Detailed Description
2.3 Continuous-path mode
Continuous-Path Mode, Exact Stop, LookAhead (B1)
2-32 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
The following parameter settings were made:
$MC_ADAPT_PATH_DYNAMIC[1] = 4
$MC_LOOKAH_SMOOTH_FACTOR = 1%
With path dynamic response adaptation and path smoothing
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The path-velocity characteristic has been obtained through selection of path dynamic
response adaptation and path smoothing.
The standard path rounding parameter settings for deselected path smoothing and active
path dynamic response adaptation were selected:
$MC_ADAPT_PATH_DYNAMIC[1] = 4
$MC_LOOKAH_SMOOTH_FACTOR = 0%
(same meaning as $MC_LOOKAH_SMOOTH_FACTOR = 100%)
Installation and startup
The basic prerequisites for starting up the path dynamic response adaptation function are as
follows:
• Determination of the natural frequency of the path axes for parameter assignment of
dynamic response adaptation:
MD32440 $MA_LOOKAH_FREQUENCY
• Determination of the dynamic response limiting values: velocity, acceleration, and jerk
Determination of dynamic response limiting values
The determination of the dynamic response limiting values for the traversing of path axes by
means of acceleration with jerk limiting (SOFT) is described below. This procedure can be
transferred analogously to the case of acceleration without jerk limiting (BRISK).
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