Installation guide

Keyword Reference Guide

MN1270 02.2002 129

The velocity table allows for end of segment velocities to be defined. The velocities are defined in user

units/second as set with the

SCALE keyword. If velocity information is defined, then the spline motion

will only not be continuous in acceleration or jerk. If the no velocity array is required for a spline

move, then

NULL must be passed instead.

Each spline segment is executed over a specified time duration. All segments can be set to use the same

duration with the

SPLINETIME keyword. Alternatively, a table of segment durations can be defined.

The durations are in seconds and are relative, not absolute to the start of motion.

The ability to define a duration table allows for critical points on a move to be defined more easily.

Where the motion is not critical, a large durations can be set so the axis travels a large distance in only

one or two segments. Then where the motion is more important, smaller durations are defined, allowing

the segment moves to be smaller and more detailed. The minimum segment duration is 8 milliseconds.

If the duration table is not required for a SPLINE move then

NULL must be passed instead.

The minimum spline segment duration is 4 milliseconds, with a minimum resolution of 2ms.

The SPLINETABLE keyword is used to specify which arrays to use for a, spline move on the axis. The

velocity and duration array names are optional. The arrays will be used on all further spline moves on

the axis until the next call to

SPLINETABLE.

Example:

To set up a position table called myPositions, a velocity table called myVelocities and a duration table

called myDurations and use these for a SPLINE move on axis 1:

DIM myPositions (21) = 20, 1, 2, ...

DIM myVelocities (20) = 1, 2, ...

DIM myDurations (20) = 1000, 2000, ...

SPLINETABLE ( 1, myPositions, myVelocities, myDurations )

To just use the position and velocity tables:

SPLINETABLE ( 1, myPositions, myVelocities, NULL )