Profiles are data that describe curve progressions. They are either stored as profile files (User profiles) in the mass storage (Flash Disk) or as analytic profiles in the firmware.
A profile must be made available in the main memory before being used. When it is made available, a logical address is returned by which the profile is then addressed. A profile that has been made available can be used by multiple functions at the same time.
Profiles are made available by the program after starting the program. When the program is reset, the profiles made available are deleted automatically. The program allows the deletion of individual or all profiles (Function FC_ProfileDelete() ).
|
Designation |
Law of motion |
Motion task |
|---|---|---|
|
simplsin |
Simple sine |
Rest -> Rest |
|
inclisin |
Inclined sine |
Rest -> Rest |
|
modisin |
Modified sine |
Rest -> Rest |
|
modacctr |
Modified acceleration trapezoid |
Rest -> Rest |
|
poly5 |
Polynomial of fifth degree |
Rest -> Rest |
|
straight |
Straight at slope 1 |
Veloc. -> Veloc. |
|
poly5allg / poly5com |
General polynomial of the fifth degree |
Motion -> motion |
|
Parable2 |
Quadratic parabola |
Rest -> Rest |
|
modisincom |
General modified sinusoidal line |
Veloc. -> Veloc. |
|
modacctrcom |
General modified acceleration trapezoid |
Rest -> Reverse reverse -> Rest |
|
harmocomb |
Harmonic combination |
Veloc. -> Reverse Reverse -> Veloc. |
|
sinstraightcomb |
Sinus-straight line combination |
Reverse -> Reverse |
Most analytical profiles are Rest -> Rest profiles. With Rest -> Rest profiles, the inflexion point is half way through the conductive path, therefore, Lambda = 0.5.
If a Rest -> Velocity Profile has to be generated, this can be achieved by displacing Lambda from 0.5 to 1.0.
To produce a Velocity -> Rest profile, the Lambda has to be displaced to 0.0.
For parameterization of the analytical profiles listed in the table above, the functions FC_ProfileSetLambda(), FC_ProfileSetC(), FC_ProfileSetCoeff() and FC_ProfileSetParam() are available. The following table gives an overview of the meaning of these functions and profiles where they can be used.
|
Function |
Meaning |
Can be used for profile |
|---|---|---|
|
FC_ProfileSetLambda() |
Definition of the position of the inflexion point |
Rast-Rast-Profile: simplsin, inclisin, modisin, modacctr, poly5, parable2 |
|
FC_ProfileSetC() |
Definition of linear and curve component when adding a linear segment in a rest-rest profile |
Rast-Rast-Profile: simplsin, inclisin, modisin, modacctr, poly5, parable2 |
|
FC_ProfileSetCoeff() |
Definition of the boundary conditions for the general polynomial of the fifth degree |
poly5com |
|
FC_ProfileSetParam() |
Parameter setting of profiles for special motion tasks |
modisincom, modacctrcom, harmocomb, sinstraightcomb |
Any user profile can be followed in the PacDrive controller.
The profiles are created offline with the aid of Logic Builder or special curve design programs and transferred to the PacDrive controller. Cam points of the slave position are preset at equal distances from the master position. The PacDrive controller performs a cubic spline interpolation between cam points. Depending on the type of interpolation, cam points may be set a relatively wide spacing without getting jumps in the velocity or acceleration signal.
The number of cam points is from 3 to 361.
The PacDrive controller cannot process the cam point file directly but requires a coefficient list derived from it. It is generated by a "Cspline coefficients" auxiliary program. The cam point lists are stored in files in MS-DOS format and described with the function FC_CSplineFromFile(). If the profiles are created using Logic Builder, Logic Builder automatically converts and transfers the files to the PacDrive controller.