Installation guide

Mint™ v4 Advanced Programming Guide
130 MN1270 02.2002
Example:
SPLINETABLE (1, myArray, myVel, NULL)
SPLINETIME.1 = 30 : REM Duration of 30ms per segment
SPLINE.1 = _spABSOLUTE
GO.1
This sets up and starts a spline move on axes 0 and 1. The segment duration is set to 50 milliseconds.
The minimum spline segment duration is 4 milliseconds, with a minimum resolution of 2ms. The
maximum is 60000ms.
See also:
SPLINE, SPLINEEND, SPLINEINDEX, SPLINESTART, SPLINETABLE
SRAMP/SRP
Purpose:
To set the smoothness of the velocity profile.
Controllers Supported:
NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51
    
Dot Parameters:
Axis - Axis No.
Format
SRAMP[axes] = <expression> {,<expression> ...}
v = SRAMP[axis]
Attributes:
Controller Read Write Command Multi-
Axis
Scaled Default Range
NextMove
  
0
0 ≤ x ≤ 100.0
Description:
It is possible to impose a form of modified S-ramping to the standard trapezoidal move profile using the
SRAMP keyword. The velocity profile of positional moves is trapezoidal, specified by the acceleration,
ACCEL, deceleration, DECEL, slew speed, SPEED or FEEDRATE, and move distance. The normally linear
acceleration and deceleration ramps may be smoothed to approximate 'S' ramps. The degree of
smoothing is controlled by
SRAMP value where a high value produces a very rounded profile while a
value of zero results in a true trapezoid.
SRAMP affects the following move types:
•
CIRCLEA, CIRCLER
•
MOVEA, MOVER
•
VECTORA, VECTORR
In multi-axis moves the ramp factor on the master axis will be applied to all axes involved in the move.