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WMX3 User Manual documentation
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WMX3 User Manual documentation

Documentation

  • Release Notes
    • v3.6u2 to v3.6u3 Change Log (August 29, 2025)
    • v3.6u1 to v3.6u2 Change Log (April 17, 2025)
    • v3.6 to v3.6u1 Change Log (June 28, 2024)
    • v3.5 to v3.6 Change Log (November 30, 2023)
    • v3.4u5 to v3.5 Change Log (March 4, 2022)
    • v3.4u4 to v3.4u5 Change Log (July 19, 2021)
    • v3.4u3 to v3.4u4 Change Log (December 18, 2020)
    • v3.4u2 to v3.4u3 Change Log (August 4, 2020)
    • v3.4u1 to v3.4u2 Change Log (March 5, 2020)
    • v3.4 to v3.4u1 Change Log (February 12, 2020)
    • v3.3u7 to v3.4 Change Log (October 8, 2019)
    • v3.3u6 to v3.3u7 Change Log (August 2, 2019)
    • v3.3u5 to v3.3u6 Change Log (June 24, 2019)
    • v3.3u4 to v3.3u5 Change Log (April 25, 2019)
    • v3.3u2 to v3.3u4 Change Log (April 12, 2019)
    • v3.3u1 to v3.3u2 Change Log (December 3, 2018)
    • v3.3 to v3.3u1 Change Log (November 12, 2018)
    • v3.2u1 to v3.3 Change Log (November 1, 2018)
    • v3.2 to v3.2u1 Change Log (September 3, 2018)
  • Support Specifications
    • WMX3 RTX Version
      • Supported PC Hardware
      • Supported OS
      • Supported NIC
      • Supported Library and IDE
      • Supported Sample Project
      • Support for user application development running only on a real-time OS
      • Support for user application development running only on a non real-time OS
  • Setup Guide
    • Overview
      • Outline of Setup Steps
      • Optional Components
    • Real-time OS Configuration
      • WMX3 RTX Version
        • RTX Configuration 1 - Basic Setup
        • RTX Configuration 2 - Critical System Settings
        • RTX Configuration 3 - Essential System Tunings
        • RTX Configuration 4 - Management of Windows Updates
    • WMX3 Configuration
      • Module.ini
        • Modules and Platforms
        • Masters
      • Platform Setting
        • Platform Setting Overview
        • Platform Setting by Utility
      • Module Setting
        • Module Setting Overview
        • Module Setting by Utility
  • General Programming Guideline
    • Architecture
      • Overview of the Architecture
      • x86 Libraries for WMX3 64-bit
      • Devices
        • Overview
        • Device Types
        • Self Devices
        • Copy Operators
      • Start Communication and Servo On
      • Axis Position and User Units
      • Console Screen
      • Version Numbers
    • Tutorial
      • Tutorial 1: Creating a C++ Project
        • Tutorial 1-1: Configuring a new C++ project
        • Tutorial 1-2: Creating and closing devices
        • Tutorial 1-3: Communicating with the network
        • Tutorial 1-4: Error handling
        • Tutorial 1-5: Running the application
        • Tutorial 1-6: Calling a function from another module
        • Tutorial 1-7: Reading the status and executing motion
      • Tutorial 2: Creating a C# Project
        • Tutorial 2-1: Configuring a new C# Project
        • Tutorial 2-2: Creating and closing devices
        • Tutorial 2-3: Communicating with the network
        • Tutorial 2-4: Error handling
        • Tutorial 2-5: Running the application
        • Tutorial 2-6: Calling a function from another module
        • Tutorial 2-7: Reading the status and executing motion
      • Tutorial 3: Basic Motion Functions
        • Tutorial 3-1: Absolute and relative motion
        • Tutorial 3-2: Motion profiles
        • Tutorial 3-3: Blocking motion using Wait function
        • Tutorial 3-4: Stopping motion
        • Tutorial 3-5: Overriding motion
        • Tutorial 3-6: Interpolation
        • Tutorial 3-7: Axis modes
        • Tutorial 3-8: Setting parameters
        • Tutorial 3-9: Saving and loading parameters from file
      • Tutorial 4: Homing and Coordinates
        • Tutorial 4-1: Homing
        • Tutorial 4-2: Set coordinates
        • Tutorial 4-3: User units
        • Tutorial 4-4: Single turn
        • Tutorial 4-5: Absolute encoders
      • Tutorial 5: Creating a Python Script File
        • Tutorial 5-1: Creating a new script (.py) file
        • Tutorial 5-2: Executing the application
      • Tutorial 6: Applications Using the RTX SDK
        • Tutorial 6-1: Configuring a new C++ project
    • Supplemental Information
      • Initialization of Classes and Structures
      • Output Parameters
      • C++ and .NET Library Differences
      • C++ and Python Library Differences
        • PythonAPI Class Correspondence Table
        • PythonAPI Function Correspondence Table
          • ApiBuffer Class
          • Compensation Class
          • CoreMotion Class
          • AdvancedMotion Class
          • CyclicBuffer Class
          • EventControl Class
          • Io Class
          • log Class
          • UserMemory Class
          • WMX3Api Class
          • Ecat Class
          • CCLink Class
    • Function Calls with Specific Properties
      • Function Calls Affected by Interrupts
      • Function Calls That Are Blocking
      • Function Calls for Special Processing
      • Function Calls Related to Memory Allocation
  • Motion Programming Guideline
    • Axis Configuration
      • Overview
      • Command Mode
      • Gear Ratio
      • Single Turn
    • Homing
      • Overview
        • What is Homing
        • Home Types
        • Home Shift
        • Limit Switches During Homing
        • Home Switch is Initially On
        • Limit Switch is Initially On
        • Home Error
      • Home Types
        • CurrentPos
        • ZPulse
        • HS
        • HSZPulse
        • HSReverseZPulse
        • HSHS
        • HSOff
        • HSOffZPulse
        • HSOffReverseZPulse
        • LSReverseZPulse
        • NearLSReverseZPulse
        • ExternalLSReverseZPulse
        • TouchProbe
        • HSTouchProbe
        • LS
        • NearLS
        • ExternalLS
        • MechanicalEndDetection
        • MechanicalEndDetectionHS
        • MechanicalEndDetectionLS
        • MechanicalEndDetectionReverseZPulse
      • Gantry Homing
        • What is Gantry Homing
        • Gantry Homing Example
      • Home Types
        • CurrentPos
        • ZPulse
        • HS
        • HSZPulse
        • HSReverseZPulse
        • HSHS
        • HSOff
        • HSOffZPulse
        • HSOffReverseZPulse
        • LSReverseZPulse
        • NearLSReverseZPulse
        • ExternalLSReverseZPulse
        • TouchProbe
        • HSTouchProbe
        • LS
        • NearLS
        • ExternalLS
        • MechanicalEndDetection
        • MechanicalEndDetectionHS
        • MechanicalEndDetectionLS
        • MechanicalEndDetectionReverseZPulse
    • Basic Motion
      • Motion Profiles
        • Overview
          • What is the Motion Profile
          • Profile Parameters
          • Minimum and Maximum Travel Distance
          • Minimum Velocity
          • Velocity Adjustment from Extra Pulses
          • Cycle Time Independent Profiles
        • Trapezoidal
        • S-Curve
        • Jerk Ratio
        • Parabolic
        • Sine
        • Advanced-S
        • Trapezoidal Moving Average Time
        • Jerk-Limited
        • Jerk-Limited S-Curve
        • Jerk-Limited Advanced-S
        • Two Velocity Trapezoidal
        • Two Velocity S-Curve
        • Two Velocity Jerk Ratio
        • Time Acceleration Trapezoidal
        • Time Acceleration S-Curve
        • Time Acceleration Jerk Ratio
        • Time Acceleration Parabolic
        • Time Acceleration Sine
        • Time Acceleration Advanced-S
        • Constant Deceleration
        • Jerk Ratio Fixed Velocity T
        • Jerk Ratio Fixed Velocity S
        • Jerk-Limited Fixed Velocity T
        • Jerk-Limited Fixed Velocity S
        • Parabolic Velocity
      • Override Motion
        • Overview
        • Override to Lower Velocity
        • Acceleration Reset
        • Overtravel
        • Override in Opposite Direction
      • Trigger Motion
        • Overview
        • Remaining Time
        • Remaining Distance
        • Same Time Completion
        • Completed Time
        • Completed Distance
        • Staggered Time Completion
        • Staggered Distance Completion
        • Distance to Target
        • Other Trigger Types
        • Trigger Events
          • Overview
          • Input Functions
            • Regular Trigger Motion Input Functions
            • Register Input Functions
            • I/O Input Functions
            • User Memory Input Functions
            • Position Input Functions
            • Velocity Input Functions
            • Torque Input Functions
            • Other Input Functions
          • Output Functions
      • Interpolation
        • Overview
        • Linear Interpolation
        • Circular Interpolation
        • Helical Interpolation
        • Interpolation Overrides
        • Fast Blending Override
        • Blending Override
        • Smoothing Override
      • Wait Operation
        • Overview
        • Wait with Multiple Threads
        • Wait with Trigger Motion
        • Wait with Interpolation Overrides
        • Wait Timeouts
      • Synchronization
        • Overview
        • Sync Compensation
        • Sync Homing
        • Sync Gear Ratio
        • Sync Phase Offset
        • Combine Sync
        • Desync Handling
        • Sync Group
      • PVT Command
        • Overview
        • PVT Command
        • PVT Interpolation Command
        • PT Command
        • VT Command
        • AT Command
        • Long PVT Commands
    • Advanced Motion
      • Path Interpolation
        • Overview
        • Constant Profile Mode
        • Auto Smooth Mode
        • Setting Outputs
        • 3D Path Interpolation
        • Long Path Interpolations
      • Spline
        • Overview
        • Total Time Spline
        • Point Time Spline
        • Profile Spline
        • Velocity Acceleration Limited Spline
      • Path Interpolation with Rotation
        • Overview
        • Defining the Path Segments
        • Setting the Center of Rotation
        • Interpolation without XY Rotational Motion
        • Interpolation with XY Rotational Motion
        • Interpolation Without Stopping
        • Move to Specific Path Position
        • Rotational Axis Parameters
        • X and Y Axis Parameters
        • Z Axis Parameters
        • Other Parameters
      • Path Interpolation with Look Ahead
        • Overview
        • Starting and Stopping
        • Sample Distance
        • Smooth Radius
        • Axis Velocity and Acceleration Limits
        • Angle Tolerance
        • Circular Interpolation Commands
        • Adding Commands During Execution
        • Sleep Commands
        • Output Commands
        • Trigger Conditions for Output Commands
        • Velocities for Each Segment
        • Interpolation in Three to Six Dimensions
        • Auxiliary Axes
        • Jerk Limit
      • E-CAM
        • Overview
        • Normal Type E-CAM
        • Periodic Type E-CAM
        • Repeat Type E-CAM
        • E-CAM with Single Turn Slave Axes
        • E-CAM Clutch Types
    • PM (Profile mode) Motion
      • Overview
      • Configuration
    • Other Functions
      • I/O
        • Input Address Space
        • Output Address Space
        • Initial Output
        • Expedited I/O Functions
        • Analog I/O Functions
        • Output Bitmask Functions
      • User Memory
      • Limit Switch
      • API Buffer
        • Basic Operation
        • Advanced Operation
        • Blending Motion
      • Compensation
        • Pitch Error Compensation
        • Two-Dimensional (2D) Pitch Error Compensation
        • Backlash Compensation
      • Events
        • Inputs
        • Outputs
      • Touch Probe
      • Position Synchronous Output (PSO)
      • Planned Velocity Override
      • Data Log
      • API Log
      • Memory Log
      • Watchdog
    • Parameters
      • Overview
      • Feedback Parameters
      • Homing Parameters
      • Limit Parameters
      • Motion Parameters
      • Alarm Parameters
      • Sync Parameters
      • Flight Recorder Parameters
      • Emergency Stop Parameters
      • Axis Parameters
    • Status
      • Overview
      • System Status
      • Axis Status
    • Error Codes
      • Base Error Codes
      • API Buffer Error Codes
      • Compensation Error Codes
      • Core Motion Error Codes
      • Advanced Motion Error Codes
      • Cyclic Buffer Error Codes
      • Event Error Codes
      • I/O Error Codes
      • Log Error Codes
      • User Memory Error Codes
      • PM Motion Error Codes
    • Constants
      • Base Constants
      • API Buffer Constants
      • Compensation Constants
      • Core Motion Constants
      • Advanced Motion Constants
      • Cyclic Buffer Constants
      • Event Constants
      • I/O Constants
      • Log Constants
      • User Memory Constants
      • PM Motion Constants
  • Simulator Platform
    • Enabling SimuPlatform
    • Simulation Define (simu_network.def)
    • Error Codes
  • EtherCAT Platform
    • Master Class
    • Enabling EcPlatform
    • Required Objects
    • Network Define (ec_network.def)
      • DC
      • AL State
      • Cyclic Mode
      • Hot Connect
      • User Define
      • Others
    • ENI File
      • General Statements
      • Operation Commands
    • Data Log
      • Loggable Data
      • Log Triggers
    • Memory Log
      • Loggable Data
    • Error Codes
      • Error codes on the console screen
    • Additional Considerations

API Reference

  • WMX3 APIs
    • Namespace wmx3Api::constants
    • Class ApiBuffer
    • Class Compensation
    • Class CoreMotion
      • Class AxisControl
      • Class Config
      • Class Home
      • Class Motion
      • Class Sync
      • Class Velocity
    • Class AdvancedMotion
      • Class AdvMotion
      • Class AdvSync
      • Class AdvVelocity
    • Class CyclicBuffer
    • Class EventControl
    • Class Io
    • Class Log
    • Class UserMemory
    • Class PMMotion
      • Class PMAxisControl
      • Class PMAxisHome
      • Class PMAxisMotion
      • Class PMAxisVelocity
    • Class WMX3Api
    • Class Simu
    • Namespace wmx3Api::simuApi
    • Namespace wmx3Api::ecApi::constants
    • Class Ecat
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Advanced Motion¶

The following sections cover advanced motion topics.

  • Spline

  • Path Interpolation

  • Path Interpolation with Rotation

  • Path Interpolation with Look Ahead

  • E-CAM

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Path Interpolation
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Long PVT Commands
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