How does the blend move work when the constant velocity profile is not reached?

Hi,
In my application I have to blend several moves with the same velocity and acceleration on only one axis.
In the LabView help it is said that  "A blend factor of –1 causes the pending move to start when the existing move finishes its constant velocity segment and starts to decelerate, as shown in the following figure. "
However, if the trajectory parameters are such that the constant velocity segment is never reached (for instance, because during the acceleration segment the target positon is reached), how does the blend motion vi behave? I have looked everywhere and could not find an answer.
Can anyone help me on this?
 Thank you in advance,
João Barata
Solved!
Go to Solution.

Hi,
the blending starts as soon as the deceleration ramp starts. In the case that the constant  velocity is never reached, the deceleration ramp starts exactly in the middle of the move (assuming that the values for acceleration and deceleration are the same), so you end up with a triangular velocity profile instead of a trpezoidal velocity profile. That means, it could never happen, that the target position is reached during the acceleration ramp.
I hope that helps,
Jochen Klier
National Instruments

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      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unhandled bytecode ifnull in clinit method, try a different compiler.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unhandled bytecode goto in clinit method, try a different compiler.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported bytecode invokestatic in clinit method.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of invoked method class$(java.lang.String) of class com.sun.jcclassic.samples.rmi.PurseImpl_Stub.
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      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported bytecode aastore in clinit method.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported bytecode invokevirtual in clinit method.
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      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unhandled bytecode ifnull in clinit method, try a different compiler.
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      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported bytecode anewarray in clinit method.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported bytecode aastore in clinit method.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported bytecode invokevirtual in clinit method.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of invoked method getMethod(java.lang.String, java.lang.Class[]) of class java.lang.Class.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unhandled bytecode ifnull in clinit method, try a different compiler.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unhandled bytecode goto in clinit method, try a different compiler.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported bytecode invokestatic in clinit method.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of invoked method class$(java.lang.String) of class com.sun.jcclassic.samples.rmi.PurseImpl_Stub.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported bytecode anewarray in clinit method.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported bytecode invokevirtual in clinit method.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of invoked method getMethod(java.lang.String, java.lang.Class[]) of class java.lang.Class.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unhandled bytecode ifnull in clinit method, try a different compiler.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unhandled bytecode goto in clinit method, try a different compiler.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported bytecode invokestatic in clinit method.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of invoked method class$(java.lang.String) of class com.sun.jcclassic.samples.rmi.PurseImpl_Stub.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported bytecode anewarray in clinit method.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported bytecode invokevirtual in clinit method.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of invoked method getMethod(java.lang.String, java.lang.Class[]) of class java.lang.Class.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unhandled bytecode ifnull in clinit method, try a different compiler.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unhandled bytecode goto in clinit method, try a different compiler.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported bytecode invokestatic in clinit method.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of invoked method class$(java.lang.String) of class com.sun.jcclassic.samples.rmi.PurseImpl_Stub.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported bytecode anewarray in clinit method.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unhandled bytecode ifnull in clinit method, try a different compiler.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unhandled bytecode goto in clinit method, try a different compiler.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported bytecode invokestatic in clinit method.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of invoked method class$(java.lang.String) of class com.sun.jcclassic.samples.rmi.PurseImpl_Stub.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported bytecode aastore in clinit method.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported bytecode invokevirtual in clinit method.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of invoked method getMethod(java.lang.String, java.lang.Class[]) of class java.lang.Class.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unhandled bytecode goto in clinit method, try a different compiler.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unhandled bytecode pop in clinit method, try a different compiler.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of method class$.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of invoked method forName(java.lang.String) of class java.lang.Class.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported return type String of invoked method getMessage() of class java.lang.Throwable.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of invoked method <init>(java.lang.String) of class java.lang.NoClassDefFoundError.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported long type constant.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type long of invoked method invoke(java.rmi.Remote, java.lang.reflect.Method, java.lang.Object[], long) of class java.rmi.server.RemoteRef.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported long type constant.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type long of invoked method newCall(java.rmi.server.RemoteObject, java.rmi.server.Operation[], int, long) of class java.rmi.server.RemoteRef.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported String type constant.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of invoked method <init>(java.lang.String, java.lang.Exception) of class java.rmi.MarshalException.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported String type constant.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of invoked method <init>(java.lang.String, java.lang.Exception) of class java.rmi.UnexpectedException.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported long type constant.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type long of invoked method invoke(java.rmi.Remote, java.lang.reflect.Method, java.lang.Object[], long) of class java.rmi.server.RemoteRef.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported long type constant.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type long of invoked method newCall(java.rmi.server.RemoteObject, java.rmi.server.Operation[], int, long) of class java.rmi.server.RemoteRef.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported String type constant.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of invoked method <init>(java.lang.String, java.lang.Exception) of class java.rmi.MarshalException.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported String type constant.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of invoked method <init>(java.lang.String, java.lang.Exception) of class java.rmi.UnexpectedException.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported long type constant.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type long of invoked method invoke(java.rmi.Remote, java.lang.reflect.Method, java.lang.Object[], long) of class java.rmi.server.RemoteRef.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported long type constant.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type long of invoked method newCall(java.rmi.server.RemoteObject, java.rmi.server.Operation[], int, long) of class java.rmi.server.RemoteRef.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported String type constant.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of invoked method <init>(java.lang.String, java.lang.Exception) of class java.rmi.UnmarshalException.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported String type constant.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of invoked method <init>(java.lang.String, java.lang.Exception) of class java.rmi.UnmarshalException.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported String type constant.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of invoked method <init>(java.lang.String, java.lang.Exception) of class java.rmi.UnexpectedException.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported long type constant.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type long of invoked method invoke(java.rmi.Remote, java.lang.reflect.Method, java.lang.Object[], long) of class java.rmi.server.RemoteRef.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported long type constant.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type long of invoked method newCall(java.rmi.server.RemoteObject, java.rmi.server.Operation[], int, long) of class java.rmi.server.RemoteRef.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported String type constant.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of invoked method <init>(java.lang.String, java.lang.Exception) of class java.rmi.UnmarshalException.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported String type constant.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of invoked method <init>(java.lang.String, java.lang.Exception) of class java.rmi.UnexpectedException.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported long type constant.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type long of invoked method invoke(java.rmi.Remote, java.lang.reflect.Method, java.lang.Object[], long) of class java.rmi.server.RemoteRef.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported long type constant.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type long of invoked method newCall(java.rmi.server.RemoteObject, java.rmi.server.Operation[], int, long) of class java.rmi.server.RemoteRef.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported String type constant.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of invoked method <init>(java.lang.String, java.lang.Exception) of class java.rmi.MarshalException.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported String type constant.
      [convert] error: com.sun.jcclassic.samples.rmi.PurseImpl_Stub: unsupported parameter type String of invoked method <init>(java.lang.String, java.lang.Exception) of class java.rmi.UnexpectedException.At the first command prompt, I typed cref -o demoee
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    Jack

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    Your rank is better than the other app because you've made a sale while they've made none. When you make a sale, you jump in the charts, and after that you slowly go down if you don't make another sale. In other words, the bottom of the charts has many apps that didn't make any sale recently. I've also noticed that if you make some sales in other countries than the current chart, that'll very slightly improve your rank.

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    Hi
    Check the links
    Check these links.
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    http://www.sapgenie.com/sapgenie/docs/ale_scenario_development_procedure.doc
    http://edocs.bea.com/elink/adapter/r3/userhtm/ale.htm#1008419
    http://www.netweaverguru.com/EDI/HTML/IDocBook.htm
    http://www.sapgenie.com/sapedi/index.htm
    http://www.sappoint.com/abap/ale.pdf
    http://www.sappoint.com/abap/ale2.pdf
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    http://help.sap.com/saphelp_erp2005/helpdata/en/78/217da751ce11d189570000e829fbbd/frameset.htm
    http://www.allsaplinks.com/idoc_sample.html
    http://www.sappoint.com/abap.html
    http://help.sap.com/saphelp_erp2004/helpdata/en/dc/6b835943d711d1893e0000e8323c4f/content.htm
    http://www.sapgenie.com/sapgenie/docs/ale_scenario_development_procedure.doc
    http://edocs.bea.com/elink/adapter/r3/userhtm/ale.htm#1008419
    http://www.netweaverguru.com/EDI/HTML/IDocBook.htm
    http://www.sapgenie.com/sapedi/index.htm
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    http://help.sap.com/printdocu/core/Print46c/en/data/pdf/BCMIDALEIO/BCMIDALEIO.pdf
    http://help.sap.com/printdocu/core/Print46c/en/data/pdf/BCMIDALEPRO/BCMIDALEPRO.pdf
    http://help.sap.com/printdocu/core/Print46c/en/data/pdf/CABFAALEQS/CABFAALEQS.pdf
    http://help.sap.com/printdocu/core/Print46c/en/data/pdf/BCSRVEDISC/CAEDISCAP_STC.pdf
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    Anji

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