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Line to Line Transitions

When both moves are linear the current and next moves are shortened using this transition mode. The amount is specified by the corner distance. A circular arc connects the two moves (except as noted below), allowing for a smooth transition (see n-Degree Transition below). The circular arc that connects the two moves derives its velocity from the transition parameter and the acceleration and deceleration values are derived from the next move.

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• There are three special cases for line to line transitions:

  • Zero-degree transitions:
    The path will remain unchanged but a linear transition move with the specified transition velocity will be inserted.
  • 180-degree transitions:
    The current move will be shortened by the corner distance when the next move travels in the opposite direction.
    If the buffer mode is "Buffered" then the path velocity will go to zero. All other buffer modes may cause a large acceleration and jerkIn physics, jerk is the rate of change of acceleration; more precisely, the derivative of acceleration with respect to time.
  • Zero-distance transitions:
    A zero distance transition move will be inserted, which will only affect blending.
    If the buffer mode is "Buffered" then the path velocity will go to zero. All other buffer modes may cause a large acceleration and jerk.
    
    

Motion Path - Line to Line	Key	Motion Velocity Profile
	Blue: Incoming, outgoing linear motion Red: Transition arc Original endpoint of 1st move Corner distance
Figure 11-2: n-Degree Transition

	Blue: Incoming linear motion Red: Outgoing linear motion Original endpoint of 1st move Corner distance
Figure 11-3: 180-Degree Transition: New move is in the opposite direction as old move. The sudden change in the direction of motion may result in large jerks to the axes

	Blue: Incoming, outgoing linear motion Red: Transition line segment Original endpoint of 1st move Corner distance
Figure 11-4: 0-Degree Transition: New move continues in same direction as old move — continuous behavior

	Blue: Incoming, outgoing linear motion Red: Zero distance transition move Original endpoint of 1st move
Figure 11-5: 0-Distance Transition: Motion passes the first move's endpoint . There is no transition arc. A sudden change in the direction of motion may result in large jerks to the axes.

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