B2: Acceleration
4.2 Functions
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
251
Substitute characteristic curve with curved path sections
In the case of curved path sections, normal and tangential acceleration are considered together. The path
velocity is reduced so that only up to 25 % of the speed-dependent acceleration capacity of the axes is required
for normal acceleration. The remaining 75 % of the acceleration capacity is set aside for the tangential
acceleration, i.e., deceleration/acceleration on the path.
Figure 4-11 Substitute path characteristic curve: Curved path
Block transitions with continuous-path mode
If continuous-path mode is active, non-tangential block transitions result in axial velocity jumps when the
programmed path velocity is used for traversing.
As a result, the path velocity is controlled in such a way that prevents any axial velocity proportion from
exceeding the creep velocity v
red
at the time of the block transition.
Deceleration ramp with continuous-path mode and LookAhead
In the case of consecutive part program blocks with short paths, an acceleration or deceleration operation may
be spread over several part program blocks.
In such a situation LookAhead also takes into account the parameterized speed-dependent acceleration
characteristic.
a
N
: Normal acceleration
a
ers
: Substitute characteristic curve constant acceleration
v
ers
: Substitute characteristic curve velocity
r: Path radius
U
Y
D
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D
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D
UHG
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D1
Y
PD[
Y
HUV
Y
UHG
D
Y
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