TransitionParameter

The TransitionParameter is a VECTOR datatype. The value that will be used corresponds to the MC_TransitionMode. For example, if MC_TransitionMode=2, then TransitionParameter[2] is applied. If MC_TransitionMode=10, then TransitionParameter[10] is applied.

TransitionParameters

Value	MC_TransitionMode	Blending Segment	Transition Parameter (Example)	Description
0	TMNone	None	n/a	n/a
1	TMStartVelocity	Parabolic	TParameter[1]:=LREAL#100.0;	Percentage of velocity of the relevant block (pre or post transition) depending on the Blending mode.
2	TMConstantVelocity	Circular	TParameter[2]:=LREAL#100.0;	Percentage of velocity of the relevant block (pre or post transition) depending on the Blending mode.
3	TMCornerDistance	Parabolic	TParameter[3]:=LREAL#15.0;	User units of the axes in the group.
4	TMMaxCornerDeviation	Parabolic	TParameter[4]:=LREAL#15.0;	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. Yaskawa's implementation is “ExactCornerDeviation” even though the PLCOpen spec calls for “MaxCornerDeviation” Specify the value User units of the axes in the group.
10	TMMLXBlend	n/a	TParameter[10]:=LREAL#4.0;	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 below.
11	TMMaxCornerDistance	Parabolic	TParameter[11]:=LREAL#4.0;	Geometry limited parabolic transition with the path defined by specified corner distance from the start point of the curve to the programmed target point. Blend will begin no sooner than this distance to the segment junction and can be started at any point closer to the junction without generating an error. This will limit the path to some maximum radius, useful if there are obstacles in the way. It is also useful for those applications that can withstand variable blend radius depending on speed or decision sequencing and timing.

Transition Mode compatibility with BlendMode

Effect of the defined trajectory on the Transition Mode result

Depending on the defined trajectory, the Transition Mode used for the blending might not be taken into account. The two factors affecting the Transition Mode are the tangency of the join-point and the type of paths (Linear or Circular) involved in the transition. The following table summarizes the possible results for the different combinations.

Tangency	Trajectory type	TransitionMode: TMStartVelocity, TMConstantVelocity, TMCornerDistance, TMMaxCornerDeviation
Non-Tangent transition	Linear to Linear	Blends according to the TransitionMode.
	Linear to Circular	No blending (i.e., the TCP velocity will go to 0 in between movements).
	Circular to Linear
	Circular to Circular
Tangent transition	Linear to Linear	TransitionMode is irrelevant because there's no transition segment. Blends with the velocity specifiec by BufferMode.
	Linear to Circular
	Circular to Linear
	Circular to Circular

More Transition Mode details

Start Velocity [1]

The transition curve is a parabola, which minimizes the corner deviation.
The start velocity is constrained by the following:

Frist segment's Velocity* (TransitionParameter[TMStartVelocity] / 100.0).
Maximum speed achievable at E1' given the first segment's acceleration and the starting speed at S1.
Maximum speed at S2' that can still stop at E2 given the second segment's deceleration.

E1' and S2' are chosen based on the start velocity, acceleration and the geometry of the movement. Additionally, the transition curve will not start before the midpoint of the first segment and will not end after the midpoint of the second segment.

Constant Velocity [2]

The transition curve is a circular arc that maintains a constant velocity.
The transition velocity is constrained by the following:

(TransitionParameter[TMConstantVelocity] / 100.0) * VBlend, where VBlend depends of the used BufferMode:

BlendingLow: VBlend = min(Frist segment's velocity, Second segment's velocity ).
BlendingPrev: VBlend = Frist segment's velocity.
BlendingNext: VBlend = Second segment's v elocity.
BlendingHigh: VBlend = max(Frist segment's velocity, Second segment's v elocity).

Maximum speed achievable at E1' given thefirst segment's acceleration and the starting speed at S1.
Maximum speed at S2' that can still stop at E2 given thesecond segment's deceleration.

E1' and S2' (which in turn sets the radius 'r' of the arc) are determined based on the transition velocity, acceleration and the geometry of the movement. Additionally, the transition curve will not start before the midpoint of the first segment and will not end after the midpoint of the second segment.

Corner Distance [3]

The transition curve is a parabola, which minimizes the corner distance.
'd' is constrained by the following:

TransitionParameter[TMCornerDistance].
E1' must be after the midpoint of the first segment.
S2' must be before the midpoint of the second segment.

The start velocity (velocity at E1' and S2') is constrained by the following:

Maximum speed achievable at E1' given the first segment's acceleration and the starting speed at S1.
Maximum speed at S2' that can still stop at E2 given the second segment's deceleration.
The first segment's velocity.
The second segment's velocity.

The actual speed used during the blended profile is a function of:

The min(Frist segment's deceleration, Second segment's acceleration).
The parameter 'd'.
The geometry of the movement.

Max Corner Deviation[4]

The transition curve is a parabola.
Parameter 'e' is constrained by the following:

TransitionParameter[TMMaxCornerDeviation].
E1' must be after the midpoint of the first segment.
S2' must be before the midpoint of the second segment.

The speed limit is defined by the buffer mode input (Blending High/Low/Next/Previous).
The actual speed used during the blended profile is a function of:

The min(Frist segment's deceleration, Second segment's acceleration).
The parameter 'e'.
The geometry of the movement.

Blend Factors for remote-hosted robots operated via MotomanSync

Refer to the following table to set the blend radius when using TransitionMode 10. The table shows the default distances per blend factor number, but they can be changed using the parameters specified in the table (the user needs to be in, at least, Management Mode to have the Parameters section available). Notice that the value set to the parameters must be entered in μm. The robot will start the next move when the current move is within the following values of reaching its end target.

Default Blend Factor Distances
Blend Factor	Distance	Controller Parameter	Setting [μm]
1	12.5 mm	S1CxG 33	12500
2	25 mm	S1CxG 34	25000
3	50 mm	S1CxG 35	50000
4	100 mm	S1CxG 36	100000
5	200 mm	S1CxG 37	200000
6	300 mm	S1CxG 38	300000
7	400 mm	S1CxG 39	400000
8	500 mm	S1CxG 40	500000

The Blending Factor's effect on motion is visualized below. Note that BlendFactor of -1 is a velocity blend, which is different than a positional blend (the distance shown in the image below is just a reference; the final distance depends on the velocity and will not necessarily be more prominent than Blend Factor 8). If the speed or tool changes, the path's arc will also change. Verify these motions at a slower speed, then increase the speed with caution.