Block Spline Management

[Giulio]

Hi team,
I have some doubt on how the SPL function behaves: right now, the component creates a block with SPL movements only and the SLIN, SCIRC movements are keeping outside the block selection: there's a way to embed SLIN and SCIRC movements inside the Spline Block? Also, I can't see C_SPL on ENDSPLINE command, Is it normal? Thank you

[Johannes @ Robots in Architecture]

Good Morning,

The default behaviour should be SPLINE, then SPL commands, and then ENDSPLINE
You can switch to using SLIN and SPTP in the settings, however we currently do not support combining them into a spline block.
Important: The splines in KUKA|prc are only a rough approximation as the robot calculates the splines live, they are not actually b-splines. So for accurate work, I would not use them.
I've never heard about using C_SPL after the ENDSPLINE command. Is that really valid KRL?

Best,
Johannes

[Giulio]

Morning Johannes,
Thanks for replying. The command syntax is basically ENDSPLINE <C_SPL>. The C_SPL, from what I've understood, approximate the end point based on the $APO defined (it should apply the same function of the CONT tag). Without the C_SPL the motion stops at the end of the spline block. (You can find this information in the KUKA System Software 8.7 Operating and Programming Instructions for System Integrators).
Thank you so much

[Johannes @ Robots in Architecture]

Hi,
Ah, learned something new today, thank you!
Implementing the C_SPL after ENDSPLINE would be quick, but the integration of SLIN motions in a SPL block less so.
What exactly would you need?
Best,
Johannes