Definition of terms

Polynomial contouring:

Curvature and direction-continuous connection of two motion blocks.

Contouring curve:

Curve composed of two 4th order polynomials per axis.

Block length:

The path length of the curve corresponding to the motion block.

Corner distance:

Distance from the start/end of the contouring curve to the programmed target point/starting point of a motion block (see figure below). The corner distance is always limited to half the block length. In a circular block, the corner distance is the arc length from the starting point of the contouring curve up to the programmed target point of the arc.

Pre-block:

Motion block before the contouring curve

Post-block:

Motion block after the contouring curve

Pre-distance:

Corner distance of the pre-block

Post-distance:

Corner distance of the post-block

Interim point:

Point at which the two partial curves of the contouring curve meet.

Corner deviation:

The distance between the programmed corner point and the interim point of the contouring curve (see figure below).