Safe Superposition (SP) blending

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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,

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.

Example

Basic idea. The second movement is shifted (delayed) until critical situation disappears.

Some examples

See Also:

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