Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 46)

9 Segment Types
Page 46 User Manual for PMotion
9.13 Segment Type "Cubic Spline
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A cubic spline is a special case of a polynomial segment. The
position, velocity and acceleration are continuously to the
previous segment. The length and width of the segment can be
defined. A number of these segments perform a cubic spline
between the data points (end segment coordinates).
Parameters:
• Segment type $MFnn=13
• Segment start constraints: [P, V und A matched, 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