contoured move and move constraints

[awen]

The NI-Motion User Manul tells' A contoured move moves an axis or a coordinate space of axes in a pattern that you define. The trajectory generator on the motion controller is not used during a contoured move. The controller takes position data in the form of an array, and splines the data before outputting it to the DACs or stepper outputs' and ' The move constraints commonly used to limit other types of moves, such as maximum velocity, maximum acceleration, maximum deceleration, and maximum jerk, have no effect on contoured moves. However, the NI Motion Assistant prototyping tool can remap a user-defined trajectory based on specified move constraints, preserving move characteristics and move geometry.'. How the move constraints works in NI motion Assistant prototyping tool in  the contoured move?

[Jochen]

The feature that you are referring to is called Smart contouring. Smart contouring is a patent-pending algorithm in NI Motion Assistant. In fact this is just some advanced math but as Smart contouring is one of the main features of the NI Motion Assistant we can't make this algorithm publically available.

Jochen Klier
National Instruments Germany

[awen]

Thanks. Can I get the output position data of Smart Contouring?

In the contoured move, the motion time between two continous points is the sampling period, is it correct? I am really confused with the stepper motor controll by 7344 using closed-loop control.

I developend an interpoaltor in which I set the time interval between two sequential interpolated point is 1ms and this value can be changed. To get the smaller chorderror, the time interval also should be small. When I do the experiment using contoured move (stepper motor +7344 +closed loop), the velocity is very slow. I think the reason is that time interval of the control loop is much bigger than the  time interval used in the interpolator. This means the motion time between two sequential point is increased consequently decreases the velocity. Anyway I am not sure about this. Is anyone has any idea?

 ^_^