G-MAS Single/Group Motion Blending and Transitions

The G-MAS enables the blending of a path between any two consecutive motion segments to achieve smooth kinematics and geometric shapes, thereby reducing motion execution time.

It is made possible by combining the following techniques:

• Blending — Blending between FB’s specifies the velocity that will be in the transition point. Blending serves the kinematic point of view.

• Transition — Transition between FB’s defines the curve in a 3D space that will connect the segments. Transition serves the geometric point of view.

Design Features

The G-MAS supports the following blending modes:

• Blending with low velocity
• Blending with high velocity
• Blending with velocity of previous segment
• Blending with velocity of next segment

• G-MAS Setup and Motion in EAS
• G-MAS Script Manager in EAS
• Single Axis Administrative Control Function Blocks
• Single Axis Buffer Modes
• Coordinate Systems and Kinematic Transformations
• Available Transition Modes