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).

	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

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.

Some examples

See Also:

• Time Based profile