Rexroth Indramat CLM1.4, Manual

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CLM01.4-LAP-01VRS Writing the User Program
5-47
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
Example of moving to a reference mark with offset programming:
0000 SRM 1 +000200.000 +500 I1.01.0
Ref2_bef_AE.WMF
Fig. 5-23: Example of Moving to a Reference Mark with Offset Programming
VCC – Velocity Change Command
or
Mode:
0 = Start of the velocity change
1 = Velocity reached
0 = Distance traveled (incremental measurement input)
1 = Absolute switching point (axis must be homed)
New velocity in ‰ (001 to 999) of the maximum velocity in the assigned
parameter (Ax06)
Distance traveled in IU up to switching point
Axis 1 to 4
Mode 0 : Start of velocity change
Velocity changes are always referenced to the most recently initiated
positioning function.
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.
VCC V603 + V600 V601 0 V602
VCC 1 +123456.789 999 0 1