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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]] | |
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| − | =High accelerations=
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| − | Motion commands are smoothed by CPRog, while adhering to the joint accelerations defined by the "acc" parameter in the program editor. Smoothing can be done for a single motion command, but also for a combination of up to 10 commands. | |
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| − | In this way corners corners can be smoothed. This allows the robot to go through the corner with a constant velocity. If corner smoothing is inactive, the robot stops at every corner. This leads to a more abrupt motion.
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| − | Parameter:
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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]]
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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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