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Type: |
Function block |
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Available as of: |
V1.4.1.0 |
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Inherits from: |
- |
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Implements: |
- |
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Versions: |
Current version |
This chapter provides information on:
The function block provides different methods to calculate an elliptic spline for a pick and place movement.
|
Name |
Description |
|---|---|
|
CalcFullSpline |
Calculates a full elliptic spline. The apex is optimized automatically. |
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CalcFullSplineUserApex |
Calculates a full elliptic spline. You can define the apex. |
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CalcHalfSpline |
Calculates a half elliptic spline. |
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SetWorkingPlane |
In case of a two-dimensional robot, set its working plane with this method. |
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CalcSplineExtended |
Calculates spline points of an elliptic spline. |
|
Name |
Data type |
Accessing |
Description |
|---|---|---|---|
|
udiNumberOfSplinePoints |
UDINT |
Read/Write |
Number of spline points for the elliptic spline to be calculated with the methods CalcFullSpline, CalcFullSplineUserApex, or CalcHalfSpline. The default value is set to 21. Value range: 3 <= udiNumberOfSplinePoints <= 98 |