end_blend()
Features
This function ends the blending section. It means that the validity of the blending section that began with begin_blend() ends.
Return
| Value | Description |
|---|---|
0 | Success |
Example
PY
#1
begin_blend(radius=30)
# The motion commands that have the following radius option set 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)
# Immediately terminates the last motion and blends it to move to the Q2 joint angle (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)
# Immediately terminates the last motion and blends it to move to the Q1 joint angle (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.