Interpolation Overrides

When a linear or circular interpolation command is executed while one or more of the commanded axes are already executing a linear or circular interpolation command, the new interpolation command is executed as an override command. During an interpolation override, a transition segment is generated between the original and override interpolations to prevent sudden changes in the velocities of any of the interpolating axes. Interpolations cannot be overridden again during the transition segment (the Detail Op State status will be set to Intpl_OverrideSetup or Intpl_OverrideSmoothing during the transition segment).

There are three override types for linear interpolation.

• FastBlending

• Blending

• Smoothing

The linear interpolation override type is set using the Linear Intpl Override Type parameter. The default linear interpolation override type is FastBlending. This is the recommended linear interpolation override type.

There are two override types for circular interpolation.

• FastBlending

• Blending

The circular interpolation override type is set using the Circular Intpl Override Type parameter. The default circular interpolation override type is FastBlending. This is the recommended circular interpolation override type.

A limitation of the FastBlending is that if only a part of the axes of an interpolation command is overridden, the remaining axes will decelerate to a stop. For example, if axes 0, 1, and 2 are executing a linear interpolation command and axes 1 and 2 are overridden with a circular interpolation command, then axis 0 will decelerate to a stop.

When executing interpolation overrides, relative interpolation commands (StartLinearIntplMov and StartCircularIntplMov) will be relative to the target position of the interpolation that is being overridden.

Another use of linear interpolation overrides is blending motion using the API buffer (see Blending Motion).