Siemens SIMATIC S7-1200 Manual page 216

Motion control is easy
10.4 Configuring the TO_CommandTable_PTO
In the figure below, "Blending motion" is used as the transition to the next step. This type of
transition allows your device to maintain its velocity into the start of the next step, resulting in
a smooth transition for the device from one step to the next. Using blending can shorten the
total time required for a profile to execute completely. Without blending, the example takes
seven seconds to run. With blending, the execution time is reduced by one second to a total
of six seconds.
①
The operation of your CommandTable is controlled by an MC_CommandTable instruction,
as shown below:
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Axis continues to move and accelerates or decelerates to the next step velocity, saving time and
mechanical wear.
Easy Book
Manual, 03/2014, A5E02486774-AF