begin_blend(radius=0)
Features
This function begins the blending section. The sync motion commands (movej, movel, movec, movejx) with blending section radius execute blending using the radius set as the default argument. There is no actual blending effect if the radius is 0. Moreover, if a blending radius that is different from the set radius is needed, the blending radius can be changed as an exception by specifying the blending radius to the motion argument.
Parameter
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
radius | float | 0 | Radius for blending |
Return
| Value | Description |
|---|---|
0 | Success |
Exception
| Exception | Description |
|---|---|
DR_Error (DR_ERROR_TYPE) | Parameter data type error occurred |
Example
PY
#1
begin_blend(radius=30)
# The motion commands with the following radius option sets
# the blending section to 30mm.
Q1 = posj(0,0,90,0,90,0)
Q2 = posj(0,0,0,0,90,0)
movej(Q1, vel=10, acc=20)
# Moves to the Q1 joint angle and is set to execute the next motion
# when the global distance from the Q1 space position is 30mm.
movej(Q2, time=5)
# Moves to the Q2 joint angle after the blend while maintaining the last motion (motion iteration).
# It is set to execute the next motion
# when the global distance from the Q2 space position is 30mm.
movej(Q1, v=30, a=60, r=200)
# Moves to the Q1 joint angle after the blending while maintaining the last motion (motion iteration).
# It is set to execute the next motion
# when the distance from the Q1 space position is 200mm (the global setting is not applied).
movej(Q2, v=30, a=60, ra= DR_MV_RA_OVERRIDE)
# Immediately terminates the last motion and blends it to move to the Q2 joint angle.
end_blend() # Ends the batch setting of the blending sections.