Siemens SINUMERIK 840D sl Function Manual page 219

Figure 4-11
Figure 4-12
Effects of smoothing on path velocity:
Interval t
Interval t
Effects of the dynamic response adaptation:
Interval t
Interval up to t
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Path velocity profile optimized for time without smoothing or dynamic adaptation response
Path velocity profile with smoothing of the path velocity and adaptation of dynamic path
response
- t : The acceleration and deceleration process between t
1 2
take place because the lengthening of the machining time without the
acceleration process to v
factor of 80 % is applied.
- t : The acceleration and braking profile between t
3 5
condition or takes longer than the parameterized smoothing time
T = 2/20 Hz = 100 ms.
Axn
- t : The acceleration process between t
3 4
MIN(T ) = 1/20 Hz = 50 ms and is, therefore, executed with an acceler‐
AXn
ation reduced by an adaptation factor of 3.
: The acceleration up to t
1
time period up to t
B1: Continuous-path mode, Exact stop, Look Ahead
is less than the resulting time if a smoothing
12
and t
3
left over after path smoothing is stretched to the
1
' by the dynamic response adaptation.
1
4.4 Dynamic adaptations
and t does not
1 2
and t does not fulfill this
3 5
is shorter than
4
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