Trajectory Configuration

Some commands such as the Trajectory motion command, requires data to be loaded to the PMC configuration before they can be run. The details of trajectory configuration are provided below.

• The trajectory is defined by a tab delimited text file (xxx.txt), with 6 or 7 columns. Column definitions are fixed, you must upload either 6 columns or 7 columns, without any header rows

• When uploading a file with 6 columns, they are defined as X(mm), Y(mm), Z(mm), RX(mrads), RY(mrads), RZ(mrads) 

• Trajectory points are relative positions to the starting position of the XBot when the command starts executing. E.g. a first trajectory point of (0, 0, 0, 0, 0, 0) means maintain current XBot position

• For 7 columns, they are defined as X(mm), Y(mm), Z(mm), RX(mrads), RY(mrads), RZ(mrads), Motion Axis (PMC Digital Output) 

• Entering a value of 1 into Column 7 means turn on the digital output pin of the PMC. A value of 0 means turn off the digital output of the PMC

• The XBot will directly follow the trajectory provided by the file, therefore it is important to keep the speed and acceleration within the specified limits when generating the trajectory

• The temporal interval of trajectory can be from 1 [ms] to 10000 [ms]

• # of trajectories is limited to 64, this can be upgraded to a higher number. Please contact PMI if you require more trajectories

After creating a valid trajectory file, open the configurator.

① Choose the Trajectories tab

② Choose Add Trajectory, and select the desired trajectory file 

③ In the pop up window, enter the desired trajectory ID and time interval between trajectory points

④ Choose which axis of the trajectory file to use, and which ones to ignore / discard. The motion axis can have a customized action (Disabled or Control PMC Digital Output)

⑤ Optionally enter a description for this trajectory, then click OK 

⑥ Review the added trajectory

⑦ If it is satisfactory, choose "Yes" to confirm trajectory addition

⑧ Write configuration to the PMC