Installation guide

Keyword Reference Guide
MN1270 02.2002 121
When the spline is executed, each segment is processed in turn until the last segment is reached. If the
spline has been specified as continuous, then the start segment will be processed at completion of the
end segment. The start and end segments are set with the
SPLINESTART and SPLINEEND keywords.
The currently executing spline segment number can be read with
SPLINEINDEX keyword.
The duration of each spline segment is defined with the
SPLINETIME keyword or using the segment
duration array in the
SPLINETABLE keyword. The axis will move the distance given in the position
table over the specified segment duration.
A spline can be performed on a servo or stepper axis. The
ACCEL, DECEL and slew speed parameters
(
SPEED and FEEDRATE) are not used. Care must taken when defining the segments as the algorithm
used will demand any velocity required to complete the specified segment, regardless of whether the
motor can achieve that motion.
There are three types of spline motion available:
Spline 1
Spline 1 type motion is the default type. A position array must be defined and segment durations may
be specified with the
SPLINETIME keyword or with a duration array. The profile produced will be
continuous in position, velocity, acceleration and jerk (rate of change of acceleration). Depending on
the requested positions, the profile may not pass through the points specified in the position array.
Example:
REM Position array. First element specifies number of position points
DIM exampleArray (6) = 5, 1, 2, 10, 2, 0
SPLINETABLE(0, exampleArray, null, null) : REM Name arrays to use
SPLINETIME.0 = 1000 : REM Segment duration of 1000ms