Difference between revisions of "Safe Superposition (SP) blending"
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= Safe Superposition Blending = | = Safe Superposition Blending = | ||
| + | |||
| + | == Description == | ||
| + | This feature is automatically introduced by selecting trapeze acceleration 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 the '''''element''''' | ||
| + | |||
| + | And in Cartesian interpolation case(MOVES): | ||
| + | |||
| + | * Vtran, Atran and Dtran of the '''''element''''' | ||
| + | |||
| + | by taking into account rate factors: sys.Arate, Sys.Drate, Sys.Vrate, <element>.Arate, <element>.Drate, <element>.Vrate, | ||
See Also: | See Also: | ||
* [[Axystems:Time_Based_Profile | Time Based profile]] | * [[Axystems:Time_Based_Profile | Time Based profile]] | ||
Revision as of 13:00, 24 March 2011
Safe Superposition Blending
Description
This feature is automatically introduced by selecting trapeze acceleration 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 the element
And in Cartesian interpolation case(MOVES):
- Vtran, Atran and Dtran of the element
by taking into account rate factors: sys.Arate, Sys.Drate, Sys.Vrate, <element>.Arate, <element>.Drate, <element>.Vrate,
See Also: