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: | ||
| + | [[file:MotionSmoothingGraphic.png]] | ||
| − | + | High accelerations | |
| − | Motion commands are | + | 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. | 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. | ||
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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. | 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. | ||
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Revision as of 13:25, 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 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.
