Solution

You are programming an application that requires you to perform non-exact positioning when continuously following the contour of the product or profile. 

Application examples:

• Sealing 
• Welding 
• Milling
• Hemming
  
  

Solution

This is where Blending comes in. In these types of applications, blending is an essential tool when it comes to quality and to save cycle time. 

Blending a movement is when in the process of planning a trajectory, the robot will not exactly pass through each programmed point, which has the advantages of reducing the number of robotic brakes and reducing wear and shortening the cycle time. As shown in the figure below, a movement from P1 to P3 is planned, and P2 does not need to be exactly in the path. In this case, Blending can be set at P2 point.

Setting up Blending in a Program

When getting started with blending, it is important to know that not all points in a program needs blending enabled. Although having blending enabled on a position saves cycle time, the robot will also take an unpredictable path by blending or curving a path by a defined radius around the programmed position that may not need to be curved. Resulting in potential damage to the product/profile or robot.

1. Enable Blending using Method 1 or 2:

   Method 1 - Enable Blending in the Start Node

   Open the Start Node in your program by clicking the pencil icon. Click Enable continuous motion
   
   

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   Method 2 - Enable Blending by moving through a WayPoint

   The TM Robot can use blending after going to a WayPoint node.
   
   Create a Two-Steps Motion (WayPoint) to enable blending:
   
   The two-step movement will maintain a part of Z-axis displacement on the point Base. When the 1st step XY axis is aligned and in position, the 2nd step will move toward the Z-axis. This is often used in pick-and-place applications. To plan the motion from the 1st step to the 2nd step, users can choose either PTP to Line or Line to Line motion.
   
   

   

   
   

   The movement is taken as approaching motions with moving sequence from the 1st step to the 2nd step when the target point direction is on the direction of +Z in the tool coordinate, and the movement is taken as leaving motions with moving sequence from the 2nd step to the 1st step when target point direction is on the direction of -Z in the tool coordinate. 
   
   
   
   Users can set the value of Percentage with the slider or the respective field, or Distance in mm to maintain height with the respective field. Also, users can use the Var button to set the value with a variable. If the variable for percentage is larger than 100, the system uses 100. If it is smaller than 0, it equals to 0. The data type of the variable must be integer.

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2. Next is to enable blending on each point that you want to use blending. Click the pencil icon on required point. Then select blending by percentage or by radius.
   
   

   
   

   Blending by Percentage:
   Users can click By Percentage to set the blending percentage in Line, PTP, and Circle motion modes. The higher the percentage the larger the circle (Diameter) around the selected point.
   
   Blending by Radius:
   In Line mode, users can click By Radius to set the Blending by radius. Line is a commonly used motion mode in Point Nodes. The higher the radius the larger the curve will be between the entry and exit path. 
   
   

   

3. As shown in the table below, blending can improve the smooth running of robot, but when the Blending radius has been set by Line motion, blending with Circle and PTP cannot be used.
   
   

4. Below is an example of a Sealer Application using blending by percentage:
   
   
   

                                                                            Blending percentage set to 100% 
         

                                                            Blending percentage set to 10%