Detailed Description
2.3 Continuous-path mode
Continuous-Path Mode, Exact Stop, LookAhead (B1)
2-28 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
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Y
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WDGDSW
WDGDSW
WDGDSW
WDGDSW
%
W
Fig. 2-8 Path velocity profile optimized for time without smoothing or dynamic adaptation
response
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WDGDSW
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Fig. 2-9 Path velocity profile with adaptation of dynamic response
• Interval: t0 - t1 and t2 - t3
The acceleration process between t0 - t1 and the deceleration process between t2 - t3
are lengthened in time due to an adaptation of the acceleration to time t
adapt01
and t
adapt23
.
• Interval: t4 - t5
The acceleration process between t4 - t5 is executed with an acceleration reduced by the
maximum adaptation factor of 1.5. However, the acceleration process is completed
before time t
adapt45
.
• Interval: t6 - t7
The deceleration process between t6 - t7 remains unchanged, as it lasts longer than
t
adapt67
.
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