Basics of Path Interpolation
2.6 Path dynamics
TO Path Interpolation
Function Manual, 11/2010
33
The dynamic values of the axis for the path object are only taken into account if this has
been programmed accordingly (command parameter blendingMode :=
ACTIVE_WITH_DYNAMIC_ADAPTION and/or dynamicAdaption <> INACTIVE).
Path velocity limiting, path acceleration limiting, and path jerk limiting can be specified in the
limitsOfPathDynamics system variables. Changes in the system variables take effect
immediately.
The maximum dynamic values over the path result from the lesser of the dynamic
parameters set in the command, the dynamic limits on the path specified via the system
variables (limitsOfPathDynamics), and, if programmed, the maximum dynamic values of the
axes along the path.
Note that the path velocity for active dynamic adaptation, possibly also reduced, if the
dynamic limits of the axes would not be violated even without active dynamic adaptation.
Because the reserve used for the active dynamic adaptation, the maximum possible dynamic
path response will not always be attained.
Allowance for dynamic limits of path axes
A reference to the dynamic limits of the axis can be established in the path object using the
dynamicAdaption command parameter. The following settings are possible:
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