Line-to-Arc and Arc-to-Line Transitions

With this transition mode, the linear move is shortened when one move is linear and the other is circular.

  • The amount is specified by the corner distance.
  • A circular arc connects the two moves, allowing for a smooth transition.
  • 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.

n-Degree Transition

Motion Path -
Line-to-Arc / Arc-to-Line

Key

Motion Velocity Profile

Blue: Incoming and outgoing linear and circular motion.

Red: Transition arc.

  1. Original start / endpoint of linear move.
  2. Corner distance.

Special Case Transitions

These are the special cases for Line-to-Arc and Arc-to-Line transitions:

Intersection Transition

This is only when the arc intersects the line corner distance away from the point where the line and the arc meet.

  • The line intersects the arc a corner distance away from the beginning of the new move.
  • The transition move is zero distance.
  • If the buffer mode is Buffered, the path velocity goes to zero.
  • All other buffer modes may cause a large acceleration and jerk.

Motion Path -
Line-to-Arc / Arc-to-Line

Key

Motion Velocity Profile

Dashed: Original shape.

Blue: Incoming and outgoing linear and circular motion.

Red: Zero distance transition.

  1. Original endpoint of the 1st move.
  2. Corner distance.

Tangent Transition

  • The linear move is shortened by the corner distance.
  • A linear transition move is inserted to cover the distance that was removed.
  • The line is tangent to the arc.

Motion Path -
Line-to-Arc / Arc-to-Line

Key

Motion Velocity Profile

Blue: Incoming and outgoing linear and circular motion.

Red: Transition line segment.

  1. Original start / endpoint of linear move.
  2. Corner distance.

Zero-distance Transition

  • A zero distance transition move is inserted.
    • This only affects blending.
  • Special behavior for 0-distance transitions.
  • If the buffer mode is Buffered, the path velocity goes to zero.
  • All other buffer modes may cause a large acceleration and jerk.

Motion Path -
Line-to-Arc / Arc-to-Line

Key

Motion Velocity Profile

Blue: Incoming and outgoing linear and circular motion.

Red: Zero distance transition.

  1. Original endpoint of the 1st move.