TrajectoryInterpolator

The TrajectoryGenerator element presents an entity, which interpolates the calculated trajectory and determines the setpoint values.

Example

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<Controller Name="Arcas 5EG-0">
  <AxisControl Name="X" Template="LogicalAxisControlStandard3rdOrderTemplate">
    <TrajectoryInterpolator>
      <Signal Name="DemandVelocityLimit" Unit="m/s">1.0</Signal>
      <Signal Name="DemandAccelerationLimit" Unit="m/s2">10.0</Signal>
      <Signal Name="DemandJerkLimit" Unit="m/s3">10.0</Signal>
      <Signal Name="DemandPositionHighLimit" Unit="m">10.0</Signal>
      <Signal Name="DemandPositionLowLimit" Unit="m">100.0</Signal>
    </TrajectoryInterpolator>
  </AxisControl>
</Controller>

XML schema

Complex type TrajectoryInterpolatorType
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<xs:complexType name="TrajectoryInterpolatorType">
  <xs:choice minOccurs="0" maxOccurs="unbounded">
    <xs:element name="Signal" type="SignalType"/>
    <xs:element name="Input" type="InputType"/>
    <xs:element name="Event" type="EventType"/>
    <xs:element name="EventResponse" type="EventResponseType"/>
    <xs:element name="StateMachine" type="StateMachineType"/>
    <xs:element name="Variant" type="TrajectoryInterpolatorVariantType"/>
    <xs:element name="NamedMutation" type="NamedMutationType"/>
  </xs:choice>
  <xs:attribute name="Name" type="xs:string"/>
</xs:complexType>

Attribute

Description

Name

Used to specify the trajectory interpolator, which is required to be defined or modified. By default the name is TrajectoryInterpolator
Complex type TrajectoryInterpolatorVariantType
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<xs:complexType name="TrajectoryInterpolatorVariantType">
  <xs:complexContent>
    <xs:extension base="BaseVariantType">
      <xs:choice minOccurs="0" maxOccurs="unbounded">
        <xs:element name="Signal" type="SignalType"/>
        <xs:element name="Input" type="InputType"/>
        <xs:element name="Event" type="EventType"/>
        <xs:element name="EventResponse" type="EventResponseType"/>
        <xs:element name="StateMachine" type="StateMachineType"/>
        <xs:element name="Variant" type="TrajectoryInterpolatorVariantType"/>
        <xs:element name="NamedMutation" type="NamedMutationType"/>
      </xs:choice>
    </xs:extension>
  </xs:complexContent>
</xs:complexType>