Curve Method
Description
Defines the data and points required to move the arm along a curved path. Many data points can be defined in the path to improve precision of the path.
Syntax
Sub Curve (FileName As String, Closure As Boolean, Mode As Integer, NumOfAxis As Integer, PointList As String)
Parameters
- FileName
A character string indicating the path and file name where the point data is stored. The extension .crv is appended to the specified file. When the Curve instruction is executed, fileName will be created. - Closure
A Boolean expression that specifies whether the end point of the path is connected to the start point. - Mode
Specifies whether or not the arm is automatically interpolated in the U-axis tangential direction.
| Mode Setting | Tangental Correction |
|---|---|
| 0 | No |
| 2 | Yes |
- NumOfAxes
Integer expression between 2 and 4 which specifies the axis numbers controlled during the curved motion as follows: 2: Generate a curve in the XY plane with no U-Axis rotation. 3: Generate a curve in the XYZ plane with no U-Axis rotation. (Theta 1, Theta2, and Z) 4: Generate a curve in the XYZ plane with U-Axis rotation. (Controls all 4 Axes) - pointList
{point expression | P(start:end) } [, output command ] ... This parameter is a series of point data separated by commas. If the point data is complete and listed in ascending or descending order, two point numbers can be combined using a colon and specified like P(1:5). Normally the series of points are separated by commas as shown below: Curve MyFile, O, 0, 4, P1, P2, P3, P4 Or use a colon to specify as shown below: Curve MyFile, O, 0, 4, P(1:4) In the case shown above the user defined a curve using points P1, P2, P3, and P4. output command is optional and is used to control output operation during curve motion. The command can be On or Off for digital outputs or memory outputs. Entering an output command following any point number in the point series causes execution of the output command when the arm reaches the point just before the output command. A maximum of 16 output commands may be included in one Curve statement. In the example below, the "On 2" command is executed just as the arm reaches the point P2, then the arm continues to all points between and including P3 and P10. Curve "MyFile", C, 0, 4, P1, P2, ON 2, P(3:10)
Remarks
Use Curve to define a spline path to be executed with the CVMove method. See the SPEL+ command Curve for more details.
See Also
Curve (SPEL+ Statement), CVMove Method
Curve Example
VB Example:
m_spel.Curve("mycurveFile", True, 0, 4, "P(1:3), On 1, P(4:7)")
m_spel.CVMove("mycurveFile")
C# Example:
m_spel.Curve("mycurveFile", True, 0, 4, "P(1:3), On 1, P(4:7)");
m_spel.CVMove("mycurveFile");