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)
"Insert no transition contour segment."
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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 Buffer Modes.
- No transition parameters are used for this transition mode.
Corner Distance (TMCornerDistance)
"Transition with given corner distance."
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Motion Path |
Motion Velocity Profile |
- The corner distance transition mode is specified using
TMCornerDistanceas the transition mode for a motion block.
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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).
- Line-to-Line transitions 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 shorten the arc with the larger radius by the corner distance.
- See Arc-to-Arc Transitions for more information.
- Line-to-Line transitions shorten the next move by the corner distance.
