Cubic spline – Yaskawa MotionWorks IEC Toolboxes User Manual

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Cam Toolbox: Cam Tables and Curves

MotionWorks IEC61131-3 Toolboxes: 2013-09-13

Cubic Spline

In this example, the left or beginning portion of a motion profile was created using the cubic spline formula.
The right or end portion of the cycle includes two modified sine motions.

The CamData values are shown below:

(* test cubic spline *)

Profile4.SlaveStart:=LREAL#44.0;

(* The slaves initial and final position is not zero, it is 44.0 *)

seg:=INT#1;

Profile4.CamParameters[Seg].CurveType:=TB_CurveType#StraightLine;

Profile4.CamParameters[Seg].MasterEnd:=LREAL#15.0;

Profile4.CamParameters[Seg].SlaveEnd:=LREAL#44.0;

Profile4.CamParameters[Seg].Resolution:=REAL#0.0;