Import of Motion Profiles

Overview

The Project > Import of Motion Profiles command opens a File Open dialog box that allows you to import user-defined motion profiles:

*.asc files that have been exported, for example, from Motion Sizer.
*.trace files that have been exported with the trace editor.
*.txt files that contain position points in each line of the file.

After successful import, the user-defined motion profiles are available in the EcoStruxure Machine Expert Logic Builder at different locations. They can be used to define specific motions that cannot be defined with the default motion rules:

In the POUs tree via the node User defined motion profiles.
In any POU implemented via ST by entering `UserDefinedMotionProfiles.` The available user-defined motion profiles are displayed for selection via the smart coding functionality and can be used to define / program ST_MultiCam structures.
In the Motion Editor tab of the cam motion editor via the Motion Profile list.

Properties of User-Defined Motion Profiles

After you have inserted user-defined motion profile in your project, configure the following parameters in the cam motion editor:

Parameter	Description
Spline interpolation mode	Natural Spline: The second derivative at the segment edges is zero. Start condition and End condition must be Dwell or Velocity. Spline based of the slope on the borders: Start condition and End condition must be Motion or Velocity. Periodic Spline: Y(Start) = Y(End) NOTE: The slope can only be determined for the mode Spline based of the slope on the borders. For the modes Natural Spline and Periodic Spline, the values X(Start), X(End) and Y(Start) can be determined.
Y-Scale	During import, the user-defined profiles are stored as normalized profiles (values between -1 and +1) in the pool of profiles. The parameter Y-Scale (default value = 1) allows you to scale the Y value to the required (initial) value. The Y-Scale (height) and length of the profile (defined with X(Start) and X(End)) are being predefined when you select a user-defined motion profile from the Motionprofile list.

Parameter

Description

Spline interpolation mode

Natural Spline: The second derivative at the segment edges is zero. Start condition and End condition must be Dwell or Velocity.
Spline based of the slope on the borders: Start condition and End condition must be Motion or Velocity.
Periodic Spline: Y(Start) = Y(End)

NOTE: The slope can only be determined for the mode Spline based of the slope on the borders. For the modes Natural Spline and Periodic Spline, the values X(Start), X(End) and Y(Start) can be determined.

Y-Scale

During import, the user-defined profiles are stored as normalized profiles (values between -1 and +1) in the pool of profiles.

The parameter Y-Scale (default value = 1) allows you to scale the Y value to the required (initial) value.

The Y-Scale (height) and length of the profile (defined with X(Start) and X(End)) are being predefined when you select a user-defined motion profile from the Motionprofile list.

For further information, refer to the chapter Cam Motion Editor of the Programming Guide.