MC_TransitionMode
The transition mode is only supported for the transition of 2 linear movements (whether MC_MoveLinearAbsolute or MC_MoveLinearRelative) when the resulting path doesn't generate a tangency in the join-point (i.e., the result is not a straight line).
MC_TransitionMode: ENUM
For more help content on the Transition mode, refer to the help of TransitionParameter
| ENUM Type | #INT Value | ENUM String | Description | Usage |
|---|---|---|---|---|
| MC_TransitionMode | Transition method for two line segments | |||
| 0 | TMNone | No transition curve inserted. Motion blocks are not modified. The only TransitionMode usable with the "Buffered" BufferMode. | MC_TransitionMode#TMNone | |
| 1 | TMStartVelocity |
Transition with given start velocity. Adds a segment to the motion queue unless motion is tangent. | MC_TransitionMode#TMStartVelocity | |
| 2 | TMConstantVelocity | Transition with given constant velocity. Adds a segment to the motion queue unless motion is tangent. | MC_TransitionMode#ConstantVelocity | |
| 3 | TMCornerDistance |
Transition with given corner distance. Adds a segment to the motion queue unless motion is tangent. | MC_TransitionMode#TMCornerDistance |
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| 4 | TMMaxCornerDeviation |
Geometry limited parabolic transition with the path defined by the programmed target point to the apex of the parabola. The system will enforce this exact path, but will adjust the curve if the input segments are too short. Note that the FMK implementation is logically “ExactCornerDeviation” even though the PLCOpen spec calls for “MaxCornerDeviation” | MC_TransitionMode#TMMaxCornerDeviation |
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| 5 | TMReserved6 |
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MC_TransitionMode#TMReserved6 |
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| 6 | TMReserved7 |
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MC_TransitionMode#TMReserved7 |
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| 7 | TMReserved8 |
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MC_TransitionMode#TMReserved8 |
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| 8 | TMReserved9 |
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MC_TransitionMode#TMReserved9 |
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| 9 | TMReserved10 |
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MC_TransitionMode#TMReserved10 |
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| 10 | TMMLXBlend |
For remote hosted (MotomanSync) Groups only. For velocity blending, set a value of -1 in TransitionParameter[10]. The corner distance will be a function of speed. For positional blending, see the charts in TransitionParameter. | MC_TransitionMode#TMMLXBlend |
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| 11 | TMMaxCornerDistance |
Geometry limited parabolic transition with the path defined by specified corner distance from the start point of the curve to the programmed target point. The blend will begin no sooner than this distance to the programmed target point and can be started at any point closer without generating an error. The system is free to pick any paths that obey this constraint. This will limit the path to a maximum distance which is useful if there are obstacles in the way. It is also useful for applications that can tolerate a variable blend radius depending on the speed, motion sequence, or timing. | MC_TransitionMode#TMMaxCornerDistance |
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