Tables Window
The values for the motion 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 type of the point.) |
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 | Start value of the slave jerk. |
X end | End value of the master position. (The icon in front of the value indicates the type of the point.) |
Y end | End value of the slave position. |
Y' end | End value of the slave velocity. |
Y'' end | End value of the slave acceleration. |
Y''' end | End value of the slave jerk. |
Symmetry | Symmetry value of the law of motion. |
You can change the values using the keyboard.
The restrictions imposed by the choice of the function type or the boundary conditions for the points are taken into account.
Since motion sections are normally contiguous - 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 motion section.
Therefore, you should normally always manipulate the initial values.
In addition, if you find any discrepancies in a finished motion diagram, check that the start and end points match.
If certain values in the table cannot be changed, you should reconsider the boundary conditions of the points and change them if necessary.
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:
- Polynomial3
- Polynomial5
- Polynomial7
- Polynomial8
- Polynomial9
- Polynomial11
- Sineline
- ModSineline
- Bestehorn
- AccTrapezoid
- Peisekah11
Normally the inflection on the curve (acceleration = 0) at 50 % = 0.5.
This value can be modified not only in the table, but also in the graph (see 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 start and end points of the section at its corners. As soon as another field in the table window is tapped, either the rectangle for this field is shown or no rectangle.
The types correspond to those of VDI Guideline 2143. In addition, the cubic splines with the boundary conditions natural, tangential and periodic are added.
Type | Description | Boundary condition |
|---|---|---|
Synchronous | Synchronous motion (constant transmission ratio between slave and master, corresponds to normalized velocity). | Constant velocity v, acceleration a=0 |
Automatic | Automatic adaptation to the boundary values (velocity, acceleration). |
|
Polynomial3 | 3rd order polynomial | v=0, a=0 |
Polynomial5 | 5th order polynomial (restricted version rest in rest) | v=0, a=0 |
Polynomial7 | 7th order polynomial | v=0, a=0 |
Polynomial8 | 8th order polynomial | v=0, a=0 |
Polynomial9 | 9th order polynomial | v=0, a=0 |
Polynomial11 | 11th order polynomial | v=0, a=0 |
Sineline | Sineline (see VDI Guideline 2143) | v=0, a=0 |
ModSineline | Modified Sineline (see VDI Guideline 2143) | v=0, a=0 |
Bestehorn | Bestehorn Sineline (see VDI Guideline 2143) | v=0, a=0 |
AccTrapezoid | Acceleration trapezoid | v=0, a=0 |
SinusSyncKombi | Sineline combination | v=0, a=0 |
ModSineline_VV | Modified Sineline for velocity in velocity. | a=0 |
HarmonicKombi_RT | Harmonic combination from rest in turn. | v=0; start point: a=0 |
HarmonicKombi_TR | Harmonic combination of turn in rest. | v=0; end point: a=0 |
HarmonicKombi_VT | Harmonic combination of velocity in turn. | Start point: a=0; end point: v=0 |
HarmonicKombi_TV | Harmonic combination from turn in velocity. | Start point: v=0; end point: a=0 |
AccTrapezoid_RT | Acceleration trapezoid from rest in turn. | a=0; start point: v=0 |
AccTrapezoid_TR | Acceleration trapezoid from turn in rest. | v=0; end point: a=0 |
AccTrapezoid_RV | Acceleration trapezoid from rest in speed. | a=0; start point: v=0 |
AccTrapezoid_VR | Acceleration trapezoid from speed in rest. | a=0; end point: v=0 |
Polynomial3_VV | Polynomial 3rd power of speed in speed. | a=0 |
Polynomial7_MM | 7th order polynomial with adaptation to the boundary values (velocity, acceleration and jerk). |
|
Peisekah11 | Peisekah polynomial 11th power | v=0, a=0 |
Spline | Internal section of a cubic spline. |
|
Spline Natural | Start or end section of a natural cubic spline. | a=0 |
Spline Tangential | Start or end section of a tangential cubic spline. |
|
Spline Periodic | Start or end section of a cyclic cubic spline. |
|
Spline Linear | Start 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 you select the Spline Tangential spline type, you should modify the boundary conditions (first derivative at the start point and end point).
For the laws of motion with boundary conditions, R stands for rest, V for velocity, T for turn and M for Motion.