How Is the Coordinate Move Velocity Move Calculated in SoftMotion

Updated May 3, 2018

Reported In

Software

  • LabVIEW SoftMotion Module

Issue Details

I have an application that requires the velocity to be precisely known. How does SoftMotion generate the velocity move for a coordinate move in a coordinate space?

Solution

The individual axis velocities can be calculated because the coordinate space velocity is already known. The individual axis velocities can then be determined from the geometry of the move:
  1.  Find the overall distance of the move by taking the square root of the individual axis distances squared D = SQRT (D1^2 + D2^2 + … + Dn^2). This gives the total move distance based on the Pythagorean theorem.
  2. Use the distance ratio to calculate the individual axis velocity. Vaxis = (Daxis/D) * Coordinate Velocity. This will be the velocity of the individual axis. 

Additional Information

While it isn't possible to directly control the individual velocity profile of each axis, it would be possible to do your own trajectory generation. Then use the Contour move to write the position setpoints that result from your velocity profile.

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