Program Examples:Advanced Interpolation
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here is an example of using Advanced interpolation:
'------------------------------------------------------------------------------ ' File: AI.prg ' Purpose: example of using Advanced Interpolation ' Version: 1.00 ' Author: Eran Korkidi ' History: 20.OCT.2021 - Created dim shared ARR_LOC[4] as location of XYZR program dim i as long ARR_LOC[1] = #{100,100,0,0} ARR_LOC[2] = #{200,100,0,0} ARR_LOC[3] = #{200,200,0,0} ARR_LOC[4] = #{100,200,0,0} Attach XYZR XYZR.EN=1 XYZR.BlendingMethod=1 with XYZR ModelEnable=1 prfType=-1 PassMethod = 1 PassBufferMin = 1 PassBufferMax = 2 PassBufferSize = 100 PassBufferMax = 100 PassBufferMin = 90 PassTranMinGap = 1e-3 ' very short movements (below 1mm), therefore we should chnage tge gap PassRotMinGap = 1e-06 ' same way with angle end with Move XYZR #{0,0,0,0} Vcruise=10 waitForMotion XYZR Record AI_MOT.rec 10000 Gap = 1 RecData = Setpoint{1}, Setpoint{2} RecordOn sleep 100 XYZR.BlendingMethod=3 for i = 1 to 3 Moves XYZR ARR_LOC[1] Vtran=100 Abs=1 Moves XYZR ARR_LOC[2] Vtran=100 Abs=1 Moves XYZR ARR_LOC[3] Vtran=100 Abs=1 Moves XYZR ARR_LOC[4] Vtran=100 Abs=1 next dopass XYZR sleep 100 while XYZR.IsMoving Sleep 100 end while sleep 100 RecordOff recordClose end program ' <MyTask>.prg