Installation guide
Creating Motion
MN1270 02.2002 9
Figure 2: Example of spine move
It can be seen that the Spline 1 motion is smoother but the Spline 2 follows the position points. The
Spline 1 move also takes slightly longer. This is because the first and last segments are doubled in
duration.
When a spline move is stopped, the axis will produce a controlled stop over a duration defined with the
SPLINESUSPENDTIME keyword.
The
SPLINESTART and SPLINEEND keywords can me used to modify the segments used in a spline
table.
3.3 Blending
This section applies only to the NextMove product range.
Normally, in order to change between two different move types, the axis must be stopped first and
allowed to become idle. Blending is where the transition between move types can be done on the fly,
without the axis being forced to come to a halt. It is possible to blend into a
JOG move or a TORQUE
move from any other move type with the exception of a
HOME cycle or a linear or circular interpolated
move.
When blending to a
JOG move, the axis will ramp from its current speed to the new JOG speed using the
current
ACCEL, DECEL values.
3.4 Compensation Modes
This section applies only to the NextMove product range.
There are a number of compensation modes available in Mint; Backlash compensation, Leadscrew
compensation.
3.4.1 Backlash Compensation
Backlash describes the amount of free movement in the gearbox or belts linking a motor and the
physical axis. Backlash compensation automatically compensates for this free movement whenever the
axis changes direction. The compensation method used is known as constant compensation and is
turned on with the
BACKLASHMODE keyword.