Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Manual do Utilizador descarregar pdf (Página 9)

Maestro Motion Library Tutorial

MAN-INTUG (Ver. 1.7)

for t = 0:pi/72:2*pi

x = R*cos(3*t)

y = R*sin(5*t)

v1.splinep(x,y) // add spline point

end for

v1.splinee(0) // end spline sequence

v1./jointfilesconvert/1588247/bg //start motion

while (a1.ms==2)||(a2.ms==2) //wait until both axes have stopped

wait(10)

end while

Figure 1-1: Recording of the spline trajectory (Lissajous curves)

1.3.3.2 Examples of three-dimensional spline interpolation

For 3D vector motion, there must be a defined resource file with a vector built from three axes.

In the Elmo Studio it can be defined as shown in the picture below.

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Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Manual do Utilizador Página 9