The Recorded Slave TrajectoryWith the recorded position command taken from the roller,
the acceleration of the slave can be seen from point "1"
to point "2". At point "3"
the 1st box was actually printed and the slave continues
with a PTP movement to the start of the next box at point
"4" (location -16000 after modulo).
The next box arrives at point "5" and
the roller starts to accelerate again.
While this box is being printed another box arrives and
at point "6" an immediate follower engagement
is performed. The next box is printed.
Note that each cycle takes 14000 counts and the "HOMING"
takes 2000 counts more.
The trajectories are the same regardless of the conveyer
location and the roller starting point.