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| − | The "smooth" parameter in the CPRog Program editor allows the smoothing of motion commands as depicted below:
| + | #REDIRECT [[Motion Smoothing]] |
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| − | [[file:MotionSmoothingGraphic.png|480px|thumb|left|No smoothing]][[file:MotionNoSmoothingGrafic.png|400px|center|thumb|Smoothing]] | |
| − | <br clear=all>
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| − | =High accelerations=
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| − | Motion commands are smoothed by CPRog, while taking into account the joint accelerations defined by the "acc" parameter in the program editor. | |
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| − | When a value other than 0 % is entered as "smooth" paramter of the motion command corners will be smoothed. This allows the robot to go through the corner at a constant velocity. If corner smoothing is inactive (0 %), the robot stops at every corner. This leads to a more abrupt motion.
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| − | Parameters:
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| − | *Acc: Percentage of allowed maximum acceleration, 0...100%
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| − | *Smooth: Amount of smoothing in percent, 0...100%
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| − | [[file:MotionSmoothing.png|610px|thumb|left|Smoothing enabled to various degrees]][[file:NoMotionSmoothing.png|thumb|center|600px|No motion smoothing]]
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| − | Non-motion commands like "Wait" or "DOut" interrupt the smoothing of a motion set. So if a very short wait (e.g. 0.1s) is inserted between two motion commands, there will be no smoothing.
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