Loading velocity in blended motion

[Tom_SAVU]

I have a sequence of blended 2-axis moves and I need to change the velocity continuously, not only between moves.

I tried by inserting a "Load Velocity in RPM" in the While loop where I'm checking the "Blend complete" status, but it's not working.

Is it possible to obtain the velocity variation ?

Thanks, Tom

[Jochen]

Tom,

In a blended move you can't use "Load Velocity in RPM" to change velocity on the fly but you can use the "Load Velocity Override" function. This function  loads an instantaneous velocity override for an axis or vector space in a range of 0 to 100%. Thus you should use "Load Velocity in RPM" prior to your move to load the maximum velocity and change the velocity during the moves with "Load Velocity Override".

I hope that helps,

Jochen Klier
National Instruments Germany

[Tom_SAVU]

Thank you very much Jochen !
I did what you said and now it's working.
Thanks again,

Tom

[FTI_Newton]

Will "Load Velocity Override" accept a negative percentage value in order to move in the opposite direction?

[Jochen]

No. With the override function you can scale the velocity only between 0 % and 150 %. Negative values are not valid. If you want to reverse the direction, you will need to load a negative velocity value and send the Start Motion command. The result will be the same as scaling the velocity to a negative value.

The only disadvantage of this method is the fact, that you have to send two sequential commands instead of only one, which will result in a slightly longer execution time of the code.

I hope this helps,

Jochen Klier
National Instruments