Smoothing Override

The Smoothing interpolation override type will check the current axis position, velocity, and acceleration, and the target position of the override interpolation, and generate a smoothing segment between the current position and an intermediate position. The axes will move from the intermediate position to the target position by linear interpolation.

The intermediate position (and hence, the length of the smoothing segment) depends on the Linear Intpl Override Smooth Percent parameter. If the linear distance from the position where the override is started to the new target position is D, then let X = D * Linear Intpl Override Smooth Percent / 2. The intermediate position is the position after advancing X in the direction of travel when the override is started and then advancing X in the direction of the target position.

This override type is only available for linear interpolation overrides, and not circular interpolation overrides.

This interpolation override type is shown in the following figure.