Overview

In general, at segment transitions polygon functions (G01 blocks) contain kinks within their contour. At these transitions polygon functions are not steadily differentiable with respect to their spatial coordinate, thus leading to dynamic-unsteadinesses, if at these transitions the path velocity is not reduced to zero value. To actually avoid to have to reduce path velocity to zero value segment transitions of polygon functions can be smoothed out by blending at those transitions.

	Execution	Supported Segment Transitions	Acceleration of Axis Components	Max. Tolerance	Adaptive Tolerance Radius	Command
Circular Smoothing	Interpreter	Straight line/straight line	Step change in acceleration (value parameterizable via the `C1` factor)	1/2 of the input or output segment	No	`paramCircularSmoothing(…)`
Parabolic Smoothing <type>: 2	NC kernel	Straight line/straight line	Step change in acceleration to a constant level (value parameterizable via the `C1` factor)	1/3 of the input or output segment	Can be selected	`paramVertexSmoothing(…)`
Biquadratic Smoothing <type>: 3	NC kernel	Straight line/straight line	Constant acceleration - the acceleration is 0 at the entry and exit - no intermediate point required	1/3 of the input or output segment	Can be selected	`paramVertexSmoothing(…)`
Bézier Curve of the 3rd Order <type>: 4	NC kernel	All	Step change in acceleration to a linear level (can be parameterized with the `C1` factor)	1/3 of the input or output segment	Can be selected, has an effect for straight-line transitions	`paramVertexSmoothing(…)`
Bézier Curve of the 5th Order <type>: 5	NC kernel	All	Constant acceleration - the acceleration is 0 at the entry and exit - no intermediate point required	1/3 of the input or output segment	Can be selected, has an effect for straight-line transitions	`paramVertexSmoothing(…)`
‘Old’ Bézier Blending <type>: 1	NC kernel	All	Constant acceleration - the acceleration is 0 at the entry, the exit and at the symmetric intermediate point	1/4 of the input or output segment	No	`paramSplineSmoothing(…)` `paramVertexSmoothing(…)`

Blending takes effect from the transition between the subsequent two segments.

	Principle of Blending The radius of the tolerance sphere can be altered at any time within the NC program and can be switched off again by setting the radius to 0. Blending remains active until the next reset of the interpreter or a TwinCAT runtime restart.