I've got a program with a few individual spline motions (not in a spline block) that I would like to use approximation on. Does anyone know the details of how C_SPL works? Does it perform approximation based on distance like C_DIS does for regular motions? What I would really like is to approximate based on velocity, like with C_VEL, but I can't use C_VEL on a spline motion. Any ideas for how to achieve velocity approximation with splines? Thanks!
C_SPL Approximation Type
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SirCumference -
February 3, 2016 at 5:23 PM -
Thread is marked as Resolved.
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Hi,
you no longer need C_VEL for splines. The necessity of C_VEL in old Motion is a consequence of the none model based planning strategy of continous path movements. Spline always has the fastest possible velocity in approximation that does not violate bounds on torques, velocities and jerks.
As for C_SPL: It is not a single criteria like C_DIS in old motion, but always all criteria C_DIS, C_ORI, C_PTP are evaluated based on Motion type:
- CP-Motion (SLIN,SCIRC,SPL): C_DIS, C_ORI and C_PTP (for additional axes)
- PTP-Motion (SPTP): C_DIS, C_PTP
Approximation starts at the Position nearest to the approximation point based on approximation values given (Assume CORI is set to 5 deg, which translated into the path geometry would lead to an approximation start 50 mm before the teached point is reached, and CDIS is set to 100 mm. Then approximation starts 50mm before reaching the programmed point.)Please note that the meaning of C_PTP has changed compared to non spline movement: C_PTP = 100% means start approximation at the beginning of the last segment inside a spline block. Outside of a spline block or inside a spline block with only one segement it means start approximation in the middle of the motion.
Fubini