Safe Superposition (SP) blending

Safe Superposition Blending

Description

This feature is automatically introduced by selecting trapeze acceleration profile(time based profile) (PrfType = 2) and superposition bledning (BlendingMethod = 2). No further actions are needed. Once it is selected it works on blending between:

• MOVE and MOVE
• MOVES and MOVES

in both cases it will be assured that the maximum velocity, acceleration and deceleration will be not exceeded during superposition blending.

In joint-interpolation case(MOVE):

• Amax,Dmax,Vmax of each of the axes

In Cartesian interpolation case(MOVES):

• Vtran, Atran and Dtran of the robot

• by taking into account rate factors: sys.Arate, Sys.Drate, Sys.Vrate, <element>.Arate, <element>.Drate, <element>.Vrate

	NOTE
	Activating trapeze acceleration profile demands adjusting jerk values. A general rule of thumb is that jerk needs to be reduced three times ($\pi$) to get the same acceleration duration as in sine acceleration profile. See Also: Time Based profile

How It Works

Critical superposition points are checked and if such exist the second motion is postponed by one of the Trapeze-Acceleration motion phases.

so this means the second motion is shifted to one of t0,t1, ... t6

Examples

Basic idea. The second movement is shifted (delayed) until critical situation disappears.

Some examples

See Also:

• Time Based profile