Smoothing for both Fixed Time and Constant Velocity scenarios
- Application development stages
- Designing motion trajectories
- Testing motion sequences
- Executing repetitive sequences during testing
Spline Motion mode is used to enhance smoothness when running through a stream of Position points.
The G-MAS can execute multi-dimensional Splines where every Position point in the stream is defined by n Positions, one Position per axis in the Group.
The G-MAS supports two main types of Spline motions:
The G-MAS can calculate smooth trajectories for both types. For Fixed Time method, the G-MAS will complement the Velocity parameter. For the Constant Velocity method the G-MAS will complement the trajectory Time parameter.
Spline motion is restricted to “Interpolated Position” (CANopen networks), or “Cyclic Position” (EtherCAT networks) motion modes where the G-MAS calculates and performs the trajectory.
At the end of a specified FB, using the administrative FB mechanism, a user can precisely change motion parameters (including parameters that are mapped to a communication), IOs and maximum torque.
The axis status and the FB queue status can be queried. This status represents the PLCopen status for the axis.