Blend Parameters

Description

Blending enables the robot to smoothly transition between two trajectories, without stopping at the waypoint between them.

Blending makes your robot program run faster because, when you create a smooth transition between trajectories, you avoid slowing down an acceleration between trajectories.

 

Blend parameters

Apart from the waypoints, multiple parameters will influence the blend trajectory.

  • the blend radius (r)

  • the initial and final speed of the robot (at positions p1 and p2 , respectively)

  • the movement time (e.g. if setting a specific time for a trajectory this will influence the initial/final speed of the robot)

  • the trajectory types to blend from and to (MoveL, MoveJ)

 

14.2:  Blend over (WP_2) with radius (r), initial blend position at p1 and final blend position at p2. (O) is an obstacle.

 

If a blend radius is set, the robot arm trajectory blends around the waypoint, allowing the robot arm not to stop at the point.

 

Blends cannot overlap, so it is not possible to set a blend radius that overlaps with the blend radius of a previous or following waypoint.

If there is overlap of two blends, there will be a warning logged in the Log tab. See the Log tab for more information.

14.3:  Blend radius overlap not allowed (*).