Difference between revisions of "Safe Superposition (SP) blending"
| Line 9: | Line 9: | ||
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): | 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 ''''' | + | * Amax,Dmax,Vmax of each of the '''''axes''''' |
And in Cartesian interpolation case(MOVES): | And in Cartesian interpolation case(MOVES): | ||
* Vtran, Atran and Dtran of the '''''element''''' | * 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, | by taking into account rate factors: sys.Arate, Sys.Drate, Sys.Vrate, <element>.Arate, <element>.Drate, <element>.Vrate, | ||
Revision as of 13:34, 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 each of the axes
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: