motion概念xseg bseg gcode運動用高階插補命令生成一個精確軌跡類型

JOG(motionwithconstantvelocity)XSEG(segmentedmotion)MASTER/SLAVE(master/slavemotion)PATH(linearlyinterpolatedpoints)PVSPLINE(splineinterpolatedpoints,position-velocityspline)CONNECT(errormappingorkinematics)ACC(maximalallowableacceleration,[userunits/sec2])KDEC(maximalallowabledecelerationduringkillcommand,[userJERK(maximalallowablejerk,[userAxisAPOS:Axislogicalposition(beforeCONNECT(TBD)function).CalculatedbytheprofilegeneratorMasteraxisvariableMPOS:Masteraxisposition(definesMaster-SlaveRPOS:Referenceposition(afterCONNECTfunction).BydefaultRPOS=APOSRVEL:ReferencevelocityRACC:ReferenceFeedbackFPOS:FeedbackpositionFVEL:FeedbackvelocityFACC:FeedbackaccelerationPositionError(RPOS–例如:IF^MST(X).#MOVE…當X軸停止運動時，做**動作。#ACC加速過程中間SETTLE。HALT軸將依據(jù)DEC減速KILL命令軸將依據(jù)KDEC急停按鈕–設(shè)備上的物理急停按鈕STOPcommandstopstheprogram,nottheExample:PTP/v(0),1000,Description:move0axisto1000,desiredvelocity2000PTPmotionillustrationPTPcommandformat(optionalargumentsin[]):PTP[/switches](axis/axes),desiredposition,[velocity]PTPcommandswitches:PTP/f定義個非0ACC,DEC,JERKUseaxisSetaxisdefaultvelocityto1440degrees/sec,andgiveappropriateacceleration,decelerationandjerkvaluesStartmotioninabsoluteposition0point-movetoabsoluteposition3600degreesatdefaultpoint-moverelative–720degreesatdefaultpoint-moverelative–2520degreesat5000degrees/sec.Wait500msecaftereachmove.WhatisthefinalOpennewbufferinprogrammanagerandwriteACSPL+programMonitorRPOS(1),RVEL(1),GPHASE(1)for5sec.withScopeRunUseaxes1andSetbothaxesvelocityto2000degrees/secandgiveappropriateacceleration,decelerationandjerkvaluesMovebothaxestoMoveaxis1to1440andwaitformotionCommandamulti-axisrelativemotionto720degreesandwaitformotionCommandamulti-axisabsolutemotionbackto(0,0)Howdothevelocitiesoftheaxesinmotioncompare?OpennewbufferinprogrammanagerandwriteACSPL+programMonitorRPOS(1),RVEL(1),RPOS(3),andRVEL(3)for5sec.withScope.RunprogramJOGcommandformat(optionalargumentsareinJOGcommandJOG/v:usedefinedvelocityinsteadofdefaultVELJOG/w:startmotiononlyafterGOcommandExample:JOG(0),Description:moveaxis0inapositivedirection(defaultVEL)Example:JOG/v(0),-3000Description:moveaxis0inanegativedirectionatvelocityof-JOGmotionUseaxisStartatpositionMakepositivejogwithdefaultvelocity(5000units/sec)Whenposition>2000,jognegativelyat–2000Whenposition<0,changevelocity“onthefly”(IMMVEL(1)=1000)to1000units/secWhenposition<-2000haltmotionOpennewbufferinprogrammanagerandwriteACSPL+programMonitorRVEL(1),RPOS(1)(for2sec.)withScopeRunLINE?2018ACSMotionControl wm用v 減速到指定的速度（線段的終點 減速到指定的速度（拐點at 不把連接點當做一個拐點-連接點的角度d可以與下標j/a聯(lián)合使用d 可以與下標j,ad 指定到尖角的最大差值，OnlyforLINE-gu XSEG(0,1),0,00軸和1軸的線段運動，起始點坐標（0,0），需JerkexceedsJERKvalueat(50,50)and(100,0)points

XSEG(0,1),LINE(0,1),50,LINE/v(0,1),100,0,LINE(0,1),Motion

x1

Jerk

0

TimeJerkdoesn’texceedsJERKvalueat(50,50)and(100,0)pointsMotionProfilelastslightlyMotion

XSEG/y(0,1),LINE(0,1),50,LINE/v(0,1),100,0,LINE(0,1),x JerkJerkJerk0 TimeCornerroundingformotionprofile(Pre-processingoforiginal(line-lineonly)XSEG/g(0,1),0,0,LINE(0,1),0,LINE(0,1),40,ARC2(0,1),50,50,ACOS(-LINE(0,1),50,LINE(0,1),*Motionalong“smoothed”trajectory(linesandarcs)performedfasterthanmotionalonglinesonly!Cornerroundingformotionprofile(Pre-processingoforiginal XSEG/u(0,1),0,0, LINE(0,1),0, LINE(0,1),40,ARC2(0,1),50,50,ACOS(- LINE(0,1),50, LINE(0,1),

OriginalprofileDeviatedprofile XSEG/h(0,1),0,0,LINE(0,1),0,LINE(0,1),40,ARC2(0,1),50,50,ACOS(-LINE(0,1),50,LINE(0,1),*Motionalong“smoothed”trajectory(linesandarcs)performedfasterthanmotionalonglinesonly!

0

Original OriginalINTK;LINE(0,1),20,0;LINE(0,1),30,10;LINE(0,1),50,-10;LINE(0,1),70,LINE(0,1),80,0;LINE(0,1),100,loopOriginalprofileDeviatedprofileLINE(0,1),100+15*SIN(ACOS(-1)/5*K),15+15*COS(ACOS(-1)+OriginalprofileDeviatedprofile LINE(0,1),80, LINE(0,1),70,LINE(0,1),50,LINE(0,1),30, LINE(0,1),20,LINE(0,1),0,

loop LINE(0,1),15*SIN(ACOS(-1)+ACOS(-1)/5*K),15+15*COS(ACOS(-1)/5*K)K=K+1

Motionprofile:SquareOriginalprofilewithoutCornerRoundinglastsSquarewithpermitteddeviationofProfiletime265[msec]~2%*Motionparameters(VEL,ACC,DEC,JERK)aresameforall

SquarewithpermitteddeviationofProfiletime224[msec]~17%圓角處理只能在primary軸里使用所有的secondary軸與primary軸同步運動Spiral不同于XSEG,BSEG沒有速度前瞻支持2(upto6axesintheVVATa-AccelerationTj-JerkTm≥TaTa≥Createblendedsegmentedmotion(nomotionstartsBSEG[/suffixes](axis_list),initial_position_axis1,initial_position_axis2,segment_time,acceleration_time,jerk_time[,dwell_time]Addlinearsegment(thesameasfor[,segment_time[,acceleration_time[,jerk_time[,dwell_time]]]]addarcsegment(thesameasfordestination_point_axis1,destination_point_axis2,direction[,segment_time[,acceleration_time[,jerk_time[,dwell_time]]]]addarcsegment(thesameasforrotation_angle[,segment_time[,acceleration_time[,jerk_timeCompletesegmentedmotion,nomoresegments(thesameasforBSEG !Createblendedmotionforaxes0and1withinitialpoint!initialsegmenttime100msec,initialaccelerationtime!initialjerktime !Addarcsegmentwithcenter(1000,0),finalpoint(1000,-1000),clockwise!Asnonewtimeparametersarespecified,theinitialsegment,acceleration!jerktimeparametersareusedforthis !Addlinesegmentwithfinalpoint(-1000,-!Asnonewtimeparametersarespecified,theinitialsegment,acceleration!jerktimeparametersareusedforthis !Addarcsegmentwithcenter(-1000,0)androtationangle-!Newsegmenttime50msecisLINE/ma !Addlinesegmentwithfinalpoint!Newsegmenttime25msecandaccelerationtime10msecareENDS !EndthesegmentsAxis (1000,1000)–Start Axis ?2018ACSMotionControl支持6個軸(2primary4BSEGSegmented+例如MASTERMPOS(X)2*在速度鎖定模式:X速度=2*Y反饋速度在位置鎖定模式X位置2*Y?2018ACSMotionControlSlavedmotionformat(optionalargumentsinMASTERMPOS(axis)=SLAVE/p使用位置鎖定-withoutp從軸的運動會被KILL,HALT,DISABLE終止CAD/CAMCAD/CAMN10G0X-90Y-N15G2X-100Y-90I-90J-90N20G1Y90N25G2X-90Y100I-90J90N30G1X90N35G2X100Y90I90J90N40G1Y-90N45G2X90Y-100I90J-90N50G1X-90N60G0X0N100G-codeprogramastextSPiiPlusNTN10G0X-90Y-N15G2X-100Y-90I-90J-N20G1N25G2X-90Y100I-90J90N30G1X90N35G2X100Y90I90J90N40G1Y-90N45G2X90Y-100I90J-90N50G1X-90N60G0X0Y0N100M2ACSPL+G-codeprogramisdownloadedtothecontrollereitherbySPiiPlusMMIorbytheuserprogramCAD/CAMCAD/CAMN10G0X-90Y-N15G2X-100Y-90I-90J-90N20G1Y90N25G2X-90Y100I-90J90N30G1X90N35G2X100Y90I90J90N40G1Y-90N45G2X90Y-100I90J-90N50G1X-90N60G0X0N100G-codeprogramastextSPiiPlusNTN10G0X-90Y-N15G2X-100Y-90I-90J-90N20G1Y90N25G2X-90Y100I-90J90N30G1X90N35G2X100Y90I90J90OUT0.0=1!ACSPL+lineN40G1Y-90N45G2X90Y-100I90J-90N50G1X-90N60G0X0Y0N100M2ACSPL+G-codeprogramisdownloadedtothecontrollereitherbySPiiPlusMMIorbytheuserprogramCAD/CAMCAD/CAMN10N10G0X-90Y-100N11G54N15G2X-100Y-90I-90J-90N20G1Y90N25G2X-90Y100I-90J90N30G1X90N35G2X100Y90I90J90N40G1Y-90N45G2X90Y-100I90J-90N50G1X-90N60G0X0N100G-codeprogramisdownloadedtothecontrollereitherbySPiiPlusMMIorbytheuserprogramSPiiPlusNTACSPL+N10G0X-90Y-N11N15G2X-100Y-90I-90J-N10G10X10Y20N20G1N25G2X-90Y100I-90N30G1N35G2X100Y90I90N40G1Y-N45G2X90Y-100I90J-N50G1X-N60G0X0N100,M,A,SJERK !PlainisG01X1000 !Movetostartposition(1000,G202,S5,F100 !Createblendedmotionforaxes0and1withinitialpoint!initialsegmentspeed100mm/min,initialaccelerationtime!initialjerktimeG02X1000Y-1000I1000J0!Addarcsegmentwithcenter(1000,0),finalpoint(1000,-1000),clockwise !Addlinesegmentwithfinalpoint(-1000,-!Timeofthesegmentwillbethe