Table of Contents
Advertisement
XPS-Q8 Controller
XPSDocumentation V1.4.x (EDH0301En1060 — 10/17)
(at time t
with a velocity v
i
different positioners in a MultipleAxes group.
• PVT trajectories form a continuous path (each segment output position is equal to
the next segment input position), and the segment tangential angles at the connection
point of any two consecutive segments are continuous including its derivative. It
means that the PVT trajectory continuity property is R
• The input velocity of any element is equal to the output velocity of the previous
element. The input velocity for the first element is always zero. The output velocity
of the last element must be zero as well.
8.3.3
Geometric Conventions
• The coordinate system can be any convention, it does not need to be an orthogonal
system.
• A PVT trajectory can be defined for any MultipleAxes group. There is no limit to
the number of positioners belonging to that MultipleAxes group. It is also possible
to define a PVT trajectory for a MultipleAxes group that contains only one
positioner.
8.3.4
PVT Interpolation
For each positioner belonging to the MultipleAxes group, the PVT trajectory calculates
a 3
rd
order polynomial curve P(u) that can be presented by the following equations:
Profile coefficient
• Acceleration jerk:
• Initial acceleration:
• Final acceleration:
Profile equation
• Acceleration:
• Velocity:
• Position:
). There is no direct link between the trajectories of the
i
102
Motion Tutorial
1
.
Advertisement
Table of Contents
