B1: Continuouspath Mode, Exact Stop, LookAhead
3.4 Dynamic adaptations
Basic Functions
188 Function Manual, 09/2011, 6FC5397-0BP40-2BA0
3.4.4 Interaction between the "smoothing of the path velocity" and "adaptation of the path
dynamic response" functions
The following examples serve to illustrate the interaction between the "smoothing of the path velocity" and
"adaptation of the path dynamic response" functions in continuous-path mode.
Example 1
Acceleration mode: BRISK
The path involves the 3 axes X = AX1, Y = AX2, Z = AX3.
The following parameters are assumed:
Figure 3-11 Path velocity profile optimized for time without smoothing or dynamic adaptation response
Figure 3-12 Path velocity profile with smoothing of the path velocity and adaptation of dynamic path response
MD20465 $MC_ADAPT_PATH_DYNAMIC[0] = 3
MD20460 $MC_LOOKAH_SMOOTH_FACTOR = 80.0
MD32440 $MA_LOOKAH_FREQUENCY[AX1] = 20 T
AX1
= 1/20 Hz = 50 ms
MD32440 $MA_LOOKAH_FREQUENCY[AX2] = 20 T
AX2
= 1/20 Hz = 50 ms
MD32440 $MA_LOOKAH_FREQUENCY[AX3] = 20 T
AX3
= 1/20 Hz = 50 ms
Y
W
W
W
W
W
W
Y
%
Y
Y
W
W
W W W
W
Y
%
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