B1: Continuouspath Mode, Exact Stop, LookAhead
3.4 Dynamic adaptations
Basic Functions
186 Function Manual, 09/2011, 6FC5397-0BP40-2BA0
Figure 3-9 Path velocity profile optimized for time without smoothing or dynamic adaptation response
Figure 3-10 Path velocity profile with adaptation of dynamic path response
Intervals t
0
-t
1
and t
2
-t
3
: The acceleration process between t
0
-t
1
and the
deceleration process between t
2
-t
3
are extended in terms
of time to t
adapt01
or t
adapt23
as a result of the acceleration
being adapted.
Interval t
4
-t
5
: The acceleration process between t
4
-t
5
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 t
6
-t
7
: The deceleration process between t
6
-t
7
remains
unchanged as it lasts longer than t
adapt67
.
Y
W
W
W
W
W
Y
W
W
W
WDGDSW
WDGDSW
WDGDSW
WDGDSW
%
W
Y
W
W
W
W
W W
Y
W
W
W
WDGDSW
WDGDSW
WDGDSW
%
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