CP_BlendRate

Sets and displays the coefficient that determines the amount of overlap for motion commands when path motion is enabled.

Syntax

(1) CP_BlendRate Overlap ratio
(2) CP_BlendRate

Parameter
Overlap ratio

Specifies the overlap ratio (1 to 100, unit: %) for motion commands in path motion.

Result
Displays the current overlap ratio when parameter is omitted.

Description
Specifies the overlap section for motion commands in path motion as a percentage of the maximum value, using a formula or a numerical value.

In path motion, consecutive motion commands are overlapped to synthesize the trajectory.

Normally, trajectory synthesis is performed by adding CP_Offset to whichever of the following has the shorter time. See the CP instruction for more information.

• From the start of deceleration of the preceding motion command to a stop
• From the start of the next motion command to reaching the specified speed

CP_BlendRate treats this value as the maximum value and calculates the synthesis interval by multiplying it by the overlap ratio, then delays the start of the synthesis.

When the overlap ratio is 100, the operation is the same as normal path motion. The offset specified by CP_Offset is also reflected as specified.

When the overlap ratio is 1 to 99, the start of synthesis is delayed by the time obtained by multiplying the maximum value by the overlap ratio. The offset amount specified by CP_Offset is also reflected according to the overlap ratio.

When the overlap ratio is 0, the operation is the same as when path motion is disabled. Trajectory synthesis is not performed. The offset specified by CP_Offset does not occur either.

Overlap ratio 100

Overlap ratio 50

Overlap ratio 0

Symbol	Description
a	Speed
b	Time
c	Preceding command: Start deceleration
d	Following command: Start acceleration
e	Preceding command: Deceleration completed (stopped)
f	Following command: Acceleration completed (specified speed reached)

The overlap ratio of path motion is applied when path motion is enabled by a CP instruction or by the CP specifier of a motion command.
Even if the overlap ratio is set, it is not applied when path motion is disabled.

When any of the following occurs, the overlap ratio of path motion is reset to its initial value, and path motion is disabled.

• Controller startup
• Motor On
• SFree, SLock, or Brake is executed
• Reset or Reset Error is executed
• Task end by STOP switch or Quit All

See Also
CP, CP_Offset, Arc, Arc3, Go, Jump, Jump3, Jump3CP, JumpTLZ, Move

CP_BlendRate Example

CP On
CP_BlendRate 50
Move P1
CP Off