Installation guide

Mint™ v4 Advanced Programming Guide
122 MN1270 02.2002
SPLINE.0 = _spSPLINE_1 + _spABSOLUTE : REM Absolute spline 1
GO.0 : REM Start motion
The profile is shown above. The position curve shows that the axis did not achieve position 10 since a
spline 1 move is not guaranteed to pass through the specified position points. The other point to note is
the length of the move. A spline 1 move doubles the segment duration specified for the first and last
segments of the profile. This only applies to the start and stop situation however. If the spline is
continuous, then the first and last segments are of the user specified duration apart from the initial start
and final stop situations. How close the profile comes to position segment point depends on the
proximity of the preceding position. For example, if the position array was modified to:
DIM exampleArray (6) = 5, 1, 9, 10, 2, 0
The position profile now almost reaches position 10. The profile may be forced to reach a position by
specifying the same position three times in the position array. This results in profile reaching the third
repetition of the segment position with zero velocity.
DIM exampleArray (6) = 5, 1, 10, 10, 10, 0
Spline 2
Spline 2 type motion produces a profile that does reach all the position points specified in the position
array but the profile is only continuous in position and velocity. A position array must be defined and
segment durations may be specified with the
SPLINETIME keyword or with a duration array.
Example:
REM Position array. First element specifies number of position points
DIM exampleArray (6) = 5, 2, 3, 5, -4, -6
SPLINETABLE(0, exampleArray, null, null) : REM Name arrays to use
SPLINETIME.0 = 1000 : REM Segment duration of 1000ms
SPLINE.0 = _spSPLINE_2 : REM Relative spline 2
GO.0 : REM Start motion