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| − | The "smooth" parameter in the CPRog Program editor allows the smoothing of motion commands as depicted below:
| + | #REDIRECT [[Motion Smoothing]] |
| − | [[file:MotionSmoothingGraphic.png]] | |
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| − | High accelerations
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| − | Motion commands are smoothed by CPRog to account for the joint accelerations. This can be done for a single motion command, but also for a combination of up to 10 commands.
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| − | 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.
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| − | Parameter:
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| − | • Acc: Percentage of the possible acceleration, 0 .. 100
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| − | • Smooth: Scop of smoothing in percent, 0..100
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| − | 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.
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