Siemens SINUMERIK 828D Function Manual page 186

B1: Continuous­path Mode, Exact Stop, LookAhead
3.4 Dynamic adaptations
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 - t and t - t
0 1 2
Interval t - t :
4 5
Interval t - t :
6 7
186
: The acceleration process between t
3
deceleration process between t
of time to t
adapt01
being adapted.
The acceleration process between t
acceleration reduced by the maximum adaptation factor of
1.5. However, the acceleration process is completed before
time t .
adapt45
The deceleration process between t
unchanged as it lasts longer than t
- t and the
0 1
- t are extended in terms
2 3
or t as a result of the acceleration
adapt23
- t is executed with an
4 5
- t remains
6 7
.
adapt67
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
Basic Functions