Chapter 4
Functional Overview
4-8
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The encoders feature high-speed capture trigger inputs and breakpoint
outputs. These features are implemented in the encoder processor FPGA
and are fully functional when an encoder is used as feedback to an axis or
as an independent input resource.
Note
Once mapped to an axis, all features and functions of a resource are available as part
of the axis. It is not necessary to remember or use the resource number directly when
accessing these features. Resources are referenced by axis number once assigned to that axis.
Vector Spaces
Vector spaces are logical, multidimensional groups of axes. They can be
either single-dimensional, two dimensional with x and y axes, or three
dimensional with x, y, and z axes. The 7344 controller supports up to three
separate one, two, or three-axis vector spaces defined at the same time.
Figure 4-3 shows a single three-axis vector space.
Figure 4-3.
3D Vector Space
Vector spaces facilitate 2D and 3D interpolation: linear, circular, helical,
and spherical. You can send many FlexMotion commands to a vector space
to define vector position, vector velocity, vector acceleration, and so on.
Vector spaces are configured by mapping axes to the vector space. Vector
spaces are logical, not physical, and do not require motion resources other
than those used by the axes themselves.
Note
Refer to the Axis and Resource Configuration section of the FlexMotion Software
Reference Manual for more information on configuring vector spaces.
0101011101101
11101101100
101100111
101100111
PID
Servo
Loop
16-Bit
D/A
Converter
32-Bit
Encoder
Interface
±
10 V
øA
øB
Index
Axis Resource
0101011101101
11101101100
101100111
101100111
PID
Servo
Loop
16-Bit
D/A
Converter
32-Bit
Encoder
Interface
±
10 V
øA
øB
Index
Axis Resource
0101011101101
11101101100
101100111
101100111
PID
Servo
Loop
16-Bit
D/A
Converter
32-Bit
Encoder
Interface
±
10 V
øA
øB
Index
Axis Resource
Z
X
Y
X,Y, Z
3D
Vector Space
Axis X
Axis Y
Axis Z
