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Figure 14.7: Blending from a movement in joint space (MoveJ) to linear tool movement (MoveL).
time requirements into account. Due to this, they may deviate from the course specified by
the waypoints. This is especially the case if there are significant differences in a joint's velocity
between the two trajectories. Caution: if the velocities are very different (e.g. by specifying
advanced settings - either velocity or time - for a specific waypoint) this can result in large
deviations from the original trajectory as shown in figure 14.8. If you need to blend between
different velocities and cannot accept this deviation consider a blend in Cartesian space using
MoveL instead.
WP_1
Figure 14.8: Joint space blending when initial velocity v1 is significantly smaller than final velocity v2
or the opposite.
e-Series
WP_1
v1 << v2
v1
WP_2
v2
WP_3
14.5 Command: Fixed Waypoint
WP_2
WP_3
v1 >> v2
WP_1
II-76
v1
WP_2
v2
WP_3
Version 3.11
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