B1: Continuouspath Mode, Exact Stop, LookAhead
3.4 Dynamic adaptations
Basic Functions
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Function Manual, 09/2011, 6FC5397-0BP40-2BA0
In addition, the "adaptation of the dynamic path response" function is not active during path movements:
• Programmed rapid traverse (G0)
• Changes in the override value
• Stop requests during motion (e.g. NC-STOP, NC-RESET)
• "Velocity-dependent path acceleration" function (DRIVE) is active
Activation/Deactivation
The function is activated/deactivated with the machine data:
MD20465 $MC_ADAPT_PATH_DYNAMIC (adaptation of the dynamic path response)
When activation takes place, the "smoothing the path velocity" function is always activated internally in
continuous-path mode as well (see "Smoothing the path velocity [Page 180]").
If the smoothing factor (MD20460 $MC_LOOKAH_SMOOTH_FACTOR) is set to 0% (= function deactivated;
default!), a smoothing factor of 100% is used as a substitute. For a smoothing factor other than 0%, the set value
takes effect.
Parameter assignment
Adaptation factor of the dynamic path response
Via the adaptation factor of the dynamic path response, temporary changes in the path velocity are executed with
smaller dynamic response limit values.
The adaptation factor is to be set on a channel-specific basis:
• For traversing motions with acceleration without jerk limiting (BRISK) via:
MD20465 $MC_ADAPT_PATH_DYNAMIC[ 0 ]
→ The adaptation factor acts on the acceleration.
• For traversing motions with acceleration with jerk limiting (SOFT) via:
MD20465 $MC_ADAPT_PATH_DYNAMIC[ 1 ]
→ The adaptation factor acts on the jerk.
Axis-specific limit frequencies
The dynamic response limiting should only be active during deceleration and acceleration processes that trigger
mechanical vibrations larger than a specific limiting frequency, thus causing excitation of machine resonances.
This limit frequency from which the dynamic response limiting activates, is specified on an axis-specific basis via
the machine data:
MD32440 $MA_LOOKAH_FREQUENCY (smoothing frequency for LookAhead)
(See also "Smoothing the path velocity [Page 180]".)
Value
Meaning
= 1.0
Dynamic adaptation not active (default setting)
> 1.0
Dynamic adaptation active
