Chapter 9
Blending Moves
9-2
ni.com
There are three ways you can start the second move in a blend:
•
Superimpose the two moves by starting the second move as the first
move starts to decelerate
•
Start the second move after the first profile is complete
•
Start the second move after the first profile is complete and the added
delay time has elapsed
Refer to the
, for more information about move profiles.
Superimpose Two Moves
Superimposing two moves is the most common use of blending. In this
case, the motion controller tries to maintain continuous motion by
superimposing the two move segments such that the second move segment
starts its profile while the first move is decelerating, as shown in
Figure 9-2.
Figure 9-2.
Superimposing Two Moves
The velocity during the superimposition depends on the cruising velocity,
deceleration, and jerk of the first move segment, and the jerk, acceleration,
and cruising velocity of the second move segment.
1
Blending Starts
2
Blend is Complete
3
Actual Velocity
Velocity
Time
1
2
3
