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XPS-Q8 Controller
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
Here, u
= 0 is the segment starting point and u
0
Sz are x-, y-, and z-components of the segment function.
This integral can only be numerically calculated, which is done by the XPS controller
using the Romberg numerical integration algorithm. This guarantees that the arc length
is calculated with an error less than 10
8.2.6
Trajectory File Description
The spline trajectory is described in a file in the \Admin\Public\Trajectories folder of
the XPS controller. Each line of this file represents one point of the spline trajectory
except for the first and the last lines that are needed only to define the start and the end
of the trajectory. Two consecutive points form a trajectory segment.
The format of a line in a file is:
The separator between the X-, Y-, and Z-Position is a comma.
As mentioned before, the first and last lines of the file are needed only for the
interpolation of the first and the last spline segments. These define the angle the
trajectory starts and ends, but the motion system will not hit these points. So the
trajectory's first "real" point (starting point) is the one defined by the second line and
the trajectory's real "last" point (end point) is the one defined by the second to the last
line.
The position values in the data file are relative to the physical position of the motion
group at the start of the trajectory. If the position in the second line of the file (starting
point) is not equal to zero (0, 0, 0), the real trajectory positions (those that the motion
group will hit) are shifted further by this value.
Example
The spline trajectory file has the following format:
At the moment the trajectory is executed, the motion group is at the position X
So the real matrix in absolute coordinates of the motion group is:
8.2.7
Trajectory File Example
This trajectory example represents a spiral starting from (0, 20, 0) and ending at (0, -20,
24). As described before, the trajectory's first (-5, 19.365, -1) and last (5, -19.365, 25)
1
-7
units.
X-Position, Y-Position, Z-Position
98
Motion Tutorial
= 1 is the segment ending point. Sx, Sy,
, Y
, Z
.
C
C
C
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