WAS.handling Windows Program
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Group Jog mode:
v_start:
Start (rotational) speed for Step mode
v_max:
Maximum (rotational) speed for Step mode
decel:
Stop ramp for terminating Step mode
Factor:
Factor of how fast (rotational) speed changes from v_start to v_max.
v_end
v_start
t
v_end
v_start
t
Small factor (1.01)
Large factor (2.0)
Group limits:
v_max:
accel:
decel:
The limit values are given by the mechanical conditions and the load and cannot be changed.
t_jerk:
The operational profile is influenced by t_jerk. A t_jerk of 0.0 sec means a very hard drive
behavior. A maximum t_jerk of 0.2 sec means a very smooth motion but at the expense of
time of travel. Values between 0.01 and 0.03 seconds are recommended.
t_in_pos: Delays the ready message for the time given (damping time). Because of the high rigidity of
the HP140, this value is usually set at 0.0 sec.
Group Weight:
The customer-specific load (gripper + work piece) is entered here. From this the control system
calculates the limit values for start and stop ramp. The dead load of the axes is already stored in the
software and does not need to be added here.
It is sufficient to enter the load for one axis. The value is automatically used
for the other axes.
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