Superimpose Two Moves

Superimposing two moves is the most common use of blending. In this case, the motion controller tries to maintain continuous motion by superimposing the two move segments such that the second move segment starts its profile while the first move is decelerating, as shown in the following figure.

The velocity during the superimposition depends on the cruising velocity, deceleration, and jerk of the first move segment, and the jerk, acceleration, and cruising velocity of the second move segment.