EMotionFunctionType
Interpolation function type for cam table segments.
Syntax
Definition:
TYPE EMotionFunctionType :
(
Undefined := 0,
Linear := 1,
Polynomial3 := 2,
Polynomial5 := 3,
Polynomial7 := 4,
Sinusoid := 5,
SinusoidCombination := 6,
InclinedSinusoid := 7,
ModifiedSinusoid := 8,
HarmonicCombination := 9,
AccelerationTrapezoid := 10,
CubicSpline := 11
)UINT;
END_TYPEValues
|
Name |
Description |
|---|---|
|
Undefined |
No function type defined. Segment is not valid. |
|
Linear |
Linear interpolation between segment points. |
|
Polynomial3 |
3rd-order polynomial interpolation. |
|
Polynomial5 |
5th-order polynomial interpolation. |
|
Polynomial7 |
7th-order polynomial interpolation. |
|
Sinusoid |
Simple sinusoidal motion law. |
|
SinusoidCombination |
Combined sinusoidal motion law. |
|
InclinedSinusoid |
Bestehorn sinusoidal motion law for minimal peak dynamic loads. |
|
ModifiedSinusoid |
Modified sinusoidal motion law. |
|
HarmonicCombination |
Harmonic combination motion law. |
|
AccelerationTrapezoid |
Trapezoidal acceleration profile motion law. |
|
CubicSpline |
Cubic spline interpolation through the segment points. |
Further information
EMotionFunctionType specifies the mathematical method used to interpolate between two adjacent interpolation points. Based on the selected dynamics and boundary conditions, the system automatically determines whether the motion is a rest-to-rest (RR), velocity-to-velocity (VV), or other type of motion.
Transferring the MotionFunctionType from NC2 to MC3
MC_MotionFunctionType.[…] | EMotionFunctionType.[…] |
MOTIONFUNCTYPE_NOTDEF | Undefined |
MOTIONFUNCTYPE_POLYNOM1 | Linear |
MOTIONFUNCTYPE_POLYNOM3 | Polynom3 |
MOTIONFUNCTYPE_POLYNOM5 | Polynom5 |
MOTIONFUNCTYPE_POLYNOM7 | Polynom7 |
MOTIONFUNCTYPE_POLYNOM8 | On request |
MOTIONFUNCTYPE_POLYNOM9 | On request |
MOTIONFUNCTYPE_SINUS LINE | Sinusoid |
MOTIONFUNCTYPE_MODSINUSLINE | ModSinusoid |
MOTIONFUNCTYPE_BESTEHORN | InclinedSinusoid |
MOTIONFUNCTYPE_BESCHLTRAPEZ | AccTrapezoid |
MOTIONFUNCTYPE_POLYNOM5_MM | Polynom5 |
MOTIONFUNCTYPE_HARMONIC_KOMBI_RT | HarmonicCombi |
MOTIONFUNCTYPE_HARMONIC_KOMBI_TR | HarmonicCombi |
MOTIONFUNCTYPE_HARMONIC_COMBI_VT | HarmonicCombi |
MOTIONFUNCTYPE_HARMONIC_COMBO_TV | HarmonicCombi |
MOTIONFUNCTYPE_BESCHLTRAPEZ_RT | AccTrapezoid |
MOTIONFUNCTYPE_BESCHLTRAPEZ_TR | AccTrapezoid |
MOTIONFUNCTYPE_MODSINUSLINIE_VV | ModSinusoid |
MOTIONFUNCTYPE_POLYNOM7_MM | Polynom7 |
MOTIONFUNCTYPE_BESCHLTRAPEZ_RV | AccTrapezoid |
MOTIONFUNCTYPE_BESCHLTRAPEZ_VR | AccTrapezoid |
MOTIONFUNCTYPE_POLYNOM3_VV | Polynom3 |
MOTIONFUNCTYPE_POLYNOM11 | OnRequest |
MOTIONFUNCTYPE_PEISEKAH11 | OnRequest |
MOTIONFUNCTYPE_SPLINE | CubicSpline |
MOTIONFUNCTYPE_SPLINE_NATURAL | Cubic Spline (transferable via boundary conditions) |
MOTIONFUNCTYPE_SPLINE_TANGENTIAL | Cubic Spline (transferable via boundary conditions) |
MOTIONFUNCTYPE_SPLINE_PERIODIC | Cubic Spline (transferable via boundary conditions) |
MOTIONFUNCTYPE_SPLNE_LINEAR | Cubic Spline (transferable via boundary conditions) |
Version information
- TwinCAT Standard >= v3.1.4026.23.1
- TF5550 MC3 Camming >= v4.0.6 (includes TF5500 MC3 Base >= v4.0.6)