As we have already seen, the TSX CSY 85 is identical to the TSX CSY 84 in every way, with the exception of a set of software interpolation functions.
With the assistance of the trajectory editor software TjE, trajectories can easily be created from a number of points and associated with groups of 2 or 3 axes using these new functions.
NOTE: The maximum number of points allowed when creating trajectories can varies depending on the firmware version:
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For firmware version 1.1 or earlier:
The maximum number of reference points allowed is 60.
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For firmware version 1.2 or later:
The maximum number of reference points allowed is 200.
Up to 7 cam profiles are available on this module. This means that up to 2 groups of 3 axes or even 3 groups of 2 axes can be managed. (These groups must be independent and run simultaneously.)
The trajectories are created using points, which define segments according to types of interpolation:
NOTE: The trajectory editor software is supplied with the TSX CSY 85 trajectory function CD, which includes:
The trajectory is created by linking real slave axes to a master axis via a slave axis group. Cam profiles (table of 5000 master points maximum for 4996 real master points) are calculated automatically in order to ascertain this trajectory.
Description of principle:
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The cam profiles associated with each slave axis are calculated from the interpolation table using the internal module algorithm.
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The slave axes are associated with the master axis.
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The master trajectory is calculated by programming the slave axes using the standard TRF_RECIPE function and parameters specific to each type of interpolation.
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Then, positions on each associated slave axis can be obtained instantaneously by managing the master trajectory (manual or automatic, via program settings or the user interface).
NOTE: The interpolation algorithm can be used to create trajectories with absolute positioning (trajectory reference point same as that of the axes) or relative positioning (movement starts at the current position on the axis).
NOTE: The new functions supported can also be used both to ascertain the maximum speed permitted on the master axis and, as a consequence, on each axis for each segment of the trajectory, and to perform a complete movement at maximum possible speed (constant speed on all trajectories), taking into account the maximum acceleration rates supported by the motors according to the dynamics of the trajectory.
Limitation of the TSX CSY 85 Module
Control Expert software accepts the MOD_PARAM function when used with the TSX CSY 85 module but it is not operational. Hence, the MOD_PARAM function is not available for the TSX CSY 85 module but only for the TSX CSY 164 module.
