Geometric Path Objects
Introduction
A Geometric Path object manages coordinated multi-axis motion profiles. It is used when the motion profiles in an N-Dimensional space are required to follow a specific coordinated trajectory. Motion paths are constructed with high level linear and arc segments and downloaded to the controller. The controller calculates the real-time individual axis profiles.
Generally, Geometric Path motion is used when the trajectory through space is more important than the final target position. Several different algorithms can be applied to convert the linear and arc segment path into an interpolated trajectory.
Geometric Path trajectory generation is now supported by PT, PVT, SPLINE, BESSEL, BSPLINE, and BSPLINE2 algorithms. Blending of the corners is only available for the 2 bspline algorithms. Blending of a corner is when the path does not hit the corner but goes through a smooth arc.
| Error Messages |
Methods
| Create, Delete, Validate Methods | ||
| mpiGeometricPathCreate | Create a Path object | |
| mpiGeometricPathDelete | Delete a Path object | |
| mpiGeometricPathValidate | Validate a Path object | |
| Configuration and Information Methods | ||
| mpiGeometricPathParamsGet | ||
| mpiGeometricPathParamsSet | ||
| Relational Methods | ||
| mpiGeometricPathAppend | ||
| mpiGeometricPathSimpleAppend | ||
| mpiGeometricPathToPTPoints | ||
| mpiGeometricPathToPVTPoints | ||
Data Types
Constants
| MPIGeometricPathPointDIMENSION_MAX |