Vcc - Velocity Change - Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS Functional Description

ECODRIVE03-FL*-04VRS

VCC - Velocity Change

VCC 1 + V600 V601 0
VCC 1 +123456.789
Mode 0 :
0000 POI
0001 VCC
0002 VCC
0003 VCC
0004 AKN
0005 WAI
0006 JMP
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
V602
or
999 0 1
Mode:
Switching Point:0 = Distance traveled (based on startposition)
New velocity in ‰ (001 to 999) of the maximum velocity in the assigned
parameter (A106)
Distance traveled in IUs up to switching point
Axis 1
Start of the Velocity Change at the Switching Point
a) Switching Point = Distance Traveled:
Velocity changes are always relative to the most recently initiated
positioning move before the VCC command. The program proceeds to
the next instruction immediately after the distance programmed in the
VCC command, referenced to the start position of the most recent
positioning function, has been traversed. A change in velocity can take
place only when the positioning functions do not include position
acknowledgement (POI, POA). The position portion in the last VCC value
must be smaller than the previously started positioning function, otherwise
that VCC command is not executed and the program proceeds to the next
instruction.
Example: The actual start position is 0 mm.
1 +000100.000 999
1 000050.000 250 0 0
1 000075.000 500 0 0
1 000090.000 100 0 0
M2.00.0 1
01.000
0000
Fig. 6-37: Change Velocity (Distance Traveled)
0 = Start of the velocity change
1 = Velocity reached
1 = Absolute Position
Move 100 IU, then proceed to next instruction
After 50 IU, change to 25% velocity
After 75 IU, change to 50% velocity
After 90 IU, change to 10% velocity
Wait until target position is reached
End of cycle, wait 1 second
Repeat program
Writing the User Program
VCC_BEF2_AE.WMF
6-67