Setting parameters for blending

[1]

Parameters set for blending. See 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]

Activating blending. When deactivated, an exact stop is achieved. Blending is activated in the default setting.

[5]

Spatial reference of the parameters for blending to the start point or target point of the segment.

[6]

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 subsequent segment.

[7]

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.

[8]

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 during blending 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. Accordingly, the path speed is limited so that the change in the centrifugal acceleration is not greater than the minimum translational jerk values scaled with the same value and parameterized for the adjacent segments.

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.