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:
| Transition Mode | Number of Transition Parameter Array Elements | Transition Parameter Index | 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 | The velocity value fo the transition segment | User units per second |
Table 8-1: Transition Mode Parameters
No Transition (“TMNone”)
"Insert no transition contour segment."
|
|
| Motion Path | Motion Velocity Profile |
The motion blocks are not modified and no transition curve is inserted using this mode. This is the only possible transition mode for the “Buffered” buffer mode.
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.
| TransitionParameter 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).
- Line-to-Line transitions will shorten the next move by the corner distance. See Line to Line Transitions for more information.
- Line-to-Arc and Arc-to-Line transitions shorten the linear move. See Line-to-Arc and Arc-to-Line Transitions for more information.
- Arc-to-Arc transitions will shorten the arc with the larger radius by the corner distance. See Arc-to-Arc Transitions for more information.
