Aerotech UNIDEX 511 - Spline

Programming Commands U511 User’s Manual
5-84 Aerotech, Inc. Version 1.1
SOFTWARE POSITION X Y Z
;Updates the X, Y, and Z axes software position from the
;current hardware position
Before using the SOFTWARE HOME command, the SOFTWARE POSITION
command must be used first.
5.5.74. SPLINE
The UNIDEX 511’s SPLINE function refers to the controller’s ability to perform cubic
spline fitting of multiple successive target positions. The result is a smoother path, with
minimal positional disturbances and jerking between points. The command is well suited
for non-Cartesian geometric motion.
The cubic splining function is in terms of position versus time for up to four axes at once.
The target positions are specified in command lines that follow the SPLINE ON
command. These target position specifications look very much like INDEX commands.
The UNIDEX 511 looks ahead two positions to assure path smoothing, so at minimum,
two target position specifications are needed to begin proper splining motion.
The target positions contain the axis designators intended to spline X, Y, Z, and/or U, and
their position values attached to each axis designator. The path time (T), or the feedrate
(F), is the last argument of the target position command. T in seconds, is specified where
a constant time, but variable feedrate is needed between target positions. F is specified as
a constant feedrate, but variable time is needed between target positions. T and F
arguments are contradictory in function and are not used in the same target position
command. Using both time and feedrate in a single target position command will cause a
programming fault.
When splining motions are enabled, the controller will not process any other types of
motion commands such as INDEX, CONTOURED, or FREERUN commands.
SYNTAX:
SPLINE {ON|OFF}
SP {ON|OFF}
ON Enables the splining function. Subsequent motions will curve
fit.
OFF Disables the splining function.
EXAMPLE:
The following example illustrates a three point spline. Incremental mode is assumed.
SPLINE ON ;Spline is turned ON
X3.32 Y4.321 T0.123 ;Incremental motion in 123 ms
X0.332 Y0.555 ;Incremental motion in 123 ms
F
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