QuoteYou can right-click the symbol/name of each movement component and change the chosen interpolation method.
I see that ; there is even a "no interpolation" option.
The trouble is that it isn't very easy to manage because again
, the option is not accessible as an input.
If it were, it would be easy, in a list of LIN movements to have a coresponding list of "Interpolation methods".
Then depending on , say, the angle between successive movements, one could chose between methods.
QuoteIt would be possible to change the approximation parameters via the Custom KRL component, if needed.
As a workaround, perhaps I might try it out. It's just string formatting after all...
QuoteRegarding defaults, the controller keeps the last value, as far as I know.
I have absolutely no idea what "typical" settings are use for milling.
Since milling can involve sharp edges, I would expect these values to be quite small, but exactly "how" small is still OK in terms of robot jerkiness : that's what I'd like to know.
QuoteAlso, you might give the SLIN movements a try, they can be a bit smoother. It's an option in the Code Generation settings.
I don't want smoother. I want control over where it can be smooth, and where it shouldn't.
I checked the KSS doc. on SPLINE blocks, and as always, I came out even more ignorant as before.
It's always blunt, sterile description...
Even this Chinese video does a better job of explaining : https://www.youtube.com/watch?v=yIv9Yr9ynOE
Could you point me to any well-made documentation on these types of movements ?
If I get the idea behind this option, if it is pressed, all the movement types will be converted to the new "S" type and inserted in spline blocks, is that right ?