Hello,
I'm working on a process where I need to control the acceleration and jerk along a path using splines. I can't use inline forms with my application - the code is generated offline using another system. For some reason, I can't seem to get the acceleration value to make a difference.
The code for the motion looks a bit like this:
SPLINE with $acc.cp = 0.1
SPL {X 250, e3 250} WITH $VEL.CP = 0.200
SPL {X 500, e3 500} WITH $VEL.CP = 0.400
SPL {X 750, e3 750} WITH $VEL.CP = 0.200
SPL {X 1000, e3 1000} WITH $VEL.CP = 0.100
ENDSPLINE
The velocity changes are correctly interpreted. However, the acceleration limit does not appear to be.
The following code works as expected. The CP acceleration is limited to 100mm/s, but it's not a spline:
$ACC.CP = 0.1
$VEL.CP = 0.2
LIN {X 250, e3 250} C_DIS
$VEL.CP = 0.4
LIN {X 500, e3 500} C_DIS
$VEL.CP = 0.2
LIN {X 750, e3 750} C_DIS
$VEL.CP = 0.1
LIN {X 1000, E3 1000} C_DIS
I appreciate that this is a trivial example - the actual code I'm running is much longer, but I've made this to try and track down the problem.
I've measured the acceleration by tracing $VEL_ACT on another system. It's clear that the acceleration isn't being limited (plus it's easy to see it just by watching).
Can anyone point me in the right direction? I expected the "With $ACC.CP = 0.1" bit to limit the acceleration to 0.1, but it isn't! What am I missing?
Thanks.