Detailed description
2.3 Continuous -path mode
Basic logic functions: Continuouspath Mode, Exact Stop, LookAhead (B1)
38 Function Manual, 11/2006, 6FC5397-0BP10-2BA0
Effects of path smoothing
• Interval: t1 - t2
The acceleration and deceleration process between t1 - t2 does not take place because
the lengthening of the machining time without the acceleration process to v12 is less than
the resulting time if a smoothing factor of 80% is applied.
• Interval: t3 - t5
The acceleration and braking profile between t3 and t5 does not fulfill this condition or
takes longer the parameterized smoothing time: T
AXn
= 2/20 Hz = 100 ms.
Effects of the dynamic response adaptation
• Interval: t3 - t4
The acceleration process between t3 - t4 is shorter than MIN(T
AXn
) =1/20 Hz = 50 ms and
is therefore executed with an acceleration reduced by an adaptation factor of 3.
• Interval: up to t1
The acceleration up to t1 left over after path smoothing is stretched to the time period up
to t1' by the dynamic response adaptation.
Conclusion
This example shows the interaction of path smoothing and dynamic response adaptation in
continuous-path mode. Only those acceleration or deceleration processes that were not
eliminated by the path smoothing are subsequently optimized by the dynamic response
adaptation. For this reason, both functions should always be activated, if possible.
Example 3: Effect of adaptation and smoothing the path velocity; acceleration mode: BRISK
Parameter assignment
$MC_ADAPT_PATH_DYNAMIC[1] = 4
$MC_LOOKAH_SMOOTH_FACTOR = 100%
$MA_LOOKAH_FREQUENCY[AX1] = 10 Hz T
AX1
= 1/10 Hz = 100 ms
$MA_LOOKAH_FREQUENCY[AX2] = 10 Hz T
AX2
= 1/10 Hz = 100 ms
$MA_LOOKAH_FREQUENCY[AX3] = 20 Hz T
AX3
= 1/20 Hz = 50 ms
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