Program the blending via the inputs TransitionMode and BufferMode of the function blocks MC_MoveDirectAbsolute, MC_MoveDirectRelative, MC_MoveLinearAbsolute, MC_MoveLinearRelative, MC_MoveCircularAbsolute, and MC_MoveCrcularRelative.
CODESYS SoftMotion supports the following values for the BufferMode:
Aborting (0): The function block starts immediately (standard behavior). The current motion is aborted as fast as possible (in the same cycle for PTP motion). The subsequent motion is started from the current position. If the subsequent motion is a CP motion, then transitioned is swung to the new path depending on the TransitionMode.
Buffered (1): The function block starts when the last commanded motion is terminated. The TransitionMode is ignored.
BlendingLow (2): The velocity is blended with the lower velocity of the two FBs.
BlendingPrevious (3): The velocity is blended with the velocity of the first FB.
BlendingNext (4): The velocity is blended with the velocity of the second FB.
BlendingHigh (5): The velocity is blended with the higher velocity of the two FBs.
CODESYS SoftMotion supports the following values for the TransitionMode:
TMNone (0): No blending.
TMStartVelocity (1): Velocity-based blending. The first TransitionParameter is a value between 0 and I that specifies the velocity in the deceleration phase when a transition is inserted between movements. (1 = 100% means at the beginning of the deceleration phase of the axis that has to be decelerated first; 0 means TMNone.) The target point of blending is determined by the acceleration from the waypoint from the stop. (100% means at the end of the acceleration phase of each axis that has accelerated last.)
Values greater than 1 are also possible. This means a corresponding increase of the cut-off range. The value 2 means a cut-off of double the length of the entire deceleration phase.
TMCornerDistance (2): Position-based blending. The first TransitionParameter is a radius around the waypoint (end point of the first motion / start point of the second motion). The blending motion begins when the distance of the TCP to the waypoint is less than the radius for the first time. The blending motion ends at the point where the TCP departs from this radius for the first time in a non-blending motion.
As of version 4.3.0.0, the blending points in the Blending buffer mode (not Aborting) for CP motion are adapted so that the parts clipped between points A and B are approximately the same length. Then the longer piece is limited to a maximum of 1.5 times the length of the shorter piece. If the lengths of the clipped pieces are considerably different, then extremely high curvatures can result and therefore also very small curve radii.
The second value (TransitionParameter[1]) determines a minimum curvature radius for the possible blending element. In addition, a minimum curvature radius is calculated internally. This is selected so that the blending element can be traveled through with at least one percent of the maximum permitted path velocity. the actual curvature radius of the element must not be less than the maximum of both above-mentioned curvature radii. Otherwise, there will not be any blending, but rather halted between movements.
In the blending modes, the TransitionMode must not be equal to TMNone.
The effective dynamic limits for the axes are specified by the blending mode (low, high, previous, next) when blending.
The target point of blending is restricted to a maximum of half the duration of the second motion.
