TrjCompute: Trajectory Calculation Function (ACTION

At a Glance

The TrjCompute function can be used to upload trajectories to the TSX CSY 85 module.

It relies on the following elements for its execution:

The default instruction to transfer information to the module TRF_RECIPE
The action code ACTION_TRF = 26900 (%MWr.m.c.10) and
The table of parameters defining the trajectory

NOTE: The parameter table can be created either directly by entering the parameters into the word table, or by importing this table using the graphics-based TjE (Trajectory Editor) software.

The following pages indicate the syntax to be used, followed by a description of all interpolations supported by this function and their codes.

WARNING

UNEXPECTED APPLICATION BEHAVIOR

You must reset the ALLOW_ACQUIRE bit of the group of slave axes before launching the TrjCompute function.

You can then revalidate the group by positioning the ALLOW_ACQUIRE and CONTROL_ACQUIRE bits to 1.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

Function Syntax

The TrjCompute function is executed:

On a slave axis group type channel (channels 21 to 24)
With the following parameter settings:
- %MWr.m.c.10 (ACTION_TRF) = 26900
- %MDr.m.c.11 (param_trf_1) = 0,
- %MDr.m.c.13 (param_trf_2) = 0,
- %MDr.m.c.15 (param_trf_3) = 0,
- %MDr.m.c.17 (param_trf_4) = 0,
and the TRF_RECIPE function, whose parameters are taken from the word table, which contains the description of the trajectory as well as the length of this table.

TRF_RECIPE %CHr.m.c (table_length, trajectory_table)

Parameter	Description
%CHr.m.c	Channel associated with module channel group consisting of the slave axes and master axis of the trajectory to be calculated.
Table_length	Number of words in the trajectory table. The calculation formula is as follows: Table_length = 6 + number of axes + number of words per point * number of points: Number of axes: Number of slave axes 2 or 3. Number of words per point: 17 for 2 axes and 19 for 3 axes. Number of points: Number of reference points characterizing the movement.
Trajectory_table	First word in the table containing the parameters of the trajectory, this table contains a header and as many blocks as there are trajectory segments required to complete this movement. This table is described in detail below.

Example: TRF_RECIPE %CH3.21 (93,100); for movement on 2 axes, with 5 characteristic points and one table located in %MW100.

Feedback Code

Feedback codes for the TRF RECIPE function following the trajectory calculation 26900 are available in words %MDWxy.i.4 and %Mfxy.i.6 indicating:

· Return_trf_1: the number of useful cam points to which you must add 5 for the configuration of the CSY85 in PREMIUM
· Return_trf_2: the maximum distance of the master to cover the entire trajectory.

The trajectory calculation time may require several seconds, according to the complexity of the described trajectory. Example: For 35 master points, the calculation time is approximately 3 seconds.

Data returned by action code ACTION_TRF = 26900 (%MWr.m.c.10)

Object	Type	Symbol	Description
%MDr.m.c.4	Integer	RETURN_TRF_1	Number of points in the trajectory
%MFr.m.c.6	Floating point	RETURN_TRF_2	Length of the trajectory

Trajectory Table Header

The table below describes the content of the header of the trajectory table starting at address %MWi:

Memory address	Description
%MWi	Number of points to be interpolated
%MWi+1	Number of slave axes used for the trajectory
%MWi+2	Memory shift for each interpolation point: 17 with 2 slave axes 19 with 3 slave axes
%MWi+3	Interpolation table version (enter the value 0 for now)
%MWi+4	Reserved
%MWi+5	Reserved
%MWi+6	Identifier (ID) of X axis
%MWi+7	Identifier (ID) of Y axis
%MWi+8	Identifier (ID) of Z axis Note: If the movement only uses two axes, this word does not exist and the table header only comprises 8 words.

NOTE: Do not confuse the number of the channel associated with the axis with the axis ID. You can use the GetAxisID function (code 523) to obtain the ID of an axis (use the WRITE_CMD instruction).

Trajectory Table Body

The table body contains a series of blocks, which characterize each segment of the trajectory. Each block contains an identical number of words, which contain the interpolation parameters for each segment.

The table below describes a typical segment of a trajectory table, where the table header starts at address %MWi:

Memory address	Parameter	Description
%MFj (1)	XCoord	Coordinate based on the X axis of the characteristic point of the segment.
%MFj+2	YCoord	Coordinate based on the Y axis of the characteristic point of the segment.
%MFj+4	ZCoord	Coordinate based on the Z axis of the characteristic point of the segment. Note: If the movement only uses two axes, this parameter does not exist and the block associated with this segment only contains 17 words instead of 19.
%MFj+6	ParF0	Vset: Setpoint speed of this segment.
%MFj+8	ParF1	Parameter ParF1, determined by the type of interpolation.
%MFj+10	ParF2	Parameter ParF2, determined by the type of interpolation.
%MFj+12	ParF3	Parameter ParF3, determined by the type of interpolation.
%MWj+14	ParW0	Segment interpolation type: 0: Linear 1: Linear with 3º polynomial interpolation connection 2: Linear with link using 5º polynomial interpolation connection 10: Linear with circular interpolation connection 11: Circular via calculation of circle radius 12: Circular via calculation of circle center 100: Only for point P0, to indicate that the movement is along a tangent axis 101: Only for point P0, to indicate that the movement is along a tangent axis but shifted by 180° in relation to code 100 (other side of the curve).
%MWj+15	ParW1	Parameter ParW1, determined by the type of interpolation.
%MWj+16	ParW2	Parameter ParW2, determined by the type of interpolation.
%MWj+17	ParW3	Parameter ParW3, determined by the type of interpolation.
%MWj+18	ParW4	Parameter ParW4, determined by the type of interpolation.

Legend
(1) j = 6 + number of axes, j = 9 if the trajectory is configured on 3 axes, j = 8 if it is configured on 2 axes.

NOTE: Some or all of these different parameters are used depending on the type of interpolation selected for each segment. For a complete trajectory table, the blocks characterizing each segment must be positioned consecutively one after the other.

NOTE: The Characteristic Point of a segment (XCoord, YCoord, ZCoord) is the point reached by the segment. The P0 point is the start point of the trajectory and is required in specific cases, such as for a closed trajectory, in order to be able to calculate the trajectory length.

Error Codes

When this function is used, the error codes common to all types of interpolation, which can be returned in word %MWr.m.c.3, are as follows:

Code	Description
9502	The maximum number of points for a cam has been exceeded.
9503	The maximum number of axes has been exceeded.
9505	The point number configured for one of the cams is not sufficient to execute the function.
9507	Cam not configured.
9510	The maximum number of points for a table has been exceeded.