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Library Routine
sl.rw.s_crv
Calling Sequence
CALL sl.rw.s_crv (write, prof.num, scrv[], error)
Function
This program reads or writes an S-curve profile. This allows dynamic redefinition
of S-curve profiles.
Input Parameters
write
If TRUE, write the S-curve in scrv[ ], else read the S-curve for the
indicated joint and return the values in scrv[ ].
prof.num
S-curve profile number to read/write (1 - 8). Clipped at 8.
scrv[ ]
If write is TRUE, new S-curve profile to write
Output Parameters
scrv[ ]
If write is FALSE, contains requested S-curve profile
error
Success/error code (see “Errors” on page 20 for details on special
error codes for the rw routines)
Details
There are five elements to an S-curve profile:
scrv[1]TRUE = enable profile, FALSE = disable profile
scrv[2]Time to ramp up to maximum acceleration
scrv[3]Time to ramp down to 0
scrv[4]Time to ramp up to maximum deceleration
scrv[5]Time to ramp down to 0
A maximum of 8 profiles can be defined per robot.
The values for these motion parameters will be changed in local RAM only. The
values are not written to the system disk.
CAUTION: Be careful when writing motion parameters. They can
have large effects on mechanism performance, longevity, and safety.
Advanced Servo Library Reference Guide, Rev. A
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