diff --git a/documentation/trajectoryScan.html b/documentation/trajectoryScan.html index ba2ad3fb..4a0d3d16 100644 --- a/documentation/trajectoryScan.html +++ b/documentation/trajectoryScan.html @@ -276,21 +276,6 @@ define the trajectory. Some of these are explained in more detail below.

can be changed again after changing Nelements if desired. - PulseDir (Ensemble only) mbbo The - encoder direction in which output pulses will be generated. Choices are - 0=Both, 1=Pos, and 2=Neg. - Default=Both. - - - PulseLenUS (Ensemble only) - ao - The pulse length in microseconds. Default=25. - - PulseSrc (Ensemble only) longout - 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. - TimeMode bo @@ -320,6 +305,22 @@ define the trajectory. Some of these are explained in more detail below.

The acceleration time for the trajectory. Default=0.5 seconds. Currently, the Ensemble support gets this value from the motor record. + + PulseDir (Ensemble only) mbbo The + encoder direction in which output pulses will be generated. Choices are + 0=Both, 1=Pos, and 2=Neg. + Default=Both. + + + PulseLenUS (Ensemble only) + ao + The pulse length in microseconds. Default=25. + + PulseSrc (Ensemble only) longout + 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. + @@ -368,9 +369,10 @@ move from position MnTraj[i] to MnTraj[i+1].

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 Absolute or Relative. 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.

The MM4005 requires the number of elements in a trajectory to be a multiple of 4. This means that Nelements @@ -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. -

The MAXv and Ensemble controllers also do not do this acceleration -automatically. The SNL programs add an element to the beginning of the +

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 AddAccelDecel=Yes.) 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 AddAccelDecel=Yes.) 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.

The number of trajectory elements, Nelements is limited as