Bosch Rexroth OptiFeed-FS EcoDrive 03 FLP04VRS, Функциональное описание

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ECODRIVE03-FL*-04VRS Writing the User Program
6-15
DOK-ECODR3-FL*-04VRS**-FK01-EN-P
6.7 Description of Commands
ACC - Acceleration Change
or
Deceleration in ‰ of the value programmed in Parameter A109
Acceleration in ‰ of the value programmed in Parameter A109
Axis: 1
Acceptance of the new acceleration and deceleration value is immediate.
Exception: The new deceleration value is only transferred after a
deceleration phase has been completed!
The new acceleration and deceleration value is retained until changed by
a new 'ACC' command.
After switching from Automatic to Manual Mode, following an error or
start-up, the valid acceleration and deceleration value is always the value
programmed in Parameter A109.
If the value 000 is input, it represents 1000‰
Example of how to change the acceleration value:
0000 ACC 1 999 999 Set acceleration to 100%
0001 POI 1 +000200.000
999 Position, then proceed immediately
to next instruction
0002 AKN Mx.xx.x Wait until position is reached
(Parameter A111)
0003 ACC 1 500 999 Reduce acceleration to 50%
0004 WAI 00.100 Wait (time delay)
0005 PSI 1 +000300.000
999 Positioning at 50% acceleration
without proceeding to next
instruction
0006 WAI 02.000 Wait 2 seconds
0007 JST 0000 Program end in instruction 0000
Fig. 6-9: Example of Programming an Acceleration Change
Acc_elc.WMF
Fig. 6-10: Example Showing Acceleration Change
The program proceeds to the next instruction following the time period of
one cycle.
ACC 1 V600 V601
ACC 1 999 999