Difference between revisions of "Acceleration and Motion Smoothing"
| Line 9: | Line 9: | ||
Parameter: | Parameter: | ||
| − | *Acc: Percentage of | + | *Acc: Percentage of allowed maximum acceleration, 0...100% |
| − | *Smooth: Amount of smoothing in percent, 0..100 | + | *Smooth: Amount of smoothing in percent, 0...100% |
[[file:MotionSmoothing.png]] | [[file:MotionSmoothing.png]] | ||
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. | 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 12:32, 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 allowed maximum 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.
