Tightening
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6.5.2.6 AO - Run until Angle with overshoot compensation
Step type Id: 5
Parameters: A (Angle), DIR (Direction).
Function: Run spindle, in DIR direction, an angle of A degrees. The angle is measured from where the
previous step was stopped, that is from its shut off.
Any overshoot will be included in this step. If the overshoot is larger than A the step will be
signaled ready immediately. Overshoot is defined as the angle measured between shut off
point in the previous step and the current angle when this step starts.
Diagram 1:
Angle
Torque
Previous
step
Step x-1 Step x
A
AStop
+OS
Astop Shut-off point A Target Angle
A2 A - OS actual angle movement in this step
OS Overshoot in previous step
A2
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