Newport MM4006, Руководство пользователя

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MM4006 T r a j e c t o r y Functions Tutorial
To eliminate the burden of calculating the angle matching, use as much as
possible the commands that define a straight line by one coordinate, X or
Y, and by the entry angle (also referred to as the tangent). This simplifies
the user's Programing task and lets the controller find the best fit for the
trajectory elements.
5.4.1 D e f i n i n g Lines
There are two ways to define a line of a trajectory. The first one is to speci-
fy the X-Y end coordinates (the starting point is always the end point of the
previous element). This is the most common procedure found in the indus-
try (Fig. 5.3).
X, Y
Fig. 5.3 — Line to X-Y.
As described previously, when using this method the user must make an
extra effort in making sure the maximum discontinuity angle is not exceeded.
A second mode of defining a straight line in a trajectory is illustrated in
Figure 5.4.
5.4-a
Y
Fig. 5.4 — Line to X or Y.
5.4-b
Using the previous element's exit angle (tangent), the controller can execute
a line to the specified X coordinate (Fig. 5.4-a) or Y coordinate (Fig. 5.4-b).
This method simplifies the Programing job and guaranties the best trajec-
tory elements fit.
5.4.2 D e f i n i n g Arcs
Arcs can also be defined in two different ways. The first one is more conven-
tional, where a radius and the sweep angle will define the arc (Fig 5.5).
Fig. 5.5 — Arc defined with radius and angle.
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EDHOISI En 1020 — 03/n3
5.6 N e v v p o r t .