Segment Editor: Segment-Range

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Segment Editor: Segment-Range

SEGMENT-EDITOR : Segment-Range

Some Traditional Motion-Laws have Segment-Range parameters.

The Segment-Range parameters edit at what phase to start and end the mathematical-function.

One application of Segment-Range is to design Asymmetrical Motions.


Start and End Segment Ranges

Start and End Segment Ranges

Default Segment-Range :

Start-Range = 0

End-Range = 1

Limits to the Segment-Range values

0 ≤ Start Range < End Range ≤ 1

Example

The three images below show the acceleration graph of a Modified Sinusoid motion-law with different Segment Ranges.

MT-SegmentRange-0-0

Image 1

Modified Sinusoid Motion-Law.

Segment-Width = 90º

Start-Range = 0.0

End-Range = 1.0

 

MT-SegmentRange-0210

Image 2

Segment-Width = 90º

Start-Range = 0.2

... to remove from 0 - 20% from the start of the Modified-Sinusoid function

End-Range = 1.0


MT-SegmentRange-1008

Image 3

Segment-Width = 90º

Start-Range = 0.0

End-Range = 0.8

... to remove 80 - 100% of the Modified-Sinusoid function.


See also: Segment Editor: Segment-Width, Segment Editor: Parameters

Dwell-Rise-Dwell Asymmetric Motion

Symmetric Segments - The crossover is at the mid-point of the Segment.

Asymmetric Motions - The crossover is earlier or later than the mid-point of the Segment.

Use Asymmetric Motions to modify the acceleration and deceleration timing. For example, if you want a tool to accelerate quickly, to reach its maximum velocity earlier than the mid-point of the segment, and then decelerate more gradually, or vice versa.

You can model an asymmetrical motion with two segments that have the same motion-law.

This example Motion-Law is a Modified Sinusoid. You would usually specify this with one Mod-Sine segment, but we will can imagine it as two segments.

MT-AsymmetricalModSine

Orange Line graph - is Symmetrical

Symmetrical Mod-Sine Motion-Law : λ = 0.5

Segment 1

Machine angle - X-axis:  0 - 180º  ( 0 - 0.5 of total duration)

Displacement - Y-axis : 0 - 50 units

Segment Ranges = Start-Range = 0 and End Range = 0.5.

Segment 2

Machine angle - X-axis:  180 - 360º ( 0.5 - 1.0 of total duration)

Displacement - Y-axis:  50- 100 units

Segment Ranges = Start-Range = 0.5 and End-Range = 1.


Black Line graph - is Asymmetrical

Asymmetrical Mod-Sine Motion-Law : λ = 0.25

Crossover @ 0.25 = 90º machine angle.

Segment 1:

Machine angle - X-axis: 0 - 90º (0 - 0.25 of total duration)

Displacement - Y-axis: 0 - 25 units

Segment Ranges = Start-Range = 0 and End Range = 0.5..

Segment 2:

Machine angle - X-axis: 90 - 360º (0.25 - 1.0 of total duration)

Displacement -Y-axis: 75 - 100 units

Segment Ranges = Start-Range = 0.5 and End-Range = 1.

Characteristics Values of Asymmetrical Motion-Law.

Maximum Velocity : Asymmetrical Velocity = Symmetrical Velocity.

Maximum Acceleration: Segment 1 :  Cas = Ca / 2λ ;

Maximum Acceleration: Segment 2 :  Cas = Ca / 2(1-λ)