smoothing your PTP moves

[robots_at_apex]

what is the best way to smooth or round your PTP moves? What is the difference between C_PTP and  C_DIS?

Thanks in advance.

[MartinH]

There are some very good examples in the Expert Programming Manual in this thread

Basically, you need to set the approximate angle for PTP moves eg

$APO.CPTP = 5.0 ; 5 degrees of approximation - NOTE - no underscore in this
PTP xP1 C_PTP
PTP xP2

this will smooth as it approaches xP1 and then go on to xP2.

C_DIS is normally used for LIN moves.  I believe it is possible to combine C_DIS and C_PTP for PTP but I've never tried it 

[MartinH]

I forgot one thing.  I tried to explain the difference between LIN, PTP and smoothed moves to an operator once, and he got completely confused (maybe it was my explanation  )

I solved it in the end by writing a demonstration, showing moves to the four corners of a square 800mm x 800mm.  I cant remember the exact code, but it was something like :-

Code:

DECL POS P1
DECL POS P2
DECL POS P3
DECL POS P4
; set values for point P1
; set values for point P2
; set values for point P3
; set values for point P4

;simple square using LIN moves
PTP HOME
PTP P1
LIN P2
LIN P3
LIN P4
LIN P1
PTP HOME

; square with lightly smoothed LIN moves
$APO.CDIS = 5.0 ; check this value
PTP HOME
PTP P1
LIN P2 C_DIS
LIN P3 C_DIS
LIN P4 C_DIS
LIN P1
PTP HOME


; square with heavily smoothed LIN moves
$APO.CDIS = 50.0 ; check this value
PTP HOME
PTP P1
LIN P2 C_DIS
LIN P3 C_DIS
LIN P4 C_DIS
LIN P1
PTP HOME


; square with PTP moves
PTP HOME
PTP P1
PTP P2
PTP P3
PTP P4
PTP P1
PTP HOME


; square with lightly smoothed PTP moves
$APO.CPTP = 2.5 ; check this value
PTP HOME
PTP P1
PTP P2 C_PTP
PTP P3 C_PTP
PTP P4 C_PTP
PTP P1
PTP HOME



; square with heavily smoothed PTP moves
$APO.CPTP = 25.0 ; check this value
PTP HOME
PTP P1
PTP P2 C_PTP
PTP P3 C_PTP
PTP P4 C_PTP
PTP P1
PTP HOME