Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS Functional Description page 132

6-68
Writing the User Program
Mode 1 :
0000 PSA
0001 WAI
0001 POA
0002 VCC
0003 VCC
0004 AKN
0005 WAI
0006 JMP
b) Switching Point = Absolute Position
The switching point is referenced to the actual coordinate system.
Note: The axis must be homed to zero! Otherwise, the error
message "F- 03 05 – n. referenced" is issued.
Velocity Change at the Switching Point
a) Switching Point = Distance Traveled:
Always referenced to the most recently initiated positioning function.
b) Switching Point = Absolute Position
The new velocity of the positioning move in process is reached at the
absolute position indicated.
The program proceeds to the next instruction immediately after the drive
unit begins changing its velocity. This point depends on the acceleration,
the difference in velocity and the position lag.
If this point has already been reached or exceeded when the VCC
command arrives, the program proceeds immediately to the next
instruction, accepting the new velocity.
Note: The axis must be homed to zero! Otherwise, the error
message "F- 03 05 – n. referenced" is issued.
Example:
1 +000100.000 999
01.000
1 +000300.000 999
1 +000200.000 500 1 1
1 +000280.000 100 1 1
M2.00.1 1
01.000
0000
Fig. 6-38: Change Velocity (Absolute Position)
Movement to Absolute Start Position +100 IU
Wait
Movement to Absolute Position +300 IU
At position +200 IU, V = 50%
At position +280 IU, V = 10%
Wait until target position is reached
End of cycle, wait 1 second
Repeat program
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
ECODRIVE03-FL*-04VRS
VCA_BEF1.WMF