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Siemens SINUMERIK 840D sl Function Manual
Also see for SINUMERIK 828D Turning: Diagnostic manualFunction manualEquipment manualProgramming manualOperating manual
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1111 11111111))HHGSURJUDPPHG%ORFNSDWK* /RRN$KHDGYHORFLW\FRQWURO* &RQVWDQWYHORFLW\SKDVHFDQQRWEHDFKLHYHGFigure 4-5 Velocity control with short distances and exact stop G60 or continuous-path mode G64with LookAheadDeceleration to velocity limits is possible with LookAhead such that violation of the accelerationand velocity limit is prevented.LookAhead takes plannable velocity limits into consideration such as:● Exact stop at block end● Velocity limit in the block● Acceleration limit in the block● Velocity limit on block transition● Synchronization with block change at block transition.Mode of operationLookAhead carries out a block-specific analysis of velocity limits and specifies the requiredbrake ramp profile based on this information. LookAhead is adapted automatically to blocklength, braking capacity and permissible path velocity.For safety reasons, the velocity at the end of the last prepared block must initially be assumedto be zero because the next block might be very small or be an exact-stop block, and the axesmust have been stopped by the end of the block.With a series of blocks with high set velocity and very short paths, the speed can be increasedin each block depending on the velocity value currently calculated by the LookAhead functionin order to achieve the required set velocity. After this it can be reduced so that the velocity atthe end of the last block considered by the LookAhead function can be zero. This results in aserrated velocity profile (see the following fig.) which can be avoided by reducing the setvelocity or increasing the number of blocks considered by the LookAhead function.B1: Continuous-path mode, Exact stop, Look Ahead4.3 Continuous-path modeBasic FunctionsFunction Manual, 01/2015, 6FC5397-0BP40-5BA2 201 |
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