Newport MM4006, Руководство пользователя

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M M4006
8-Axis Motion Controller/Driver
Section 5
Trajectory Functions Tutorial
5.1 Definition of Terms
5.1.1 T r a j e c t o r y
A continuous multi-dimensional motion path. In the MM4006 case, the
t r a j e c t o r y i s d e f i n e d i n a t w o - d i m e n s i o n a l X -Y plane. T h e m a j o r
requirement in executing a trajectory is t o maintain a constant vector
velocity throughout the entire path, with the exception of the acceleration
and deceleration periods.
5.1.2 T r a j e c t o r y Element
A segment of a trajectory that can be defined by a simple geometric shape,
in our case a line or an arc of circle.
5.1.3 T r a j e c t o r y Vector
The tangent to the trajectory in any particular point.
5.1.4 V e c t o r Velocity
The linear velocity (the speed) along the trajectory during its execution.
5.1.5 V e c t o r Acceleration
The tangential linear acceleration used t o start and end a trajectory.
(Acceleration and deceleration are equal by default).
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Iklevvport. 5 . 3
EDH0181En 1020 — 03/03