Special Motion Commands
5.2 Spline interpolation (ASPLINE, BSPLINE, CSPLINE, BAUTO, BNAT, BTAN)
Job planning
5-10 Programming Manual, 03/2006 Edition, 6FC5398-2BP10-1BA0
Comparison of three spline types with identical interpolation points:
A spline (akima spline)
B spline (Bezier spline)
C spline (cubic spline)
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Settings for splines
The G codes ASPLINE, BSPLINE and CSPLINE link block endpoints with splines. For this
purpose, a series of blocks (endpoints) must be simultaneously calculated. The buffer size
for calculations is ten blocks as standard. Not all block information is a spline endpoint.
However, the control requires a certain number of spline endpoint blocks from ten blocks.
These are for:
A spline: At least 4 blocks out of every 10 must be spline blocks. These do not include comment blocks and
parameter calculations.
B spline: At least 6 blocks out of every 10 must be spline blocks. These do not include comment blocks and
parameter calculations.
C spline: From each 10 blocks at least the contents of machine data $MC_CUBIC_SPLINE_BLOCKS+1 must be
spline blocks (also in standard case 9).
The number of points must be entered in machine data $MC_CUBIC_SPLINE_BLOCKS (standard value 8)
which are used for calculating the spline segment.
Note
An alarm is output if the tolerated value is exceeded and likewise when one of the axes
involved in the spline is programmed as a positioning axis.
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