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timmmooney
2014-05-01 19:40:03 +00:00
parent 2905342a3d
commit 532817dcac
1 changed files with 27 additions and 25 deletions
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documentation/trajectoryScan.html
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@@ -276,21 +276,6 @@ define the trajectory. Some of these are explained in more detail below.</P>
can be changed again after changing <CODE>Nelements</CODE> if
desired.</TD></TR>
<TR> <TD><CODE>PulseDir</CODE> (Ensemble only)</TD> <TD>mbbo</TD> <TD>The
encoder direction in which output pulses will be generated. Choices are
0=<code>Both</code>, 1=<code>Pos</code>, and 2=<code>Neg</code>.
Default=<code>Both</code>.</TD></TR>
<TR>
<TD><CODE>PulseLenUS</CODE> (Ensemble only)</TD>
<TD>ao</TD>
<TD>The pulse length in microseconds. Default=25.</TD></TR>
<TR> <TD><CODE>PulseSrc</CODE> (Ensemble only)</TD> <TD>longout</TD>
<TD>The pulse source. This depends on the controller and
from where it gets its encoder signal. Normally, the value is 1 or 3.
Default=1.</TD></TR>
<TR>
<TD><CODE>TimeMode</CODE></TD>
<TD>bo</TD>
@@ -320,6 +305,22 @@ define the trajectory. Some of these are explained in more detail below.</P>
<TD>The acceleration time for the trajectory. Default=0.5 seconds.
<i>Currently, the Ensemble support gets this value from the motor
record.</i></TD></TR>
<TR> <TD><CODE>PulseDir</CODE> (Ensemble only)</TD> <TD>mbbo</TD> <TD>The
encoder direction in which output pulses will be generated. Choices are
0=<code>Both</code>, 1=<code>Pos</code>, and 2=<code>Neg</code>.
Default=<code>Both</code>.</TD></TR>
<TR>
<TD><CODE>PulseLenUS</CODE> (Ensemble only)</TD>
<TD>ao</TD>
<TD>The pulse length in microseconds. Default=25.</TD></TR>
<TR> <TD><CODE>PulseSrc</CODE> (Ensemble only)</TD> <TD>longout</TD>
<TD>The pulse source. This depends on the controller and
from where it gets its encoder signal. Normally, the value is 1 or 3.
Default=1.</TD></TR>
</TBODY>
</TABLE>
@@ -368,9 +369,10 @@ move from position <CODE>MnTraj[i]</CODE> to <CODE>MnTraj[i+1]</CODE>.</P>
MAXv may, and Ensemble always does, send the motor to a starting point that is
the acceleration distance from the start position, whether the trajectory mode
is <CODE>Absolute</CODE> or <CODE>Relative</CODE>. The acceleration distance is
Accel*V0, where Accel is the acceleration time, and V0 is the average velocity
over the first trajectory segment. Currently, the Ensemble support reads the
acceleration time directly from the motor record.
AccelTime*velocity[0]/2, where AccelTime is the acceleration time, and
velocity[0] is the average velocity over the first trajectory segment.
Currently, the Ensemble support reads the acceleration time directly from the
motor record.
<P>The MM4005 requires the number of elements in a trajectory to be a multiple
of 4. This means that <CODE>Nelements</CODE>
@@ -416,14 +418,14 @@ to be somewhat larger than the range in the trajectory itself. This means that
cannot execute right up to the software or hardware limits for an axis, because there
will not be room for the acceleration motion.
<P> The MAXv and Ensemble controllers also do not do this acceleration
automatically. The SNL programs add an element to the beginning of the
<P> The MAXv and Ensemble controllers also do not automatically accelerate onto
the trajectory. The SNL programs add an element to the beginning of the
trajectory and one (MAXv) or two (Ensemble) elements to the end. (Ensemble
always does this; MAXv does it if <code>AddAccelDecel=Yes</code>.) These elements
cause the actual range of motion of each of the motors to be somewhat larger
than the range in the trajectory itself. This means that trajectories cannot
execute right up to the software or hardware limits for an axis, because there
will not be room for the acceleration motion.
always does this; MAXv does it if <code>AddAccelDecel=Yes</code>.) These
elements cause the actual range of motion of each of the motors to be somewhat
larger than the range in the trajectory itself. This means that trajectories
cannot execute right up to the software or hardware limits for an axis, because
there will not be room for the acceleration motion.
<P>
The number of trajectory elements, <CODE>Nelements </CODE>is limited as