Difference between revisions of "Safe Superposition (SP) blending"
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== Description == | == 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: | + | 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 | * MOVE and MOVE | ||
* MOVES and MOVES | * 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): | + | in both cases it will be assured that the maximum velocity, acceleration and deceleration will be not exceeded during superposition blending.<br> In joint-interpolation case(MOVE): |
* Amax,Dmax,Vmax of each of the '''''axes''''' | * Amax,Dmax,Vmax of each of the '''''axes''''' | ||
| + | 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 | |
| − | |||
| − | |||
| − | |||
| − | + | {{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.}} | |
== How It Works== | == How It Works== | ||
Revision as of 09:19, 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). 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 element
- 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 () to get the same acceleration duration as in sine acceleration 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.
Examples
Basic idea. The second movement is shifted (delayed) until critical situation disappears.
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Some examples