Difference between revisions of "Acceleration and Motion Smoothing"
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The "smooth" parameter in the CPRog Program editor allows the smoothing of motion commands as depicted below: | The "smooth" parameter in the CPRog Program editor allows the smoothing of motion commands as depicted below: | ||
| + | |||
[[file:MotionSmoothingGraphic.png]] | [[file:MotionSmoothingGraphic.png]] | ||
| − | High accelerations | + | =High accelerations= |
| − | Motion commands are smoothed by CPRog to | + | 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. |
| − | + | ||
| + | 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. | ||
Parameter: | Parameter: | ||
| − | + | *Acc: Percentage of the possible acceleration, 0 .. 100 | |
| − | + | *Smooth: Amount of smoothing in percent, 0..100 | |
| + | |||
| + | [[file:MotionSmoothing.png]] | ||
| − | Non-motion commands like | + | 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. |
Revision as of 12:31, 9 July 2018
The "smooth" parameter in the CPRog Program editor allows the smoothing of motion commands as depicted below:
High accelerations
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.
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.
Parameter:
- Acc: Percentage of the possible acceleration, 0 .. 100
- Smooth: Amount of smoothing in percent, 0..100
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.
