Tables Window
The values for the movement section are displayed in the table window:
|
Table header |
Description |
|---|---|
|
Function |
Indicates the function type (see function types) |
|
X start |
Initial value of the master position (the icon in front of the value indicates the point's type ) |
|
Y start |
Initial value of the slave position |
|
Y' start |
Initial value of the slave velocity |
|
Y'' start |
Initial value of the slave acceleration |
|
Y''' start |
Initial value of the slave jerk |
|
X end |
Final value of the master position (the icon in front of the value indicates the point's type ) |
|
Y end |
Final value of the slave position |
|
Y' end |
Final value of the slave velocity |
|
Y'' end |
Final value of the slave acceleration |
|
Y''' end |
Final value of the slave jerk |
|
Symmetry |
Symmetry value of the law of motion |
The values can be altered via the keyboard, although restrictions are applied arising from the choice of function type or other boundary conditions for the points.
Since movement sections are normally continuous - except for Slide Points - the end point and its derivatives at the end of the section is equal to the corresponding values at the start of the following movement section. For this reason it is normally always the initial values that should be manipulated. In addition to this, if any inconsistencies are seen in the graph of a completed movement diagram, the agreement of the initial and end points should be checked. If certain values in the table cannot be changed, consideration should be given to the boundary conditions applying to the points. It may be appropriate to change them. The boundary conditions limit the scope of the functions in sections in accordance with their type.
The symmetry of the functions can only be changed for the following types: Polynom3, Polynom5, Polynom8, Sinusline, ModSinusline, Bestehorn, AccTrapezoid. Normally the inflection on the curve (acceleration = 0) at 50 % = 0.5. This value can be changed in the table or in the diagram of the acceleration (Example 6).
Function Types
In addition to the standard types (synchronous/automatic), which can be changed by command on the graph, the function type can also be modified in the combobox. When the combobox - or a field in the first column - is first clicked, a rectangle is temporarily shown in the position window, with the initial and end points of the section at its corners. As soon as another field in the table window is activated, either the rectangle for this one is shown, or no rectangle is displayed at all.
The types correspond to those of VDI Guideline 2143; additionally, there are the cubic splines, with the boundary conditions of natural, tangential and periodical.
|
Type |
Description |
Boundary condition |
|---|---|---|
|
Synchronous |
Synchronous movement (constant transmission ratio between slave and master, corresponds to normalised velocity) |
Constant velocity v, acceleration a=0 |
|
Automatic |
Automatic adaptation to the boundary values | |
|
Polynom3 |
3rd order polynomial |
v=0, a=0 |
|
Polynom5 |
5th order polynomial (limited version, rest in rest) |
v=0, a=0 |
|
Polynom8 |
8th order polynomial |
v=0, a=0 |
|
Sinusline |
Sinusoidal line (see VDI Guideline 2143) |
v=0, a=0 |
|
ModSinusline |
Modified sinusoidal line (see VDI Guideline 2143) |
v=0, a=0 |
|
Bestehorn |
Bestehorn sinusoidal line (see VDI Guideline 2143) |
v=0, a=0 |
|
AccTrapezoid |
Acceleration trapezoid |
v=0, a=0 |
|
SinusSyncKombi |
Sinus line combination |
v=0, a=0 |
|
ModSinusline_VV |
Modified sinusoidal line - velocity to velocity |
a=0 |
|
HarmonicKombi_RT |
Harmonic combination - rest to turn |
v=0; Start: a=0 |
|
HarmonicKombi_TR |
Harmonic combination - rest to turn |
v=0; End: a=0 |
|
HarmonicKombi_VT |
Harmonic combination - velocity to turn |
Start: a=0; End: v=0 |
|
HarmonicKombi_VT |
Harmonic combination - turn to velocity |
Start: v=0; End: a=0 |
|
AccTrapezoid_RT |
Acceleration trapezoid - rest to turn |
v=0; Start: a=0 |
|
AccTrapezoid_RT |
Acceleration trapezoid - rest to turn |
v=0; End: a=0 |
|
Polynom7_MM |
7th order polynomial with fit to boundary values (velocity , acceleration and jerk) | |
|
Spline |
Internal section of a cubic spline | |
|
Spline Natural |
Initial or end section of a natural cubic spline |
a=0 |
|
Spline Tangential |
Initial or end section of a tangential cubic spline | |
|
Spline Periodic |
Initial or end section of a cyclic cubic spline | |
|
Polyline |
Initial or end section of a linear spline |
Changing the type of spline at the first point implies that the spline type as a whole is changed, including that of the end point.
If Spline Tangential is chosen as the spline type, the boundary conditions (first derivative at the starting and end point) should be modified.
At the Motion functions with fit to boundary values the R is for Rest, V for Velocity, T for Turn and M for Motion.