Blending between path segments

The following example illustrates blending from one path segment to another path segment:

• Path segment 1: MotionSet fast, LIN, target position POSEVAR[1]
• Path segment 2: BlendingDistance small, MotionSet slow, LIN, target position POSEVAR[2]

SRL program

Figure

[1]	Linear segment to position POSEVAR[1]
[2]	Target position POSEVAR[2]
[3]	Set "BlendingDistance Small" for blending to the path segment to the target position POSEVAR[2]
[4]	Segment length * limitation percentage
[5]	Limited blending distanceeffective
[6]	Resulting symmetrical blending curve