Universal Robots UR16e

Blend Parameters
Description Blending enables the robot to smoothly transition between two trajectories,
without stopping at the waypoint between them.
Blending makes your robot program run faster because, when you create a
smooth transition between trajectories, you avoid slowing down an
acceleration between trajectories.
Blend parameters Apart from the waypoints, multiple parameters will influence the blend
trajectory.
•
the blend radius (r)
•
the initial and final speed of the robot (at positions p1 and p2 ,
respectively)
•
the movement time (e.g. if setting a specific time for a trajectory this
will influence the initial/final speed of the robot)
•
the trajectory types to blend from and to (MoveL, MoveJ)
r
WP_1
WP_2
WP_3
p1
p2
O
32.2: Blend over (WP_2) with radius (r) , initial blend position at p1
and final blend position at p2 . (O) is an obstacle.
User Manual 209 UR16e
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