Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS - Page 134

6-70 Writing the User Program ECODRIVE03-FL*-04VRS
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
Examples: ’VEO’ - Velocity Override
0000 BPA 0004 M2.02 22222201 Program Selection ; Jump to Program A
0001 BPA 0006 M2.02 22222210 Program Selection ; Jump to Program B
0002 BPA 0008 M2.02 22222211 Program Selection ; Jump to Program C
0003 JMP 0000 Wait Loop
0004 VEO 1 4 1 999 1 Program A; velocity unchanged
0005 JMP 0009 Execute positioning move
0006 VEO 1 4 1 700 1 Program B; velocity limited
0007 JMP 0009 Execute positioning move
0008 VEO 1 4 1 500 0 Program C; reduce velocity
Execute positioning move
0009 POI 1 +000100.000 999 Move 100 mm and proceed to next
instruction
0010 VCC 1 +000035.000 800 0 0 After 35mm, change to 80% velocity
0011 VCC 1 +000050.000 600 0 0 After 50mm, change to 60% velocity
0012 VCC 1 +000065.000 400 0 0 After 65mm, change to 40% velocity
0013 VCC 1 +000080.000 200 0 0 After 80mm, change to 20% velocity
0014 AKN M2.02.4 1 Wait until switching threshold is reached
0015 WAI 01.000 End of cycle; wait 1 second
0016 JMP 0000 Jump to program selection
The above example from the program generates the following velocity
profiles:
1) Program A – unaffected velocity profile
Veo1_bef_AE.WMF
Fig. 6-39: VEO Command – Change Velocity