Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS, Functional Description

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ECODRIVE03-FL*-04VRS Writing the User Program
6-67
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
VCC - Velocity Change
or
Mode: 0 = Start of the velocity change
1 = Velocity reached
Switching Point:0 = Distance traveled (based on startposition)
1 = Absolute Position
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.
0000 POI 1 +000100.000 999 Move 100 IU, then proceed to next instruction
0001 VCC 1 000050.000 250 0 0 After 50 IU, change to 25% velocity
0002 VCC 1 000075.000 500 0 0 After 75 IU, change to 50% velocity
0003 VCC 1 000090.000 100 0 0 After 90 IU, change to 10% velocity
0004 AKN M2.00.0 1 Wait until target position is reached
0005 WAI 01.000 End of cycle, wait 1 second
0006 JMP 0000 Repeat program
VCC_BEF2_AE.WMF
Fig. 6-37: Change Velocity (Distance Traveled)
VCC 1 + V600 V601 0 V602
VCC 1 +123456.789 999 0 1
Mode 0 :