What exactly are you trying to accomplish?
To give you an idea: for the product of our project the robot has to move according to the shape defined in a SVG that comes from the user, meaning we have to be very dynamic and cannot pre-compute. And at this point we are figuring out how to support the curves (e.g. cubic Bezier curves) that could be defined in this SVG.
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An SPL block usually has to be completely pre-calculated
this flexible point is SPL. it only defines coordinates where TCP must poass through but it does NOT define direction. direction (tangent) will be computed based on nearby points (unlike in CP motions).
I am assuming you both are referencing the same phenomenon, in which the actual content of a SPL block is calculated by the robot by looking at the previous and following movements. Do I understand?
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you can use any method you like to create path you need.
Okay that's good, but your explaination of SPL prooved my thought of using a SPL command (is it a movement?) to achieve a dynamic curve (meaning not plannable by a human via some software, atleast for EVERY curve) wrong.
I expected that there were courses by KUKA, but unfortunately I am in an educational environment and cannot imagine being able to pay for them.