SetBlending#

This command enables/disables the robot’s blending feature (Section 2.3.3). Note that there is blending only between consecutive movements with the position-mode joint-space commands MoveJoints, MoveJointsRel, MovePose and MoveJump, or between consecutive movements with the position-mode Cartesian-space commands MoveLin, MoveLinRelTrf and MoveLinRelTrf. For example, there will never be blending between the trajectories of a MovePose command followed by a MoveLin command.

Syntax#

SetBlending(p)

Arguments#

  • p: percentage of blending, ranging from 0 (blending disabled) to 100.

Default values#

The default settings are applied whenever the robot is activated or reactivated.

Blending is enabled at 100% by default.

Further details#

A blending of 100% corresponds to a blending that occurs 100% of the duration of the acceleration and develeration periods, controlled by SetJointAcc, SetCartAcc and SetJointVelLimit.

Usage restrictions#

This command is added to the robot’s motion queue and can only be executed when the robot is ready for motion, not in an error state and when no safety signal conditions are present. Otherwise, the robot will report one of the following:

  • [1005][The robot is not activated.]

  • [1011][The robot is already in error.]

Cyclic protocols#

In cyclic protocols, the SetBlending command is represented by MotionCommandID 7. See Section 4.2 for more details.