction of the line created by moving the mouse and to the extent given by the length of the line The left mouse button is also used when the zoom action is requested Press the left mouse button and drag a rectangle over the area of the curve you wish to enlarge The right mouse button when clicked produces the following menu This contains some frequently used commands for the motion generator Autoscale Halve Scale Zoom E dit Segment 2 4 Example of Using the PC based PTS Tool
35. er Manual Map Identification Each map has a unique identifier the in the range 1 to 255 inclusive This identifier will also be used for the map table when downloaded into the PTS Maps numbered 1 to 200 inclusive will be saved in NVM Nonvolatile memory in the PTS by the SP command maps numbered 201 to 255 inclusive are not and can therefore can be used as working maps Number of Map Steps When a map shape is turned into a map table the motion generator needs to know what resolution you require The more map steps the greater the resolution of the map table but also the larger the table The maximum number of steps is 2400 Map Shape Settings Master Axis Display Position Units Specify cycle start and cycle length Cycle Start If required use units of your choice Choose Enter name of units and then choose mapping method below Degrees Limits in Encoder Counts From Limits Length of master axis fixed 1774 0 Scale Factor By Scaling O counts per user unit Factor Cancel Master cycle start co ordinate This is the start of map position co ordinate for the master axis and can only be altered using this dialogue box Notes 1 The master start co ordinate is a relative value It shifts the master axis by the specified amount Its value is in user units 2 In the PTS the master axis of a map will always start at zero counts Therefore use the PTS commands MB or MF to adjust thi
36. es used and an example of a typical motion generation problem Chapter 3 The PTS based motion generator A description of the functions and uses of the PTS based motion generator including a worked example Chapter 4 Overview of segment types and their attributes applies to both implementations of the motion generator Chapter 5 Technical information on segment types and general motion generator parameters applies to both implementations of the motion generator 1 1 Motion Generator Overview The motion generator provides the ability for the user to create complex position mappings between one axis and another This replaces the need for mechanical cams and linkages and is far more powerful and less restrictive Before using the motion generator a number of issues need to be understood Copyright 1996 Quin Systems Ltd Page 3 Motion Generator User Manual Issue 1 e YOU are designing a map shape which relates the position of the slave axis to the position of the master axis at any point along the master axis which will be of a finite and determinable length This is essentially a cam although you can do things that a cam could not During the design of the map shape you will determine the map shape using segments and setting parameters for these segments e Certain restrictions have been applied by default to the segment to segment boundaries to ensure that the generated map shape is physically achievable Slave Segmen
37. ge 49 Motion Generator User Manual Issue 1 Page 50 Error Message Comments PC based Information uncompiled position list segment No pts in table unacceptable table index out of range not allowed for position list segments uncompiled position list segment boundary condition unacceptable for quad spline boundary condition unacceptable for cubic spline no memory for table points Working memory full PC PTS Copyright 1996 Quin Systems Ltd Issue 1 Motion Generator User Manual Ann 33 42 F Bnn 33 42 Cnn 33 42 file menu 8 Fnn 27 41 M00 11 41 I Mnn 4l insert segment 9 MST 23 26 43 MTR 23 26 42 L NPT 11 17 26 42 NUM 11 26 42 left mouse button 19 S00 12 41 linear Snn 41 map shape 5 22 Wnn 32 41 M Xnn 33 38 42 Ynn 33 38 42 machine speed 12 Znn 33 42 map PTS file extension 8 23 linear shape 5 22 SHP file extension 8 rotary shape 5 22 shape 6 table 6 A map shape Absolute editing 16 ETO ci creating 18 append segment 9 first master position 41 autoscale 9 first slave position 41 last master position 41 C master position coordinate 41 segment type 41 Camlinks 8 slave position coordinate 41 constant acceleration segment 29 map step 11 17 25 constant position segment 28 variable name 42 constant velocity segment 28 map table constraint word 32 41 SHE Li cubic spline segment 36 master E length i eyclesimin 12 17 master axis units 11 cycloidal segment 29 master G S a
38. he acceleration profile is superior Parameters Segment type Fnn 11 Segment start constraints P matching V matching Wnn 22000000 or unspecified Wnn 20000000 A amp J unspecified Segment end constraints P V A amp J all unspecified Master end position Mnn lt value gt sets segment end master position co ordinate Slave end position Snn lt value gt will be present in the PTS variable listing but is ignored by the motion generator and will be identical in value to Snn Extent of throw Ann lt value gt in slave position units encoder counts for PTS Page 34 Copyright 1996 Quin Systems Ltd Issue 1 Motion Generator User Manual 4 12 Position List Segment This is the facility that enables you to enter your own data to define the shape of a segment Any position list segment requires a data file normally with the extension SEG containing values defining the shape The format of this file is a plain text file ASCII use PTS Note or NOTEPAD for example with the following entries lt start of file gt 4 lt first line defines the number of points in the list excluding first gt 0 lt first slave position should always be zero gt 10 lt second slave position 10 units gt 5 15 20 lt last slave position gt lt end of file gt You can have up to 360 entries in a position list The motion generator then uses the list to create a smooth segment shape given the master and slav
39. int drum circumference is 374mm and the encoder pulses are at 27 76 per mm thus its cycle is 10382 counts and the printing is from 8155 through zero to 2221 Most of the definition of this graph is relatively straight forward e Open a new map with master bounds 23874 Number it e g 73 and choose the number of steps typically 400 Set a typical running speed say 60 minute and click OK Page 20 Copyright 1996 Quin Systems Ltd Issue 1 Motion Generator User Manual e Splitit into segments approximately using the mouse e Use Segment Edit to choose the required segment types and master axis breakpoints on a first pass and to enter key slave axis coordinates on a second pass e Calculate the speed for the constant velocity segments here 0 349 of master axis or 8328 counts sec at 1 cycle sec and set it as the end speed of segment 3 which controls 4 and 1 Set speed match from 3 start to 2 and leave 2 end speed unspecified acceleration 0 s Check that the picture looks correct and that the coordinates read correctly in Segment Edit Close Segment Edit and save the shape as a shp file e For testing itis probably best first to download to a PTS as a Map Table The map can then be executed using two axes in virtual mode and examined using the Scope facility For example CH1 VM1 SB23874 S V23874 SA30000 DC30000 PC V C CH2 VM1 SB 10376 ML1 MW01000001 XM73 The Scope might well be used to show channel 1 demand positi
40. ints P specified V A amp J unspecified Master end position Mnn lt value gt sets segment end master position co ordinate Slave end position Snn lt value gt sets segment end slave position co ordinate Percentage of segment used start at Xnn lt value gt amp end at Ynn lt value gt see section 5 1 on page 38 for scaling information 4 6 Modified Sine Segment The acceleration profile is fixed to the shape shown in the diagram however its magnitude is set by the master position increment and the slave position change across the segment This type of segment is useful for systems with some backlash and for medium or high speeds ACCELERATION this segment Parameters Segment type Fnn 6 Segment start constraints P matching V matching Wnn 22000000 or unspecified Wnn 20000000 A amp J unspecified Segment end constraints P specified V A amp J unspecified Master end position Mnn lt value gt sets segment end master position co ordinate Slave end position Snn lt value gt sets segment end slave position co ordinate Percentage of segment used start at Xnn lt value gt amp end at Ynn lt value gt see section 5 1 on page 38 for scaling information Page 30 Copyright 1996 Quin Systems Ltd Issue 1 Motion Generator User Manual 4 7 Triple Harmonic Segment This segment will always start and finish with zero velocity and acceleration assuming velocity matching has been switched
41. ition list has net slave position change Key for both tables V Velocity J Jerk Page 39 Or e6eY DIT swaishS UIND 96610 1UDU Ado eee TETI _ E f 1 amv __ Coen ei 2 _ EO me E O sae ae O IR KE O HH I O E O O NR CSA EACH i A I ae Modified Modified Sine ee Pee ee fet DCO sme oe TTT HT fw E N I DE _ _ OD _ E DI __ __ Coe 2 15 SR Comme coma ore eve pente IAT T_T Tone Key Sinusoidal sese Harmonic 15 harmonic e harmonic i harmonic amplitude E amplitude x lt blank gt lt text gt 8 Cycle start angle Amplitude No of cycles of No ofeycles 20 URA JY JO SUTURO OY JO uondosop Jorg soAIS ofqeordde oroym pue adj JUSWUBIS YORI 10 posn SIWLU s QeLIeA S Ld dU SOLIEUIWUINS o qui SUTMOTIOJ ML standard definition applies although variable may be present and standard definition applies it will not be used the variable does not apply to the segment type brief description of the meaning of the variable specific to the segment type Start velocity will only be required for a constant velocity segment if the velocity matching at start is switched off ES SIIIUBIB IY DUR sjusUIsaS Jo A1gunumg enuen sn 407249USH UONOIN anssi Issue 1 Motion Generator User Manual 54 Technical Information about the Motion Generator This section details some technical inform
42. kit Motion Generator As an example we may take a printing system where we have a web being drawn through a machine under tension control It is required to print on the web in registration to existing marks using a drum whose circumference is not necessarily the same as the register length The speed of the print drum needs to match the speed of the web for part Copyright 1996 Quin Systems Ltd Page 19 Motion Generator User Manual Issue 1 of its cycle and to pause or catch up during the rest of the cycle The contact portion of the cycle is to be equi spaced about the registration point zero of the web Web travel is measured by an encoder and drum rotation by the encoder simulation of the motor drive Print Drum Encoder A typical mapping for the print drum motion slave Y axis against the web encoder master X axis is Motion Generator displaying Position only ann Counts l l Counts 4000 800 i 16000 i 20000 ____ gt gt 1 Segment 1 Segment2 l Segment 3 Segment 4 constant velocity polynomial polynomial constant velocity I I The graph is constructed from constant velocity segments 1 and 4 to give contact printing either side of the master zero and polynomial segments 2 and 3 to link these for catch up The master length is 23874 counts 300 mm at 79 58 counts per mm the contact length of this 80mm either side of zero is from 17508 through zero to 6366 The pr
43. lave axis CH lt slave axis channel number gt SB lt value gt The value that the SB command should be set to is the end value of the slave axis in encoder counts which must also be the highest value The SB command tells the PTS to wrap the slave axis round at SB wraps to zero e On the master axis set SB to the appropriate value as was given in the table creation dialogue box in encoder counts CH lt master axis channel number gt SB lt value gt e Position both the slave and master axes at their start positions This might involve referencing or simply a move to an absolute encoder position e Link the slave axis to the master axis using the ML command to tell the PTS which channel to map to which CH lt slave axis channel number gt ML lt master axis channel number gt e Execute mapping on the slave axis using the XM command CH lt slave axis channel number gt PC XM lt map table number gt e Start the master motor moving at the appropriate speed for example using the PC and VC commands The slave motor will then map to the master motor following the map shape as designed One way of confirming this is to use PTS Scope to plot the slave axis position or velocity information and compare the result with the designed map shape All these commands can be written into sequences and combined with other machine start commands that are required to automate the process 2 5 2 As a Map Shape The map shape can be downlo
44. matching can be broken Jerk Unspecified the jerk value at the beginning of the first segment is determined by the segment type For the polynomial segment alone this can be changed to matching or start jerk specified Table 2 Last to First Default Segment Boundary Conditions Copyright 1996 Quin Systems Ltd Page 5 Motion Generator User Manual Issue 1 e At NO instance does a map shape or map table contain any time dependent information The velocity and acceleration of the slave axis at any point will depend upon the velocity of the master axis For the PC based PTS Toolkit motion generator only to enable you to develop a map shape that is within the physical constraints of your machinery it is possible to enter the number of cycles per minute required how many times the map shape will be cycled through This sets the master velocity at a constant value and allows the motion generator to put figures on the slave velocity and acceleration shapes e The default segment type is polynomial This segment type is the most configurable of all the available types and should be used in preference to another type whenever possible With the exception of the start of segment position parameter which must always match the end of the previous segment it is possible to modify the boundary constraints for all the derivatives at both the start and end of the segment This means that it can be configured to provide a smooth transition between kn
45. may have more than one error number associated with it Error Error Message Comments No PC based Information 501 master count out of bounds 502 no segment with required master count 503 append master count out of range 504 insufficient memory for new segment Working memory full PC PTS 505 segment number too low 506 insert segment width too small 507 insert segment insufficient memory Working memory full PC PTS 508 add segment not found 509 delete segment not found 510 delete segment no current segment 511 set master count node number out of range 512 set master count out of range 513 negative node number 514 node number too big 515 negative node number 516 node number too big 517 set slave count segment not found 518 get slave count negative node number 519 get slave count node number too big 520 set Y segment number too low Y refers to Ynn 521 set Y segment number too big 522 set Y segment not found 523 set B segment number too low B refers to Bnn 524 set B segment number too big 525 set B segment not found Page 44 Copyright 1996 Quin Systems Ltd Issue 1 Error No 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 556 557 558 559 560 561 562 563 564 565 566 Error Message PC based set Z segment number too low set Z segment number too big set Z segment not found set C s
46. ment connects to the first segment However the continuity laws across this segment to segment boundary are by default different from those on all other segment to segment boundaries Slave Last Segment to First Segment Derivative boundary conditions defaults Position Specified the end position of the last segment and the start position of the first segment can both be specified Therefore there can be a step change in position across this boundary so that it is possible to create a motion for a rotary slave axis You can manually align the end position of the last segment to match the start position of the first segment if required for a linear slave axis Velocity Match normally the start velocity of the first segment will be automatically adjusted to match the end velocity of the last segment The one exception to this rule is when all segments inherit their velocity from the previous segment the first segment will then start with zero velocity In this case use a constant velocity segment to create any required velocity offset Acceleration Unspecified for all segment types excluding polynomial and cubic spline the acceleration at the beginning of the first segment is determined by the segment type Match if the first segment is either a polynomial or cubic spline segment then it automatically matches it s start acceleration with the last segment s end acceleration For the polynomial segment alone this
47. n Hence Master velocity 23874 counts sec When either creating a map table to download to a PTS or saving downloading PTS map shape information this dialogue box is presented The information contained within the dialogue is very useful when using the map in the PTS and a note should be made of it The number of steps parameter sets the resolution of the map table max 2400 The higher the resolution of the table the smoother the motion will be though choosing the number of steps also depends upon the length of the master axis and the complexity of the map shape The value of the PTS variable MS is displayed determined from your choice of number of steps and the length of the master axis Due to the use of integers this will sometimes result in fewer actual steps in the map table as is the case above When the number of steps and hence MS does not form an exact integer divisor of the master axis length the motion generator will create a map table with the final entry outside the master bound This point is caculated by extrapolating a constant velocity line through the previous table entry and the desired master and slave bound values When the PTS uses the map table it performs linear interpolation between entries and hence the desired slave bound will be met at the master bound use GM on the slave axis to confirm this when in mapping The map table creation dialogue box can also be used to generate Profiles A pr
48. n page 13 Parameters e Segment type Fnn 9 e Segment start and end constraints the polynomial segment type determines its shape by applying boundary constraints The constraint word Wnn is used for setting these constraints and has the following format A eight digit decimal number which determines the constraints for each of the four derivatives at both ends of the segment Each digit represents a boundary constraint and can have one of four values O unspecified this boundary constraint will not be applied 1 specified this boundary constraint will be specified by the relevant additional variable see below 2 match only applies to start of segment boundary constraints indicates that this boundary constraint is specified and that the value should match equivalent end boundary value of the previous segment 3 don t update this boundary constraint a don t care option for updating certain boundary constraints only Segment Boundary Default Entry boundary constraint value position 2 match cannot be changed velocity 2 match acceleration 2 match jerk 0 unspecified position 1 specified cannot be changed velocity 1 specified acceleration 1 specified jerk 0 unspecified Table 4 Constraint Word Interpretation Therefore the default constraint word for a polynomial segment is Wnn 22201110 Page 32 Copyright 1996 Quin Systems Ltd Issue 1 Motion Generator User Manual Example
49. ns of certain features of the motion generator and some summaries of the information contained in the previous section Detail of map segment types 5 1 Start and End Percentages of a Segment For the following segment types it is possible to specify what proportion of the segment shape is used for the segment 2 Constant Acceleration 6 Modified Sine 3 Sine squared Velocity 10 Ramp 4 Cycloidal 15 Sine constant cosine 5 Modified Trapezoidal 16 Simple Harmonic This is done using PTS variables Xnn and Ynn for the PTS based motion generator and using the segment type tab of the segment settings dialogue box for the PC based PTS Toolkit motion generator Scalings e PC based Percentage required entered via the segment type tab of the segment settings dialogue box as a real number e PTS based Percentage required x10 entered into Xnn and Ynn n b Xnn Ynn lt 100 The following diagram illustrates the effect of setting both the start and end percentages to non zero values for the constant acceleration segment shape Xnn portion of shape start used _ By adjusting the start and end percentage it is possible to create specialist shape profiles for example a modified sine profile with no deceleration and finishing with a non zero acceleration Ynn end Page 38 Copyright 1996 Quin Systems Ltd Issue 1 5 2 Summary of Segment Constraints P match 0 Constant Position PVAJ VAJ unspe
50. nt x10 range 0 to 100 inclusive e Length of the third portion of the segment given to cosine acceleration Cnn lt value gt in percent x10 range 0 to 100 inclusive e Percentage of segment used start at Xnn lt value gt amp end at Ynn lt value gt see section 5 1 on page 38 for scaling information Note that Ann Bnn Cnn 100 always 4 16 Simple Harmonic Segment Has an acceleration profile of the first half of a cosine wave The magnitude of the acceleration profile is set by the master position increment and the slave position change It is also possible to use only part of the segment using the start and end percentages This type of segment is useful for systems with some backlash at low to medium speeds Parameters e Segment type Fnn 16 e Segment start constraints P matching V matching Wnn 22000000 or unspecified Wnn 20000000 A amp J unspecified e Segment end constraints P specified V A amp J unspecified e Master end position Mnn lt value gt sets segment end master position co ordinate e Slave end position Snn lt value gt sets segment end slave position co ordinate e Percentage of segment used start at Xnn lt value gt amp end at Ynn lt value gt see section 5 1 on page 38 for scaling information Copyright 1996 Quin Systems Ltd Page 37 Motion Generator User Manual Issue 1 5 Motion Generator Features and Functions This section contains detailed explanatio
51. ntents Introduction 3 Motion Generator OVErVvieWw i 3 Motion Generator Glossary of TermS eee eee eee 6 PC based PTS Toolkit Motion Generator 7 MEenus salle lella lana lle 7 ZLI CBleMia sa la ola 8 2I2 Mila 9 DAS Options Menia 10 Dialogue cT 10 2 2 1 MapsShapeSellfigSp acsilo nelle 10 222 Edit Segment Settings sicari 13 2 2 2 1 General Control sean 13 2 2 2 2 Segment Type Tab ora 14 2 2 2 3 Segment Start Tab cara 15 2 2 2 4 Segment End Tab sss 15 2 2 3 Map Table Creation Parameters 17 2 2 4 PTS Variable Map Shape Creation Parameters 18 Mouse AcHONS iaia 19 Example of Using the PC based PTS Toolkit Motion GEICdlot ei leale 19 Downloading and Using the map information in the PTS 21 BON Asa Map Table secere nyeneni anri 21 23 2 PS aap Shape inen en anale 22 PTS based Motion Generator 23 Commands required to operate the Motion Generator 23 Information Messages and Error Codes 24 Example of Using the PTS based Motion Generator 25 Copyright 1995 Quin Systems Ltd Page 1 Motion Generator User Manual Issue 1 4 1 4 2 4 3 4 4 4 5 4 6 4 7 4 8 4 9 4 10 4 11 4 12 4 13 4 14 4 15 4 16 5 1 5 2 5 3 5 4 Page 2 Detail of map segment types 27 Constant Position Segment i 28 Constant Velocity Segment ii 28 Constant Accele
52. ofile is a single axis map a series of position co ordinates relating to time You would use a profile to generate a specific movement for a motor for example a sine squared acceleration This is an advanced use of the PC based PTS Toolkit motion generator as the X axis is now time ticks at a step rate defined by the PTS parameter PV Therefore you should work in the default units master encoder counts slave position encoder counts and slave velocity encoder counts per second When you create a profile you will choose the number of steps in the profile each step will take 1 PV seconds Copyright 1996 Quin Systems Ltd Page 17 Motion Generator User Manual Issue 1 When the profile button is pressed the dialogue box changes to w Profile Creation Parameters Length of master axis is 1200 counts No Steps 236___ l Information Map step will be forced to 1 Machine Cycles set at 60 per min Hence Profile velocity 256 steps sec The calculated profile velocity shown in the information box will give the rate of machine cycles selected earlier in the Map Settings dialogue see section 2 2 1 on page 10 The maximum profile velocity is 256 steps sec and the number of steps that you can allot for profile creation is limited so as not to exceed this Choose the Create button to continue and build the map table or profile or the cancel button to abort the process NOTE e A map table profile can only be downloaded in
53. on channel 2 demand position and channel 2 demand speed On line mode would give a first check historical mode would also allow display of channel 2 traces against the X axis from channel 1 e For more flexibility of use the shape definitions can be downloaded to a PTS as a sequence to be called for on line map generation Alternatively the shape can be saved as a file edited to add the ability to take in user revision of values such as registration or printing lengths then downloaded and saved in the PTS for production use See section 3 3 on page 25 which covers these aspects 2 5 Downloading and Using the map information in the PTS After designing the map shape the information needs transferring to the PTS and using to map a slave axis to a master axis There are two methods of transferring the information either as a map table or a map shape 2 5 1 As a Map Table Download the map table to the PTS using the Download Table menu option from the File menu Once a map has been downloaded into a PTS the following procedure will let you use the master slave position mapping all commands should be typed into the terminal window of PTS Toolkit Copyright 1996 Quin Systems Ltd Page 21 Motion Generator User Manual Issue 1 s Is the map a rotary ora linear If the map is a rotary i e the slave end position co ordinate is different to the slave start position co ordinate then you need to set the SB command on the s
54. on generator to generate a profile table The variable MST is used to return success failure of the motion generator MST 0 indicates a success error codes are listed in the next section and in Appendix A on page 44 For testing purposes MTR 0 will provide a list of the PTS variables that the motion generator finds in the PTS without actually compiling and creating the map profile table This list can then be copied into a file on the PC and loaded into the PTS Toolkit motion generator via the import PTS file menu option Copyright 1996 Quin Systems Ltd Page 23 Motion Generator User Manual Issue 1 3 2 Information Messages and Error Codes The motion generator embedded in the PTS reports its progress and any errors warnings by using message strings that will appear on a terminal connected to the serial port and error numbers which will be placed in the MST variable The following two messages will be generated on a terminal connected to the serial port of the PTS during a successful execution of the motion generator Map Profile x Generation Started Generation of x segment map profile complete Where x is the map number A number of error messages can occur due to incorrect map shape data and these are split into two groups e Interpreter Errors A problem exists with the variables being used for the map shape and the interpreter is unable to continue These errors along with explanations are listed in this section e
55. own points 1 2 Motion Generator Glossary of Terms Map Shape The name given to the information which creates the drawing seen on the PC screen in the motion generator package to the data loaded and saved from PC disk to create this image and to the list of variables used in the PTS itself to drive the built in motion generator A map shape is a high level description of the master slave mapping you have created and consists of a list of segments with the relevant additional parameters for the segment type PC based only all of which you can adjust using the mouse or dialogue boxes The value of the slave position at any given master position can be determined by calculations using the map shape data Contrast this with a map table Map Table The name given to a list of co ordinates both master and slave which when plotted will produce the drawing seen on the PC screen of the PTS Toolkit motion generator The resolution of this drawing will depend upon the resolution of the map table A PTS will use the map table and perform a linear interpolation between adjacent points to control the relative mapping of the slave axis to the master axis Segment A single section of the map shape A segment will have a type to define its shape and may well have certain additional parameters which affect its shape Page 6 Copyright 1996 Quin Systems Ltd Issue 1 Motion Generator User Manual 2 PC based PTS Toolkit Motion Generator The PC ba
56. pe extension PTS The file can contain standard PTS mathematical equations which will be interpreted in the same manner as in a PTS NOTES 1 If you save a map in both the default format and as a map shape you may notice differences when loading both formats back into the motion generator This is because the two formats have different resolutions 2 The standard PTS mathematical operators are supported but PTS logic or multi statement lines are not Any necessary but unknown PTS variables will be prompted for Download Map Table The map table is downloaded into the PTS This can then be Page 8 used to map the motion of one axis to another A dialogue box see section 2 2 3 on page 17 is presented when this menu option is selected allowing you to configure the generation of the map table and providing some useful information for using the map table in the PTS NOTES 1 A terminal screen needs to be open for this option to be available 2 A map table can only be downloaded into a PTS with a valid motion generator licence The PTS Toolkit software will confirm this before proceeding with the operation a dialogue box will be used to show the progress of this 3 The table can also be downloaded as a Profile for single axis execution Again a motion generator licence is needed Copyright 1996 Quin Systems Ltd Issue 1 Motion Generator User Manual Download Map Shape A terminal screen needs to be open for this op
57. pon the current derivative selected the slave display will change The radio buttons will show what if any options are available The text entry box or the arrow buttons alongside the text box can be used to specify a new value when radio button option Value as specified is selected When slave position is selected this can either be a position change across the segment or an absolute end position Altering the slave position change will have the effect of modifying the current segment and moving all higher segments in a relative manner Altering the slave absolute end position will have the effect of modifying the current segment and the next higher segment Note if the next segment cannot accommodate the position change then a ripple through will happen until a segment which can accommodate this change is reached Slave derivative For each segment type there are four constraints given by the four Page 16 slave derivatives available position velocity acceleration and jerk Use these arrow buttons to change the current derivative information displayed in the dialogue box Copyright 1996 Quin Systems Ltd Issue 1 Motion Generator User Manual 2 2 3 Map Table Creation Parameters Map Table Creation Parameters Length of master axis is 23874 counts No Steps me Cancel giving MS 48 actually 498 steps Profile Ha Information Master bound value 23874 counts Machine Cycles set at 60 per mi
58. psulated in a sequence saved and retrieved from PTS nonvolatile memory This sequence could be based on that saved from the PC motion generator a typical example follows and would be called after recall or entry of the following variables Copyright 1996 Quin Systems Ltd Page 25 Motion Generator User Manual 4 4 se 4 nu be 7 mo 4 ge End 3 vel Issue 1 Registration distance Printing length mm Web encoder counts mm x 100 Print drum counts mm x 100 mm Calculating print drum profile aster start position Half print distance 5mm window Half registration distance Registration distance Start of print 5mm window End of map definition Slave start position Half print distance 5mm window Bound value Half bound value Start of print Segment 2 end pos Segment 3 end pos End accel 2 ratio 10 sums within meral range End accel 3 Constant speed Pol for Polynomial for Constant speed ap number Number of points sure map isn t being used ne to allow preset value to amp accel given vel amp accel for printing limp limp for printing ynomial ake Unde given Preset to 1 prior to running tion generator Continuation after motion neration fi Sreg 300 Slen 150 Secm 7958 Spcm 2776 Sequence to start map calculation
59. ration amp Constant Retardation Segment 29 Sine Squared Velocity Cycloidal Segments 29 Modified Trapezoidal Segment i 30 Modified Sine See ment cs sss 30 Triple Harmonic Segmento rr lare 31 Sinusoidal Setenta alli 31 Polynomial Sesmconi ssaa 32 Ramp Segment ers la eri rire 34 Throw SSS SINS meienoar eae nema E AE Ar 34 PosthiomLisESesraeni ollare 35 Quadratic Spline Segment ira 36 Cubic Spline Sementi leo a 36 Sine Constant Cosine S GgTmGnL sese eee eee 36 Simple Harmonic Segment sese eee eee eee ala 37 Motion Generator Features and Functions 38 Start and End Percentages of a Segment 38 Summary of Segment ConstraintS iii 39 Summary of Segments and their Parameters 40 Technical Information about the Motion Generator 41 5 4 1 Maximum number of segments 41 5 4 2 PTS variable names used PTS based motion generator specific puro nl er rete 41 5 4 3 Map scale tini 43 Copyright 1995 Quin Systems Ltd Issue 1 Motion Generator User Manual 1 Introduction The Motion Generator is a software tool which allows the machine designer to create modify and implement custom positional mapping between two machine axes It can be thought of as a tool to design and implement machine cams but without the limitations of a mechanical cam When using the Motion Generator each
60. revious segment This means that only the position is matched from the previous segment which can lead to an modify master instantaneous change in velocity end position 5 Parameters e Segment type Fnn 0 e Segment start constraints P matches V A amp J unspecified e Segment end constraints P V A amp J all unspecified e Wnn 20000000 e Master end position Mnn lt value gt sets end segment master position co ordinate e Slave end position Snn lt value gt will be present in the PTS variable listing but is ignored by the motion generator and will be identical in value to Snn 4 2 Constant Velocity Segment POSITION A polynomial segment with the this segment S acceleration fixed at zero The velocity is constant throughout and is determined either by the end velocity of the previous segment or by a specified value The slave position change is dependent upon both the velocity value for the segment and the value of the master increment s modify master end position Parameters e Segment type Fnn 1 e Segment start constraints P matching V matching Wnn 22000000 or specified Wnn 21000000 A amp J unspecified e Segment end constraints P V A amp J all unspecified e Master end position Mnn lt value gt sets segment end master position co ordinate e Slave end position Snn lt value gt will be present in the PTS variable listing but is ignored by the motion gener
61. s segment and the velocities and accelerations within the segment Due to the default velocity matching you will often see an S curve in position by default rather than a sine wave This is because a position sine wave starts with non zero velocity and the majority of other segments end by default with zero velocity Parameters e Segment type Fnn 8 e Segment start constraints P matching V matching Wnn 22000000 or unspecified Wnn 20000000 A amp J unspecified e Segment end constraints P specified V A amp J unspecified e Master end position Mnn lt value gt sets segment end master position co ordinate e Slave end position Snn lt value gt will be present in the PTS listing but will be ignored by the motion generator value will be correct as saved e Cycle start angle Ann lt value gt in degrees x10 e Amplitude of sine wave Bnn lt value gt in encoder counts s Number of cycles of sine wave Cnn lt value gt no units x10 Copyright 1996 Quin Systems Ltd Page 31 Motion Generator User Manual Issue 1 4 9 Polynomial Segment This is a general purpose segment shape and is the most adjustable segment and as such is the default and recommended segment type A polynomial segment can be thought of as a shape which fits various boundary constraints You can specify the various settings required for the segment using the mouse and the segment settings dialogue box for typed entry see section 2 2 2 o
62. s to match the PC based master cycle start co ordinate if required Master length The length of the map shape along the master horizontal axis in position units Master axis units amp scaling factors It is possible to work in engineering units rather than encoder counts To do this the Motion Generator requires to know the conversion factor between your chosen units and counts entered either as the length of the master axis in both units or as a scale factor Note that when changing to from encoder counts this dialogue box will limit what changes can be made To change both the units to from encoder counts and the axis length requires two visits to the dialogue Copyright 1996 Quin Systems Ltd Page 11 Motion Generator User Manual Issue 1 Map Shape Settings Position Units Specify cycle start position Cycle Start If required use units of your choice and then enter name of units and scale factor as counts per user unit Name Degrees Factor Velocity Units If required enter name of Name Rad s units and scale factor as position units per velocity Factor 57 38 unit Slave cycle start co ordinates This is the start of map position co ordinate for the master axis and can only be altered using this dialogue box Note The slave start co ordinate is an absolute value Its value is in user units Slave axis units amp scaling factors It is possible to work in engineering units
63. sed PTS Toolkit motion generator forms one of the tools available through the PTS Toolkit others include tuning screens and PTS scope File Edit Tools Options Window Help Gz Motion Generator Map 73 1098 40 9212 93 IC AWINSS PROFILESSMICHAELSDESKTOPWAN26_73 SHP Counts 00 00 00 The motion generator window presents the current map shape as a series of segments in the above picture both the position and velocity derivatives are being viewed The currently selected segment is highlighted in red using the motion generator default colour scheme and the position of the mouse pointer is given in map co ordinates in the top left hand corner of the motion generator window When the motion generator is first started a splash screen will be displayed while the program loads You are then presented with a blank map consisting of a single segment This map can then be edited as required or a previous session loaded from the PC disk The following three sections detail all the menus dialogue boxes and mouse actions associated with the motion generator Then section 2 4 on page 19 gives a worked example of using the PC based PTS Toolkit motion generator The final section in this chapter gives details of how to use the generated map in the PTS 2 1 Menus The PTS Toolkit menus change when different tools are selected This section details the menu options presented for the motion generator tool Copyright
64. t nn to Segment nn 1 Derivative boundary conditions defaults Position Match the start position of segment nn will match the end position of segment nn This cannot be altered Velocity Match the start velocity of segment nn will automatically be adjusted to match the end velocity of segment nn This may have the effect of modifying the shape of segment nn which can lead to unexpected segment shapes For certain segment types it is possible but not advisable to break this matching Acceleration Unspecified for all segment types excluding polynomial and cubic spline acceleration at the beginning of segment nn is determined by the segment type Therefore there may be a step change in acceleration across the nn to nn segment boundary Match a polynomial segment and the cubic spline segment automatically matches their start acceleration to the end acceleration of segment nn For the polynomial segment alone this matching can be broken Jerk Unspecified the jerk value at the beginning of segment nn 1 is determined by the segment type Therefore there may be a step change in jerk across the nn to nn segment boundary For the polynomial segment alone it is possible to change this to match with previous or specify the required value Table 1 Default Segment Boundary Conditions Page 4 Copyright 1996 Quin Systems Ltd Issue 1 Motion Generator User Manual e The map shape wraps round In other words the last seg
65. tion to be available The map shape is downloaded into the PTS The motion generator within the PTS can then be used to generate a map table Two dialogue boxes see section 2 2 3 on page 17 and section 2 2 4 on page 18 arepresented when this menu option is selected allowing you to configure how the map shape is stored in the PTS and the number of points you require in the map table when generated by the PTS Most Recently Used Files List Provides a convenient shortcut to files which were used recently in the PTS Toolkit Close Motion Generator Closes the Motion Generator package but doesn t quit the PTS Toolkit Exit Quits PTS Toolkit 2 1 2 Edit Menu Undo The motion generator provides an undo feature allowing you to backtrack over recent changes Redo Allows you to forward track through previous undo s only available if you have not done any editing after undoing Autoscale Scales the map shape to fit neatly into the available screen size Halve scale Halves the current scaling of the map shape Zoom Allows you to zoom into any visible part of the map shape by dragging a rectangle with the mouse over the area you require Append Segment Adds a segment to the end of your map shape The segment will be 200 counts long scaled as appropriate and of a polynomial type Delete Segment Deletes the currently selected segment You cannot delete the segment if it is the only one in a map shape Insert Segment Inserts a
66. to a PTS with a valid motion generator licence The PTS Toolkit software will confirm this before proceeding with the operation a dialogue box will be used to show the progress of this 2 2 4 PTS Variable Map Shape Creation Parameters ta PTS Yariable Map Shape Creation Parameters x Cancel Sequence No T Auto execute PTS map generator When creating a PTS variable map shape for use by the PTS based motion generator the above dialogue box is presented Variables cannot be stored in the nonvolatile memory of the PTS and therefore if you want the map shape variables to be stored in the PTS they need to be written into a PTS sequence You can specify the relevant sequence number It is also possible to automatically execute the PTS based motion generator at the end of the map shape variable list Choose the Create button to continue and build the PTS variable map shape or the cancel button to abort the process Page 18 Copyright 1996 Quin Systems Ltd Issue 1 Motion Generator User Manual 2 3 Mouse Actions The motion generator package is designed to be used in an interactive manner and so the mouse can be used to modify and create the map shape The left mouse button when clicked selects the segment nearest to the mouse pointer This can be used to select which segment to edit using the Edit Segment dialogue box see section 2 2 2 on page 13 The left mouse button when clicked on a node the join between two segm
67. to the PTS variable Fnn 0 Constant Position 9 Polynomial 1 Constant Velocity 10 Ramp 2 Constant Acceleration 11 Throw 3 Sine squared Velocity 12 Position List 4 Cycloidal 13 Quadratic Spline 5 Modified Trapezoidal 14 Cubic Spline 6 Modified Sine 15 Sine constant cosine 7 Triple Harmonic 16 Simple Harmonic 8 Sinusoidal In the following sections each segment type is listed along with a description of the shape of the segment and guidelines for its use Also included are details about what parameters can be altered both in the PTS toolkit motion generator and in the PTS map shape language Where units are given for a parameter these apply to the PTS based motion generator only the units used in the PC based PTS Toolkit motion generator will be displayed in the relevant dialogue box and will be derived from the user specified scalings where appropriate This key is used Value of slave fixed parameter P Position PTS variable V Velocity nn Segment number 01 1st to 99 A Acceleration last inclusive J Jerk Note Mnn and Snn have units of encoder counts for the PTS based motion generator Copyright 1996 Quin Systems Ltd Page 27 Motion Generator User Manual Issue 1 4 1 Constant Position Segment POSITION A polynomial segment with both the this segment velocity and the acceleration fixed at zero l The slave position is maintained constant throughout at the end value of the p
68. u to move quickly about your map shape and analyse certain points If you make changes to the parameters in this dialogue you will notice that some happen immediately whilst others wait for you to press the Apply numeric changes button or press the enter key with the relevant parameter selected This update method has been chosen to reflect the purpose of this dialogue to analyse the current segment as well as make changes The features available in this dialogue can be divided up into the three tabs and general controls 2 2 2 1 General Controls Apply numeric changes if you make numeric changes in the current tab these can be applied by pressing this button or the return key for individual entries Select segment scroll bar You can step through the segments in your map shape using this scroll bar allowing you to analyse the settings of each segment Close button Closes hides the dialogue box Copyright 1996 Quin Systems Ltd Page 13 Motion Generator User Manual Issue 1 2 2 2 2 Segment Type Tab Segment 18 Polynomial Polynomial Apply numer changes The parameters available in the segment type tab depend upon the currently selected segment In the above picture a polynomial segment is selected and there are no other settings available all polynomial segment settings are performed in the other two tabs In the example below a modified sine segment is selected and there are two extra settings a start and end

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