Interaction Between The "Smoothing Of The Path Velocity" And "Adaptation Of The Path Dynamic Response" Functions - Siemens SINUMERIK 840D sl Function Manual

B1: Continuous-path mode, Exact stop, Look Ahead
4.4 Dynamic adaptations
Procedure
The determination of the dynamic response limits for the traversing of path axes by means of
acceleration with jerk limiting (SOFT) is described below. This procedure can be applied by
analogy to the case of acceleration without jerk limiting (BRISK).
1. Deactivate the "adaptation of the dynamic path response" function:
MD20465 $MC_ADAPT_PATH_DYNAMIC[1] = 1
2. Observe the positioning behavior of each path axis at different traversing velocities. When
doing so, set the jerk such that the desired positioning tolerance is maintained.
Note
The higher the traversing velocity from which the positioning process is started, the higher
in general the jerk can be set.
3. Use the maximum permissible jerk determined for the least critical traversing velocity:
MD32431 $MA_MAX_AX_JERK (maximum jerk)
4. Determine the F
F
Note
The smallest determined jerk is the value for the jerk during the most critical traversing
velocity.
5. Enter the largest F
adaptation factor for the path dynamic response:
MD20465 $MC_ADAPT_PATH_DYNAMIC[ 1 ] = F
4.4.4 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:
MD20465 $MC_ADAPT_PATH_DYNAMIC[0] = 3
MD20460 $MC_LOOKAH_SMOOTH_FACTOR = 80.0
MD32440 $MA_LOOKAH_FREQUENCY[AX1] = 20
MD32440 $MA_LOOKAH_FREQUENCY[AX2] = 20
MD32440 $MA_LOOKAH_FREQUENCY[AX3] = 20
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factor for all of the path axes using:
APD
= (largest determined jerk) / (smallest determined jerk)
APD
factor that was determined via all the path axes as the value for the
APD
APD
T = 1/20 Hz = 50 ms
AX1
T = 1/20 Hz = 50 ms
AX2
T = 1/20 Hz = 50 ms
AX3
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Basic Functions