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To Define a Table Motor Function
Use the steps below to create a table Motor Function. You can define a table or, load a table from a file.
1. In the Profile Details tab, select Table as the Function Type.
2. Select an interpolation method:
Linear—connects the table points with a straight line. When the profile includes discontinuities, the graph may be inaccurate if you select Linear to graph velocity or acceleration.
Spline—fits a cubic spline to each set of points. A spline fit prevents abrupt changes in the motion of the driven quantity.
Monotonic—produces a monotonic trajectory when you use default velocity values and monotonic magnitude values. When you define a profile that includes monotonic magnitude value segments, the resultant trajectory will be monotonic in these segments.
A table must have at least 2 rows to be suitable for a motor profile.
Defining a Table
1. Click to add a new row to the table. Click the arrows or type a non-negative value in the box to increase or decrease the number of rows added to the table at once.
2. Click to delete highlighted rows from the table as necessary.
3. To sort the table, click
4. Type values in each of the columns:
Variable Value—Type values for the independent variable X in the first column of the table. If you are defining a force or a torque, or a force motor, this column is Time or Measure. When you are defining a servo motor, the values in the first column will be for Time.
Driven Quantity Value—Type values for the Driven Quantity in the second column.
Derivative Value and Computed Derivative Value—The third and fourth columns appear when Monotonic fit is chosen. The values that appear in the Computed Derivative Value column are the default values that are used when no values appear in the Derivative Value column.
5. To save and export the table data to a file, follow the steps below in the Interaction with External File section.
a. Type a name in the box and press ENTER.
b. Click .
6. To import data from a table file perform one of the following operations:
To select a table file, click . The Select a Table File dialog box opens. Select a *.tab or *.grt file and click Open. The name of the file appears in the box and the table appears in the Table Specification box.
Type the name of a previously saved file, or select the file from a list of previously saved files and click. The table appears in the Table Specification box.
7. To make the table dependent on an external file, click to select the Depend on External File check box. You cannot edit the table when it is dependent on an external file.