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Figure 14.3: Blend over WP 2 with radius r, initial blend position at p1 and final blend position at p2. O
is an obstacle.
and to determine which is the next waypoint to blend to, the robot must evaluate the current
reading of the digital input[1] already when entering the blend radius. That means the
if...then expression (or other necessary statements to determine the following waypoint, e.g.
variable waypoints) is evaluated before we actually reach WP 2 which is somewhat counter-
intuitive when looking at the program sequence. If a waypoint is a stop point and followed by
conditional expressions to determine the next waypoint (e.g. the I/O command) it is executed
when the robot arm has stopped at the waypoint.
Trajectory type combinations It is possible to blend between all four combinations of trajec-
tory types of MoveJ and MoveL, but the specific combination will affect the computed blend
trajectory. There are 4 possible combinations:
e-Series
WP_1
O
WP_1
WP_4
Figure 14.4: Blend radius overlap not allowed (*).
14.5 Command: Fixed Waypoint
r
WP_2
p1
p2
WP_3
WP_2
*
WP_3
II-74
Version 3.11
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