Galil Motion Control note 2311 Page 1
DMC-1000
DMC-1500
DMC-1300
Application Note 2311: Using Sinusoidal Motion for ECAM
Profile
Background:
This note applies to ECAM motion under the following condition:
1.
The master axis moves at a constant rate.
2.
The motion profile of the slave axis is not critical but the end
points of slave axis motion is critical.
This condition is usually met when the slave axis is required to move to a
specific location or distance every master cycle and the machine requires
the smoothest motion profile. In this case, sinusoidal interpolation can be
very helpful.
Consider a slave profile in which the slave moves back and forth over one
master cycle as illustrated in figure 1. Over one master cycle, the slave axis
starts at point A. With a constant velocity the slave moves from point A to
point B. From point B to point C, the slave holds it's position with zero
velocity. From point C to point D, the slave axis moves with constant
speed back to initial position. Finally, from point D to point E the slave
waits at the initial position for the cycle to start again.
A
B
C
D
TIME
POSITION
E
Figure 1
