B1: Continuouspath Mode, Exact Stop, LookAhead
3.4 Dynamic adaptations
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
189
Effects of smoothing on path velocity:
Effects of the dynamic response adaptation:
Example 2
Acceleration mode: SOFT
The path involves the 3 axes X = AX1, Y = AX2, Z = AX3.
The following parameters are assumed:
This leads to a path velocity profile which is optimized in terms of time without smoothing the path velocity or
adapting the dynamic path response:
Interval t
1
-t
2
: The acceleration and deceleration process between t
1
and t
2
does not
take place because the lengthening of the machining time without the
acceleration process to v
12
is less than the resulting time if a
smoothing factor of 80 % is applied.
Interval t
3
-t
5
: The acceleration and braking profile between t
3
and t
5
does not fulfill
this condition or takes longer than the parameterized smoothing time
T
Axn
=2/20Hz=100ms.
Interval t
3
-t
4
: The acceleration process between t
3
andt
4
is shorter than
MIN(T
AXn
)=1/20Hz=50ms and is, therefore, executed with an
acceleration reduced by an adaptation factor of 3.
Interval up to t
1
: The acceleration up to t
1
left over after path smoothing is stretched to
the time period up to t
1
' by the dynamic response adaptation.
Note
The example shows that those acceleration or deceleration processes that are not eliminated
by the smoothing of the path velocity can be subsequently optimized by adapting the
dynamic path response. For this reason, both functions should always be activated, if
possible.
MD20465 $MC_ADAPT_PATH_DYNAMIC[1] = 1
MD20460 $MC_LOOKAH_SMOOTH_FACTOR = 0.0
MD32440 $MA_LOOKAH_FREQUENCY[AX1] = 10 T
AX1
= 1/20 Hz = 100 ms
MD32440 $MA_LOOKAH_FREQUENCY[AX2] = 10 T
AX2
= 1/20 Hz = 100 ms
MD32440 $MA_LOOKAH_FREQUENCY[AX3] = 20 T
AX3
= 1/20 Hz = 50 ms
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