﻿ Tutorial 2: Edit Flexible Polynomial - Basic Level

# Tutorial 2: Editing Flexible-Polynomial - Basic Level

## Edit Flexible Polynomial Motion-Law - Basic-Level

The Flexible-Polynomial Motion-Law is good for most motion design requirements.

The tutorials shows you how to use the Blend-Point Controls when the segments in the motion are all Flexible-Polynomial motion-laws.

After this tutorial, you should be able to use the Blend-Point Editor to edit Flexible Polynomial segments, at a basic level.

Recommended: if possible, do not to mix 'Flexible Polynomial' with 'Traditional' Motion-Laws in the same motion.

It is recommended [but not essential] that the segments are:

 • ALL Flexible Polynomials Motion-Laws

or

 • ALL Traditional [also called 'Standard'] Motion-Laws

#### Video of this Tutorial

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

#### Important information to remember

The Blend-Point Editor can edit ONLY the motion-values at the:

 • Start of the Selected-Segment.
 • End of the Previous-Segment.

You can not edit the motion-values at the:

 • End of the Red Selected-Segment

To edit the motion-values at the end of the Selected-Segment, you muse click the Next-Segment.

As soon as you click the Next-Segment it becomes the Selected-Segment!

#### The Default Motion has four Flexible Polynomial Segments

 Number of Segments: Four segments Motion-Width (X-axis): 360º Motion-Laws All four segments are Flexible-Polynomial

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 segment the Selected-Segment

 STEP 1. Click above or below the graph line of the second segment.

The Blend-Point at the start of the RED Selected Segment [or orange]

Terminology:

Active-Blend-Point: The Blend-Point at the left 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.

#### Edit the X-axis Value of Blend-Point #2

Open Blend-Point Editor icon

 STEP 1. Open the Blend-Point Editor.

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

 STEP 2. Edit the X-axis value of the active Blend-Point.

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 can 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, and the Motion-Width does not change.

The X-axis value in the Blend-Point Editor and the X-axis value of the Blend-Point motion graph.

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.

#### Edit the Y-Value Position of Blend-Point #2

Edit Position of Blend-Point

 STEP 1. Edit the Y-axis motion-values of the active-Blend-Point.

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 motion-value of the Blend-Point, you must edit the Position value in the data box.

 STEP 2. Change the Position Value of the Blend-Point to 70º

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 [P, V, A ,and J].

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.

#### Edit the Velocity Y-Value of Blend-Point No2

Edit Velocity of Blend-Point

In the Blend-Point Editor

Y-axis Values separator

End Velocity data box [End 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 ;

 STEP 1. Change the End Velocity to 200º/s

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

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

 • Velocity increases to 200.

#### Edit the Acceleration Y-Values of Blend-Point No2

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 ;