Lenord, Bauer GEL 8310, Руководство по эксплуатации, Страница: 76 / 226

F
UNCTIONAL
D
ESCRIPTIONS
4.13 Linear path control
4-37
8310/8610-8
V
path
V
x
= V
nom.
V
y
V
path
V
y
=
V
nom.
V
x
distance s
x
> s
y
distance s
y
> s
x
E180093A
The parameters of the axis with the longer distance are also used for
controlling the other axes being part of the linear path control. Therefore, the
parameters
−
maximum speed (v
max
, storage location 3/32),
−
working speed (v, storage location 3/34) as well as
−
accelerating/braking (t
accel
, t
brake
, storage locations 3/35...38)
should be programmed equally for all axes with the values of that axis which
possesses the most unfavourable parameters.
The sentences may be continuously processed (positioning without stop),
refer to section 4.3 and the following section.
Spline
A spline function can be used to avoid jerky speed rate changes (infinite
acceleration) with path controlled axes in the case of angular paths and
continuous sentence processing. Herewith, the maximum appearing
acceleration for one (slave) drive is limited to the sum of the accelerations of
two drives (master and slave; here, master is always the axis that has to travel
the longer distance).
Activation:
•
storage location 2/3 = 3 (»yes (
➡
3)«)
precondition: storage location 2/5 = 1 (»linear«). Otherwise, a
Param.
error
is caused.
The internal start is generated like for mode 1 of the continuous sentence
processing (refer to section 4.3).
The spline function causes the (theoretical) path to be exited in the area of the
knee-points more or less far, depending on the angle of the path change and
on the processing speed as well as the programmed maximum values for