eMC_TRANSITION_MODE

TYPE eMC_TRANSITION_MODE :

This enumeration defines the profile of the robot trajectory nearby the set points. Full description for this feature can be found in the document edited by PLCopen organization

Source: PLCopen - Technical Committee 2 – Task Force / Document: Function blocks for motion control version 2.0.

	uniVALplc client library defines MC_TransitionParameter data type for specifying mentioned distances.

Syntax

Definition:

TYPE eMC_TRANSITION_MODE :
(
    None                := 0,
    CornerDistance      := 3,
    BlendingDistances   := 10
);
END_TYPE

Parameters

Name	Initial	Description
None	0	The motion blocks are not modified, and no transition curve is inserted.
CornerDistance	3	This mode is like ‘Blending distances’ except that leave and reach distances are equal.
BlendingDistances	10	If the position where the original contour can be left is known, the user can specify: The distance from the arrival point at which the nominal trajectory is left. The distance from the arrival point at which the nominal trajectory is rejoined

Name

Initial

Description

None

The motion blocks are not modified, and no transition curve is inserted.

CornerDistance

This mode is like ‘Blending distances’ except that leave and reach distances are equal.

BlendingDistances

If the position where the original contour can be left is known, the user can specify:

The distance from the arrival point at which the nominal trajectory is left.
The distance from the arrival point at which the nominal trajectory is rejoined