B2: Acceleration
4.3 Examples
Basic Functions
256 Function Manual, 09/2011, 6FC5397-0BP40-2BA0
4.3 Examples
4.3.1 Acceleration
4.3.1.1 Path velocity characteristic
Key statement
An excerpt from a part program is provided below, together with the associated acceleration characteristic, by
way of an example. These are used to illustrate how the path velocity can be adapted to take account of various
events and the resulting change in acceleration.
Part program (excerpt, schematic)
; Acceleration selection in accordance with fast input 1 ($A_IN[1]):
N53 ID=1 WHEN $A_IN[1] == 1 DO $AC_PATHACC = 2.*$MA_MAX_AX_ACCEL[X]
; Test override profile (simulates external intervention):
N54 ID=2 WHENEVER ($AC_TIMEC > 16) DO $AC_OVR=10
N55 ID=3 WHENEVER ($AC_TIMEC > 30) DO $AC_OVR=100
;Approach
N1000 G0 X0 Y0 BRISK
N1100 TRANS Y=-50
N1200 AROT Z=30 G642
; Contour
N2100 X0 Y0
N2200 X = 70 G1 F10000 RNDM=10 ACC[X]=30 ACC[Y]=30
N2300 Y = 70
N2400 X0
N2500 Y0
M30
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