[parkermoberg1]

Hi,

I want to have my TCP follow a curve/spline at a variable velocity. Does anyone have advice on how to 1) follow an exact spline and 2) vary the velocity during that move, perhaps by some velocity function of that depends on location.

[Albert]

You should split the curve into small linear segments (for example, 2 mm) and adjust the speed as you move through these segments.

The changes in speed will not have an immediate effect as it will provoke some accelerations and decelerations.