Editing Trajectory planner
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Following example illustrates a case where user setpoint changes instantly, and causes trajectory planner to generate acceleration & velocity limited motion. | Following example illustrates a case where user setpoint changes instantly, and causes trajectory planner to generate acceleration & velocity limited motion. | ||
− | {{picturebox|Trajectory planner.svg|caption=Signal change inside Trajectory planner | + | {{picturebox|Trajectory planner.svg|caption=Signal change inside Trajectory planner}} |
Trajectory planner has no limit of how often setpoint may be changed. It is possible to give new setpoint even when motion has not reached it's target position, and output motion still follows the given speed limits. | Trajectory planner has no limit of how often setpoint may be changed. It is possible to give new setpoint even when motion has not reached it's target position, and output motion still follows the given speed limits. | ||
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===When to use=== | ===When to use=== | ||
Trajectory planner is mostly used in following cases: | Trajectory planner is mostly used in following cases: | ||
− | *Point-to-point positon control | + | *Point-to-point positon control |
− | * | + | *Velocity control (such as spindle) |
*Velocity limiting for safety reasons on all position & velocity control mode applications | *Velocity limiting for safety reasons on all position & velocity control mode applications | ||
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===When to avoid=== | ===When to avoid=== | ||
As trajectory planner causes limited rate of change, it is not desirable in applications that demand high bandwidth position or velocity control such as: | As trajectory planner causes limited rate of change, it is not desirable in applications that demand high bandwidth position or velocity control such as: | ||
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To prevent trajectory planner from distorting or causing lag in such systems, it can be effectively disabled by setting {{param|CAL}} to maximum value. Velocity limit may be still used for safety reasons as it will not alter the signal unless setpoint velocity exceeds the {{param|CVL}} limit. | To prevent trajectory planner from distorting or causing lag in such systems, it can be effectively disabled by setting {{param|CAL}} to maximum value. Velocity limit may be still used for safety reasons as it will not alter the signal unless setpoint velocity exceeds the {{param|CVL}} limit. | ||
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==See also== | ==See also== | ||
*[[Signal path of motor drive]] | *[[Signal path of motor drive]] | ||
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