Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 45)

9 Segment Types
User Manual for PMotion Page 45
9.12 Segment Type "Quadratic Spline
"
A quadratic spline is a special case of a polynomial segment.
The position and velocity are both continuously to the previous
segment. The length and width of the segment can be defined.
A number of these segments perform a quadratic spline
between the data points (end segment coordinates).
Parameters:
• Segment type $MFnn=12
• Segment start constraints: [P und V matched, A & J not defined]
• Segment end constraints: [P specified, V, A & J not defined]
• Master end position $MMnn= sets end segment master position
• Slave end position $MSnn= sets end segment slave position