Elmo HARSFEN0602, HARmonica software manual 143

HARSFEN0602ElmoHARmonicaSoftwareManual PRELIMINARYDRAFT

The next figure displays the interpolated trajectories generated by the Amplifiers for the x-axis and for the y- axis.

4
x 10
6
	X axis trajectory
4
2
0
-2
Counts
-4				Y axis trajectory
-6					msec
0	500	1000	1500	2000	2500

Example

The Amplifier normally produces maximally smooth interpolating trajectories. For this reason, the ellipse of the previous example could be interpolated using so few points.

Accurate corners require, however, non-smooth interpolation. Specifying zero speed for the corner points generates hard corners. The graph below shows a 2-axes synchronized PVT trajectory of an accurate rectangle.

x 10	4
2
Counts
1
0			Rectangle
-1
-2			Counts
-3	-2	-1	0	1	2	3
x 10	5					4
						x 10
2
Counts/sec
1
0

-1	x speed
	y speed
-2	PVT points

0 5 10 15 20 25

143

For the corner points, both the x and the y speeds are specified to zero.

The interpolation error for the entire rectangle is zero.

Example

Consider the following PVT interpolation interval:

Parameter	Value
Starting position	1000cnt