What are the calculations for Blend radius in MoveJ? Exactly when does robot start blending?
On this page it says “Blending is not performed if time is specified instead of velocity and acceleration for both motions.”
But i can set Blend radius with time in my polyscope, what does this mean?
The blend happens at a radius in meter between the trajectory to and from the point. It is used to smoothen the velocity curve, lessen the mechanical strain (less breaking and accelerating) and optimize process time.
According to documentation time holds priority if the value is given: “The speed and acceleration parameters control the trapezoid speed profile of the move. Alternatively, the t parameter can be used to set the time for this move. Time setting has priority over speed and acceleration settings.”
The robot will try to reach the point in the given timeframe and untilize a speed profile as necessary. It will stop and not blend.