Rexroth Indramat CLM1.4, Manual

Page: 89 / 274

5-48
Writing the User Program CLM01.4-LAP-01VRS
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
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_bef_AE.WMF
Fig. 5-24: Change Velocity
Mode 1 : Velocity reached
This command changes the velocity of a positioning move in progress
such that the desired velocity is reached at the specified absolute
position.
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.
The axis must be homed to zero.