Process 4, polynomial contouring

In this process, two partial polynomials are generated which lead into the adjoining partial blocks with a constant tangent and curvature.

A total of five contouring types is available. They are selected either for the specific block via G61 or across blocks via G261.

In the case of all types, the contouring curve is limited to 50% of the length of the previous or following block.

With all polynomial contouring types, the permissible angular deviation of coupled axes can also be specified via a parameter. This may be an advantage when hooking in and out of orientation axis motions and in the case of a high permissible angular position error.