PMAC Product Guide 3. The two moves are now plotted with the blending mode activated. To find out the blending point, trace straight lines through the middle point of each acceleration lines of both velocity profiles: Notes about Linear Interpolation Moves 1. The total move time is given by: msec 675 125 250 250 50 2 2 TA 2 TM 1 TM 2 1 TA = + + + = + + + 2. The acceleration of the second blended move can be extended only up to a certain limit, 2*(TM- Ѕ TA): PMAC looks two moves ahead of actual move execution to perform its acceleration limit and can recalculate these two moves to keep the accelerations under the Ix17 limit.
However, there are cases where more than two moves, some much more than two, would have to be recalculated in order to keep the accelerations under the limit. In these cases, PMAC will limit the accelerations as much as it can, but because the earlier moves have already been executed, they cannot be undone, and therefore the acceleration limit will be exceeded. 3. When performing a blended move that involves a change of direction, the end point might not be reached. Example: TA100 TM250 76 Motion Programs