Stopping At Motion End; Blending With Dynamic Adaptation - Siemens SIMOTION Function Manual

No intermediate segments for the fillet are generated by the path interpolation for this
blending.
Taking into account the axial limits, there are three transition types that can be set in the
blendingMode parameter of the next command.
● Stopping at motion end (Page 37) (blendingMode:=INACTIVE)
● Blending with dynamic adaptation (Page 37)
● Blending without dynamic adaptation (Page 38)
The blendingMode parameter is only evaluated if the command is programmed with
mergeMode:=SEQUENTIAL or mergeMode:=NEXT_MOTION.
The blending mode is specified in the motion command in which blending is to be performed.
2.8.2

Stopping at motion end

The motion is ended in the target position of the path command. The path velocity and
acceleration is zero. Any new path motion becomes active only after
END_OF_INTERPOLATION (end of setpoint generation).
2.8.3

Blending with dynamic adaptation

During blending, the system supports a constant-velocity transition (with velocity profile type
TRAPEZOIDAL) or a constant-velocity and constant-acceleration transition (with velocity
profile type SMOOTH).
A
Figure 2-25
With this setting, the dynamic limits of the axis are taken into account directly when
calculating the travel profile for path blending.
The axial limits for velocity and acceleration are also taken into account in the blending
velocity.
For non-tangential path transitions (corners), the path velocity is reduced such that a velocity
jump greater than the maximum acceleration does not occur for any of the participating axes.
The result is a velocity-dependent smoothing of the path end point.
TO Path Interpolation
Function Manual, 11/2010
(blendingMode:=ACTIVE_WITH_DYNAMIC_ADAPTION)
(blendingMode:=ACTIVE_WITHOUT_DYNAMIC_ADAPTION)
B
Example of blending with dynamic adaptation: Straight line - straight line
A
C
Basics of Path Interpolation
2.8 Path behavior at motion end
B C
37