Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS Functional Description page 185

ECODRIVE03-FL*-04VRS
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
Jerk
Using jerk, the material pulses and the axis movement are smoothed at
the same time.
Therefore, the axis position is shifted to the position of the processing
location. It consists of:
=
s V [
current
Fig. 8-21: Shifting the Position using Jerk
Monitoring
When re-loading the length using the LAL command, it is subtracted from
the value in Variable V113. If the value is not more negative than the
negative acceleration path (see Fig. 8-20 –X), it is no longer possible for
the axis to synchronize to the processing location using the default
parameters. In this case, the error marker flag M1.02.1 is set, the axis no
longer synchronizes and remains in the LAL command.
If the system is to continue operating, this is possible by setting the
negated acceleration path in Variable V113.
SET V113 = -xxxx
Caution: The length of the processed part will always be larger than the
length programmed in the LAL command!
Presignaling
Using the content of Variable V113 (distance from home position to next
processing location), a presignal can be programmed.
IU / s ] ( * Parameter A 110
8-39
Functions
+
. 0 002 )