Setting parameters for blending

[1]

Parameters set for blending. See also Blending.

[2]

Distance to the end point of the last segment from which the new segment is to be blended. The blending distance 0 is the default setting and results in an exact stop.

[3]

Show special parameters for blending

[4]

Switch blending on/off. When switched off, an exact stop is achieved. Blending is switched on in the default setting.

[5]

Percentage of the length of the segment to be blended, as a limitation of the parameterized BlendingDistance.

With the default setting of 50%, at least half of the new segment is available for a subsequent transition.

With the setting of 99%, the transition can extend over almost the entire length of the new segment.

[6]

Deviation from circular blending.

With the default setting of 1%, the transition takes place with maximum possible jerk limitation.

With the setting of 99%, the transition is almost circular.

[7]

Limitation of the centrifugal acceleration, scaled as a percentage to the minimum of the translational accelerations of the adjacent path segments.

With the default setting of 100%, the path speed in the transition is limited so that the centrifugal acceleration is not greater than the parameterized translational accelerations of the adjacent segments.

If, for example, a centrifugal acceleration greater by a factor of 10 should be permissible, the value 1000% must be set.

A limited path speed due to centrifugal acceleration is output in the signal SEW_GVL_Internal.MyRobot.fbMotionControl.stOut.stProg.lrLimitedSpeedDueToCentrifugalAcc. "MyRobot" corresponds to the name of the robot node defined in MOVISUITE^®. If the value 0 is output, the path speed is not limited. At the end of the program the variable is reset to 0.