Installation guide

Mint™ v4 Advanced Programming Guide
128 MN1270 02.2002
In the event of a controlled stop, e.g. the STOP keyword is issued or an asynchronous error mode
indicates a controlled stop, then a spline move will ramp to zero speed over the number of milliseconds
specified with the
SPLINESUSPENDTIME keyword.
When allowed to resume motion, the axis will continue to the current end of segment position with a
duration of
SPLINESUSPENDTIME.
Example:
SPLINETABLE (0, myArray, NULL, NULL) : REM Define a position array
SPLINETIME.0 = 100 : REM Each segment lasts 100ms
SPLINESUSPENDTIME.0 = 2000 : REM Ramp to halt over 2000ms
SPLINE.0 = 0 : REM Relative spline 1
GO.0
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, SPLINETIME
SPLINETABLE()
Purpose:
To specify the array names to be used in a SPLINE move on the specified axis.
Controllers Supported:
NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51
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Format:
SPLINETABLE ( axis, position array, {velocity array}, {duration array} )
Dot Parameters:
Axis – Axis No
Position Array – Array of positional data
Velocity Array – Array of velocity data
Duration Array – Array of segment duration data
Attributes:
Controller Read Write Command Multi-
Axis
Scaled Default Range
NextMove
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Description:
A spline move is defined by splitting the motion into segments which form the spline table. The
information about these segments are stored in normal user arrays which can have any name. Three
tables can be defined for a spline move, the position table, velocity table and duration table.
Each segment of the position array specifies how far and in which direction the slave axis will move for
that segment. The table is defined using an array which defines the number of segments in the table and
the table itself. The first element of the array specifies the number of segments defined in the table and
the subsequent values define the SPLINE segments. The values are in user units, as set with the
SCALE
keyword and the table can have any number of segments, (memory space permitting).
When the spline is executed, each segment is processed in turn until the end of the table is reached. A
single shot spline will stop when the end of the table is reached. A continuous spline will repeat the
table when the end is reached. The
SPLINE keyword controls whether the spline is single shot or
continuous. The positions in the table can be interpreted in three ways; relative, absolute to the cycle or
true absolute. See the
SPLINE keyword for full details.