6-68 Writing the User Program ECODRIVE03-FL*-04VRS
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
b) Switching Point = Absolute Position
The switching point is referenced to the actual coordinate system.
Note: The axis must be homed to zero! Otherwise, the error
message "F- 03 05 – n. referenced" is issued.
Velocity Change at the Switching Point
a) Switching Point = Distance Traveled:
Always referenced to the most recently initiated positioning function.
b) Switching Point = Absolute Position
The new velocity of the positioning move in process is reached at the
absolute position indicated.
The program proceeds to the next instruction immediately after the drive
unit begins changing its velocity. This point depends on the acceleration,
the difference in velocity and the position lag.
If this point has already been reached or exceeded when the VCC
command arrives, the program proceeds immediately to the next
instruction, accepting the new velocity.
Note: The axis must be homed to zero! Otherwise, the error
message "F- 03 05 – n. referenced" is issued.
Example:
0000 PSA 1 +000100.000 999 Movement to Absolute Start Position +100 IU
0001 WAI 01.000 Wait
0001 POA 1 +000300.000 999 Movement to Absolute Position +300 IU
0002 VCC 1 +000200.000 500 1 1 At position +200 IU, V = 50%
0003 VCC 1 +000280.000 100 1 1 At position +280 IU, V = 10%
0004 AKN M2.00.1 1 Wait until target position is reached
0005 WAI 01.000 End of cycle, wait 1 second
0006 JMP 0000 Repeat program
VCA_BEF1.WMF
Fig. 6-38: Change Velocity (Absolute Position)
Mode 1 :
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