Siemens SINUMERIK 840D sl Function Manual page 220

B1: Continuous-path mode, Exact stop, Look Ahead
4.4 Dynamic adaptations
Note
The example shows that those acceleration or deceleration processes that are not eliminated
by the smoothing of the path velocity can be subsequently optimized by adapting the dynamic
path response. For this reason, both functions should always be activated, if possible.
Example 2
Acceleration mode: SOFT
The path involves the 3 axes X = AX1, Y = AX2, Z = AX3.
The following parameters are assumed:
MD20465 $MC_ADAPT_PATH_DYNAMIC[1] = 1
MD20460 $MC_LOOKAH_SMOOTH_FACTOR = 0.0
MD32440 $MA_LOOKAH_FREQUENCY[AX1] = 10
MD32440 $MA_LOOKAH_FREQUENCY[AX2] = 10
MD32440 $MA_LOOKAH_FREQUENCY[AX3] = 20
This leads to a path velocity profile which is optimized in terms of time without smoothing the
path velocity or adapting the dynamic path response:
The parameter assignment is changed as follows:
MD20465 $MC_ADAPT_PATH_DYNAMIC[1] = 4
MD20460 $MC_LOOKAH_SMOOTH_FACTOR = 1.0
This results in a path velocity profile with adaptation of the dynamic path response and with
minimum, and thus virtually deactivated, smoothing of the path velocity:
220
T = 1/20 Hz = 100 ms
AX1
T = 1/20 Hz = 100 ms
AX2
T = 1/20 Hz = 50 ms
AX3
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Basic Functions