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, with exceptions.
- This allows for a smooth transition.
- See n-Degree: Transition.
- The circular arc that connects the two moves derives its velocity from the transition parameter.
- The acceleration and deceleration values are derived from the next move.
n-Degree: Transition
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Motion Path - Line-to-Line |
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Motion Velocity Profile |
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Blue: Incoming and outgoing linear motion. Red: Transition arc.
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Special Case Transitions
These are the special cases for line-to-line transitions:
180-degree Transition
Click to view 180-degree Transition
- The current move is shortened by the corner distance when the next move travels in the opposite direction.
- If the buffer mode is Buffered, the path velocity goes to zero.
- All other buffer modes may cause a large acceleration and jerk.
- The new move is in the opposite direction as the old move.
- The sudden change in the direction of motion may result in large jerks to the axes.
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Blue: Incoming linear motion. Red: Outgoing linear motion.
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Zero-degree Transition
Click to view Zero-degree Transition
- The path remains unchanged.
- A linear transition move with the specified transition velocity is inserted.
- The new move continues in same direction as old move - continuous behavior.
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Motion Path - Line-to-Line |
Key |
Motion Velocity Profile |
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Blue: Incoming and outgoing linear motion. Red: Transition line segment.
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Zero-distance Transition
Click to view Zero-distance Transition
- A zero distance transition move is inserted.
- This only affects blending.
- If the buffer mode is Buffered, the path velocity goes to zero.
- All other buffer modes may cause a large acceleration and jerk.
- 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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Motion Path - Line-to-Line |
Key |
Motion Velocity Profile |
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Blue: Incoming and outgoing linear motion. Red: Zero distance transition move.
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