B1: Continuouspath Mode, Exact Stop, LookAhead
3.4 Dynamic adaptations
Basic Functions
186
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
Figure 3-9
Path velocity profile optimized for time without smoothing or dynamic adaptation response
Figure 3-10 Path velocity profile with adaptation of dynamic path response
Intervals t
0
- t
1
and t
2
- t
3
:
The acceleration process between t
0
- t
1
and the
deceleration process between t
2
- t
3
are extended in terms
of time to t
adapt01
or t
adapt23
as a result of the acceleration
being adapted.
Interval t
4
- t
5
:
The acceleration process between t
4
- t
5
is executed with an
acceleration reduced by the maximum adaptation factor of
1.5. However, the acceleration process is completed before
time t
adapt45
.
Interval t
6
- t
7
:
The deceleration process between t
6
- t
7
remains
unchanged as it lasts longer than t
adapt67
.
Y
W
W
W
W
W
Y
W
W
W
WDGDSW
WDGDSW
WDGDSW
WDGDSW
%
W
Y
W
W
W
W
W
W
Y
W
W
W
WDGDSW
WDGDSW
WDGDSW
%
