Difference between revisions of "Safe Superposition (SP) blending"
(→Description) |
(→Description) |
||
| Line 2: | Line 2: | ||
== Description == | == 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: | + | This feature is automatically introduced by selecting '''trapeze acceleration profile''' (time based profile, PrfType = 2) and superposition bledning (BlendingMethod = 2). |
| + | |||
| + | {{Note| Activating trapeze acceleration profile demands adjusting jerk values. A general rule of thumb is that jerk needs to be reduced three times (<math>\pi</math>) to get the same acceleration duration as in sine acceleration profile.<br> | ||
| + | See Also: [[Axystems:Time_Based_Profile | Time Based profile]]}} | ||
| + | |||
| + | |||
| + | No further actions are needed. Once it is selected it works on blending between: | ||
* MOVE and MOVE | * MOVE and MOVE | ||
| Line 17: | Line 23: | ||
* Vtran, Atran and Dtran of the '''''robot''''' | * 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/Important|In case of MOVES only the translational Cartesian coordinates (X, Y, Z) are taken into account. A possibility remains that joint values will be exceeded (due to non-linear kinematics relationship between Cartesian and joint coordinates. }} | |
| − | |||
| − | {{Note| | ||
| − | |||
== How It Works== | == How It Works== | ||
Revision as of 14:38, 3 April 2011
Safe Superposition Blending
Description
This feature is automatically introduced by selecting trapeze acceleration profile (time based profile, PrfType = 2) and superposition bledning (BlendingMethod = 2).
 | NOTE |
| Activating trapeze acceleration profile demands adjusting jerk values. A general rule of thumb is that jerk needs to be reduced three times () to get the same acceleration duration as in sine acceleration profile. See Also: Time Based profile |
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
 | IMPORTANT |
| In case of MOVES only the translational Cartesian coordinates (X, Y, Z) are taken into account. A possibility remains that joint values will be exceeded (due to non-linear kinematics relationship between Cartesian and joint coordinates. |
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.
This means the second motion is shifted to one of t0, t1, t2 ... t6
Examples
Basic idea. The second movement is shifted (delayed) until critical situation disappears.
.png)
Some examples