Bezier curve of the 5th order
Bezier curve of the 5th 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 5th order: 5 |
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Parameter <subtype> |
1: Constant tolerance radius |
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Parameter <radius> |
Max. radius of the tolerance sphere |
With 5th order Bezier blending, no step change in acceleration occurs in the axis components on entry into the tolerance sphere. In other words, the path axis acceleration is always constant if blending is selected.
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. |