Transition mode: TMDynamicOptimized

This transition mode optimises the axis-specific acceleration and jerk. No geometric path is calculated.

The only parameter that must be specified when this transition mode is used defines the distance from the point where the transition starts up to the corner point of the successive motions. This is also the distance from the corner point to the point where the transition motion should end. The distance d can be interpreted as the radius of a ball with the corner point E1/E2 as its centre point. Outside this ball, the tool centre point follows the programmed path. The transition takes place inside the ball.

This transition mode is recommended for point-to-point (PTP) motions (MC_MoveDirAbs).