Installation guide

Mint™ v4 Advanced Programming Guide
8 MN1270 02.2002
The SPLINE keyword is used to load the move and the GO keyword starts the motion. The value passed
to the
SPLINE keyword indicates the type of spline, whether the spline is to repeat and whether the
values in the table are to be taken as relative or absolute. For example:
SPLINE.0 = _spSPLINE_1 : GO.0
will execute a Spline 1 move for axis 0 taking the positions in the spline table as relative. The spline
will finish when the last segment has been executed.
SPLINE.1 = _spABSOLUTE + _spT_ABSOLUTE + _spCONTINUOUS + _spSPLINE_2 : GO.1
will execute a Spline 2 move for axis 1 taking the positions in the spline table as true absolute motor
positions. The spline will execute indefinitely. Once the last segment has been executed, the spline
motion will begin again.
An absolute spline only defines absolute positions within one spline cycle and not to an absolute motor
position. An absolute spline implies a zero at the start of each cycle. A true absolute spline takes the
table values as absolute to true motor position.
The profile produced is:
Figure 1: Example of spine move
Example:
An application requires that a liquid is moved smoothly from one point to another. If the STOP input is
activated then come to a smooth stop.
REM Set up position and duration tables
DIM mypos(20) = 8, 1, 3, 7, 13, 17, 23, 25, 26
DIM mydur(20) = 500, 750, 1000, 1000, 2000, 1000, 1000, 1500
STOPSWITCHMODE = 1 : REM Pause if stop input activated
SPLINETABLE (0, mypos, NULL, mydur): REM The arrays to use
SPLINESUSPENDTIME = 2000 : REM The ramp time
SPLINE = _spABSOLUTE + _spSPLINE_1 : REM Spline 1 and absolute
GO : REM Start motion
Alternatively, the Spline 2 motion would produce: