Acceleration and Motion Smoothing

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 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. 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.