Groups 06/2005
Danaher
Motion
When the second motion is completed before the first one, the system does
not blend the first and the third motions together. The main parameter in this
type of blending
CP
. It specifies the distance from the target point on which
the blending (second motion) begins.
CP
is dimensional. It is expressed in
group position units. The system automatically limits this value to half the
segments length.
CP
1
CP
3
C
P
2
C
P
2
When the second movement is received too late (during the deceleration
phase) or when the current motion causes excessive values of acceleration
and velocity, blending between two movements is ignored.
For Move-to-Move blending, use:
Pos = start + I
1
direction
1
+ I
2
direction
2
For Move-and-Circle blending, use:
Pos = start + I
1
direction
1
+ (cos(I
2
)-1) rot_start
2
+ sin(I
2
)
rot_normal
2
For Circle-and-Circle blending, use:
Pos = center
1
+ (cos(I
1
) rot_start
1
+ sin(I
1
) rot_normal
1
+
(cos(I
2
)-1) rot_start
2
+ sin(I
2
) rot_normal
2
6.9.9.1. S
UPERPOSITION
Superposition blends motions at any point of time starting from the initial
point of the movement up to the target. This blending mode is not limited by
the combined actions of the two motions. It is your responsibility not to blend
together motions that, in combination, produce velocities or accelerations
outside of allowable system limits. However, each individual motion is limited
by the usual kinematics constrains (
VMAX
,
AMAX
,
DMAX
,
JMAX
). This
blending method is also able to swap movements when the second is
finished before the first. In this case, there is continuous blending of the first
and the third movements. Although this is a feature, it must be taken into
consideration when designing blending paths.
Using
BLENDINGFACTOR
, you define the beginning blending (second
motion) point anywhere on the first movement path. It is dimensionless cy
using a percentage of the path where the blending starts. A zero value of
BLENDINGFACTOR
designatess full blending, while 100 designates no
blending.
130 Rev
E
M-SS-005-03l
