Bezier curve of the 3rd order
Bezier curve of the 3rd order
from TwinCAT V2.10 B1308
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Command |
#set paramVertexSmoothing(<type>; <subtype>; <radius> )# |
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Parameter <type> |
for the Bezier curve of the 3rd order: 4 |
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Parameter <subtype> |
1: Constant tolerance radius |
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Parameter <radius> |
Max. radius of the tolerance sphere |
In case of the 3rd order Bezier curve a step change in acceleration appears in the axis components when the tolerance sphere is entered. The max. size is limited by the acceleration of the axis components and the C1 factor.
This curve can be used for all segment transitions. The subtypes 2 and 3 only work for straight line / straight line transitions.
 | Acute angles at the segment transition The Bezier splines are generated by default, even at very acute angles. In order to avoid the dynamic values being exceeded, a considerable reduction velocity is required in this case. However, since the dynamics are held constant in the spline, the movement across the spline can be quite slow. In this case it is often practical to start the segment transition with an exact positioning. The command AutoAccurateStop can be used to avoid having to calculate the angles manually. |