Difference between revisions of "Acceleration and Motion Smoothing"

Latest revision as of 12:44, 8 March 2022

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-=Acceleration and Smoothing=
+#REDIRECT [[Motion Smoothing]]
-[[file:MotionSmoothing.png]]
-Motion commands are adapt to follow the joint accelerations. This can be done for a single motion command, but also for a combination of up to 10 commands.
-Then it is also possible to smooth the corners. This allows the robot to go through the corner with a remaining velocity. If there is not corner smoothing active the robot stops at every corner for a short moment. This leads to a more abrupt motion.
-Parameter:
-•	Acc: Percentage of the possible acceleration, 0 .. 100
-•	Smooth: Scop of smoothing in percent, 0..100
-Non-motion commands like “Wait” or “DOut” interrupts the smooting 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.