Speed-dependant blending between blocks with discontinuous trajectories

A method for operating a machine having a plurality of position-controlled axes controlled by a numerical control facility, which cause a traversing movement of a first element of the machine relative to a second element of the machine, the method comprising:

• predefining the traversing movement using program instructions which define a path having a plurality of adjacent path sections,
• determining with the numerical control facility position from the program instructions setpoints for the plurality of position-controlled axes in an interpolation cycle having a predefined first period,
• predefining in the numerical control facility a technology cycle with a second period different from the interpolation cycle, with the second period being set as an acceleration duration,
• defining in a first program instruction a first path section and defining in an immediately following second program instruction a second path section immediately adjacent to the first path section, with the first path section transitioning in the second path section at a contact point without being continuously differentiable at the contact point,
• defining for at least one first position-controlled axis an acceleration duration that is different from the first period,
• defining for the at least one first position-controlled axis a transition maximum acceleration,
• predefining for the at least one first position-controlled axis a transition maximum speed such that, when the at least one first position-controlled axis moves with the transition maximum speed and the transition maximum acceleration is applied, a speed of the at least one first position-controlled axis has a value of zero at the end of the acceleration duration, and
• determining the traversing movement so that the speed of the at least one first position-controlled axis does not exceed the transition maximum speed when transitioning from the first path section to the second path section.