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, 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.