Rockwell Automation GMLC Reference Manual - Manual (Page 277)

Publication GMLC-5.2 - November 1999
240 Motion Blocks
If the move segments are not tangential at their intersection, the axes
come to a stop between the segments rather than merging smoothly. When
merging linearly interpolated motions, only co-linear line segments (those
that lie on the same line) can be smoothly merged with each other—any
two line segments which are not co-linear are also not tangential.
Also, do not execute an Interpolate Axes block with Merge From
Previous Segment selected if the selected interpolator is accelerating,
decelerating, or already has a merge pending, otherwise an Illegal Merge
Attempt runtime fault (Runtime_fault = 31) occurs. See Runtime Fault in
the System Variables chapter of this manual for more information on
runtime faults.
The recommended GML Commander sequence for merging interpolated
motion is shown below. Select Merge from Previous Segment in all
Interpolate Axes blocks except the first.
As shown above, the program must wait for the acceleration of the current
segment to finish before executing the next Interpolate Axes block. For
all merged segments except the first, the program waits for the current
merge to finish before executing the next Interpolate Axes block.