Rexroth Indramat CLM1.4, Manual

Page: 92 / 274

CLM01.4-LAP-01VRS Writing the User Program
5-51
DOK-CONTRL-CLM01.4LAP1-FK01-EN-P
Examples: ’VEO’ - Velocity Override
0000 BPA 0004 M2.02 21022222 - program selection 1; jump to Program A
0001 BPA 0006 M2.02 20122222 - program selection 2; jump to Program B
0002 BPA 0008 M2.02 21122222 - program selection 3; jump to Program C
0003 JMP 0000 - Input 0 selected; wait loop
0004 VEO 1 4 1 999 1 - Program A; velocity unchanged
0005 JMP 0009 - Execute positioning function
0006 VEO 1 4 1 700 1 - Program B; velocity limited
0007 JMP 0009 - Execute positioning function
0008 VEO 1 4 1 500 0 - Program C; reduce velocity
- Execute positioning function
0009 POI 1 +000100.000 999 - Move 100 mm and proceed to next
instruction
0010 VCC 1 +000035.000 800 0 0 - after 35mm, change to 80% velocity
0011 VCC 1 +000050.000 600 0 0 - after 50mm, change to 60% velocity
0012 VCC 1 +000065.000 400 0 0 - after 65mm, change to 40% velocity
0013 VCC 1 +000080.000 200 0 0 - after 80 mm, change to 20% velocity
0014 AKN M2.02.4 1 - Wait until switching threshold is reached
0015 WAI 01.000 - At end of cycle, wait 1 second
0016 JMP 0000 - Jump to program selection
The above example from the program generates the following velocity
profiles:
1) Program A – Unaffected velocity profile
Veo1_bef_AE.WMF
Fig. 5-27: VEO Command – Change Velocity