Siemens SINUMERIK 840D sl Function Manual page 216

B1: Continuous-path mode, Exact stop, Look Ahead
4.4 Dynamic adaptations
Example
The following example is intended to show the effect of the "adaptation of the dynamic path
response" function on traversing motions with acceleration and without jerk limitation (BRISK).
The following parameters are assumed:
MD20465 $MC_ADAPT_PATH_DYNAMIC[0] = 1.5
MD20460 $MC_LOOKAH_SMOOTH_FACTOR = 1.0
MD32440 $MA_LOOKAH_FREQUENCY[AX1] = 20 Hz
MD32440 $MA_LOOKAH_FREQUENCY[AX2] = 10 Hz
MD32440 $MA_LOOKAH_FREQUENCY[AX3] = 20 Hz
Note
To illustrate the effect of dynamic response adaptation, the value for the smoothing factor
(MD20460) is set to "1", whereby the "smoothing of the path velocity" function is practically
deactivated.
The path involves the three axes X = AX1, Y = AX2, Z = AX3.
For path motions in which axis AX2 is involved, all deceleration and acceleration processes
that would last less than T
If only axes AX1 and/or AX3 are involved in path motions, all deceleration and acceleration
processes that would last less than T
The relevant time window is marked t
Figure 4-9
216
are adapted.
AX2
Path velocity profile optimized for time without smoothing or dynamic adaptation response
= T are adapted.
AX1 AX3
in the figures below.
adapt...
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
T = 1/20 Hz = 50 ms
AX1
T = 1/10 Hz = 100 ms
AX2
T = 1/20 Hz = 50 ms
AX3
Basic Functions