User's Manual

Turbo PMAC User Manual
Writing and Executing Motion Programs 291
Cubic Spline Trajectories
V
time
TA (added) TA (added)TA
V
time
TA (added) TA (added)TA
TA
V
time
TA (added) TA (added)TA TA
TA
V
time
TA (added) TA (added)TA TA
TA TA
One Programmed Segment
Two Programmed Segments
Three Programmed Segments
Four Pro
g
rammed Se
g
ments
TA
P
V =
c
TA
(added)
TA
(added)
TA TA TA TA
All segments same time
No velocity or acceleration
discontinuities at segment
boundaries
If segment were
done at constant
velocity:
VEL
TIME
etc.
etc.
INCREMENTAL
SPLINE
TA500
X10000
X9000
X10500
X12000
SPLINED MOVES
(specified)
VEL
TIME
TA
P
V
1
1
(specified)
(calculated)
P ,V
P
1
P
0
P
00
(from
before)
(calculated)
= constant
A
A
dA
dt
0
(calculated)
1
(specified)
PVT200
...
X9000:150
...
Position, Velocity, and Time (PVT mode) [Parabolic Velocity
]
PMAC Transition Point Moves