14.6 Command: Fixed Waypoint
Figure 14.3: Blend over WP 2 with radius r, initial blend position at p1 and final blend position at p2. O is
an obstacle.
Figure 14.4: Blend radius overlap not allowed (*).
Conditional blend trajectories The blend trajectory is affected both by the waypoint where the
blend radius is set and the following one in the program tree. That is, in the program in figure
14.5 the blend around WP 1 is affected by WP 2. The consequence of this becomes more apparent
when blending around WP 2 in this example. There are two possible ending positions and to de-
termine which is the next waypoint to blend to, the robot must evaluate the current reading of the
digital input[1] already when entering the blend radius. That means the if...then expression
(or other necessary statements to determine the following waypoint, e.g. variable waypoints) is
Version 3.10
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