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 7-1: 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).

Related Functions

MC_MoveCircAbs

MC_MoveCircRel

MC_MoveLinAbs

MC_MoveLinRel