Softmotion - Velocity/Time Move Woes

[Maximus_prime]

Im trying to conduct a velocity time move in Softmotion such that my move finishes within a set time and follows a custom profile. The motor controls a variable filter which has a logorithmic scale, hence to create a linear power rise through the filter its position needs to start of quickly then slow down. 

I generate a linear curve by means of a look-up table from a calibration file which gives the step position as a function of transmission. 

I attach some example code. The problem I am having probably relates to not knowing the form the motion generator is expecting, and the soft motion read-me files are all rather confusing. 

[JelmerD]

Hey Maximus,

Could you elaborate on what it is you are looking to do, and what it is that you are not understanding regarding the soft-motion read me files? 

What are you aiming to achieve in your application?

Best,

-Jelmer

[Maximus_prime]

I am trying to move a filter wheel in a known time-frame and defined velocity. 

I have a filter wheel with known position and attenuation (transmission). This is stored in a array so that I can look up the power and position values for a known (laser with constant power) source.

Assuming I want a linear response of the filter I need to start of fast and slow down at low attenuation rather than it following a traditional S-Curve. 

I'm not sure how the velocity move works as it is generating an error each time; presumably it requires that the specified velocity and time points are in some kind of solveable format; but there is no description as to what these should be, i.e. what rules they must follow to not generate the error.

Ben

[Maximus_prime]

Ok, I am still struggling here! I figure the errror has something to do with the way Softmotion requires the velocity and time coordinates to be specified. 

As I understand it the position points are absolute but relative to a zero start position. How are the velocity points expected?

I have managed to get a velocity time move to complete for a 5 point segment using a trial and error method changing the velocities until it solves the profile, having both negative and positive values. I want to be able to set the velocity in the program but I don't know how as the velocities I calculate are (according to the softmotion module) invalid.

I have tried calculating the end velocity by a few methods though none seem to work.