Overview

CP movements (Continuous Path) are given by their geometric path. In the case of robotics, these are linear segments (MC_MoveLinearAbsolute and MC_MoveLinearRelative) and circular segments (MC_MoveCircularAbsolute and MC_MoveCircularRelative).

A maximum path velocity, a maximum path acceleration, and a maximum path jerk can be specified for CP movements.

If blending is done between two CP movements, and if both movements lie in a common plane, then this plane is not left during the blending. For example, two consecutive straight line segments always lie in one plane.

The geometry of the path does not yet determine how the orientation of the TCP is transferred from the start orientation to the target orientation. This is explained in the Orientation Interpolation for CP Movements section.

CP movements always start and end in the same configuration of the robot. It is not possible to change the configuration with CP movements because the robot would move through a singular position. Movement through a singular position can lead to unlimited axis velocities. You can use PTP Movements to switch between configurations.