Transition Between Moves

A transition mode must be specified when a new move is appended to a move that is already in progress.

• Different transition parameters may be required, depending on the transition mode.
• This characterizes the contour of the transition segment.

The supported transition modes are:

• No Transition (TMNone)
• Corner Distance (TMCornerDistance)
• S-Curve Corner Distance (MC_TRANSITION_MODE_S_CURVE_CORNER)

Transition Mode Parameters

Parameters	Number of Transition  Parameter Array Elements	Transition Parameter Index Zero pulse (zero signal) of a hardware pin such as digital input or feedback pin.	Transition Parameter Name	Transition Parameter Description	Units
TMNone	0
TMCornerDistance	2	0	Corner Distance	Distance to the corner of the deviation and the return point from the original contour.	User units
		1	Velocity For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP	The velocity value of the transition segment.	User unit/sec

No Transition (TMNone)

Insert no transition contour segment.

Motion Path Set of continuous positions and orientation information in multi-dimensional space. Geometrical description of a space curve that the TCP of an axesgroup moves along.		Motion Velocity Profile

• The motion blocks Data set with all the position control parameters which are required for a motion task. are not modified and no transition curve is inserted using this mode.
  • This is the only possible transition mode for the Buffer Modes.
• No transition parameters are used for this transition mode.

Corner Distance (TMCornerDistance)

Transition with given corner distance.

Motion Path		Motion Velocity Profile

• The corner distance transition mode is specified using TMCornerDistance as the transition mode for a motion block.

Transition Parameter Index

Transition Parameter Index	Name	Description
0	Corner Distance	Distance to the corner of the deviation and the return point from the original contour.
1	Velocity	The velocity value of the transition segment.

• Corner Distance transitions are handled differently, depending upon whether the connecting moves are lines or arcs, and all of the possible combinations, (line-line, arc-arc, line-arc, arc-line).
  • Arc-to-Arc transitions shorten the arc with the larger radius by the corner distance.
    • See Arc-to-Arc Transitions.
  • Line-to-Arc and Arc-to-Line transitions shorten the linear move.
    • See Line-to-Arc and Arc-to-Line Transitions.
  • Line-to-Line transitions shorten the next move by the corner distance.
    • See Line-to-Line Transitions.

S-Curve Corner Distance (MC_TRANSITION_MODE_S_CURVE_CORNER)

Transition with given corner distance, using Jerk In physics, jerk is the rate of change of acceleration. More precisely, the derivative of acceleration with respect to time. for each axis profile.

Motion Path		Motion Velocity Profile

• The S-Curve corner distance transition mode is specified using MC_TRANSITION_MODE_S_CURVE_CORNER as the transition mode for a motion block.

Transition Parameter Index

Transition Parameter Index	Name	Description
0	Corner Distance	Distance to the corner of the deviation and the return point from the original contour.
1	N/A	N/A

• S-Curve Corner Distance transitions are handled differently, depending upon the connecting move distances and trajectories Time dependent description of the path the TCP of an axes group moves along. Additional to the geometrical description of the space curve, time dependent state variables like velocity, acceleration, jerk, forces etc. are specified..
• Only Line-to-Line transitions are supported with S-Curve Corner Distance.
  • Line-arc, arc-arc, arc-line are not supported.
• Line-to-Line transitions shorten the next move by the corner distance.
  • See S-Curve Corner Line-to-Line Transitions.

See Also

• MC_MoveCircAbs
• MC_MoveCircRel
• MC_MoveLinAbs
• MC_MoveLinRel