Tutorial 2: Editing Flexible-Polynomial - Basic Level

How to...Edit a Motion with Flexible-Polynomial Segments.

Note: Only the bottom graph displays the X-axis values. All the motion-derivatives [P.V.A.J.] use the same X-axis values.

Make the second Blend-Point the Active-Blend-Point.

The second segment becomes the RED Selected-Segment. The Blend-Point at its start, has a RED ◊ [orange in image]

Terminology:

Active-Blend-Point: The Blend-Point at the left-side of the RED selected Segment, with the RED ◊[or orange] around it.

Previous-Segment: This is the segment before (earlier than) the RED Selected-Segment, and the Active-Blend-Point.

Selected-Segment: This is the RED segment.

You can look at the Motion-Law Selector to confirm that the RED Selected-Segment is a Flexible-Polynomial.

Click the Blend-Point and Segment toolbar > Edit Blend-Point icon

In the Blend-Point Editor - see image below - you can see two Orange Separators.

You edit the X-axis value of a Blend-Point in the X-axis Values separator.

You move the Blend-Point to the left or the right as you edit the X-axis parameter in the data box.

The Blend-Point 'slides' across the motion, so that the Motion-Width does not change.

The image shows the virtual connection between the X-axis value in the Blend-Point Editorand the Blend-Point position along the X-axis in the motion-graph area.

In the Blend-Point Editor -you will see you can edit the Position Values.

This is where - in the Position Graph - the Blend-Point is at the start of the Selected-Segment.

To move the Blend Segment up or down, that is to edit the Position of the Blend-Point, you must edit the Position value in the data box.

Use the spin-box, to edit the Position Value from 90º to 70º

Control Buttons in the Blend-Point Editor.

Y-axis Values separator

End Position Control-Button and the End Position data box are active .

Thus, we can edit its value. It controls the Position at the end the Previous-Segment.

The Match Control Button is 'active'.

Because the Match Control Button is active, the Start Position of the RED Selected-Segment is forced to be equal to the 'End-Position' of the Previous-Segment ; the Start-Position value is Read-Only.

With the Flexible Polynomial Motion-Law, the Match Control-Buttons are available for each Motion-Derivative:

When the Match-Control Button of a motion-derivative is active, the motion-value of the motion-derivative at the ...

... Start of the RED Selected-Segment ...

... is forced to become equal to the ...

... End of the Previous-Segment.

In the Blend-Point Editor

Y-axis Values separator

End Velocity data box [Velocity at end the Previous-Segment.

The Match Control Button is 'active'.

When the Match Control Button is active, the Start Velocity of the RED Selected-Segment is forced to be equal to the 'End-Velocity' of the Previous-Segment ;

The Start-Velocity value is Read-Only.

Use your mouse to click on the left or right spin box button at the right-side of the End Velocity box.

You can see in the velocity motion-graph that the:

•	Velocity increases to 200.

In the Blend-Point Editor

Y-axis Values  separator

End Acceleration data box [Acceleration at the end of the Previous-Segment]

The Match Control Button is 'active'.

When the Match Control Button is active, the Start Acceleration of the RED Selected-Segment is forced to be equal to the 'End-Acceleration' of the Previous-Segment ;

The Start-Acceleration value is Read-Only.

Use your mouse to click on the left or right spin box button at the right-side of the End Acceleration box.

You can see in the acceleration motion-graph that the:

•	Acceleration changes to -4000.