LSIS XBE-DC08A, Руководство пользователя, Страница: 574 / 1284

Po
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Chapter 8 Functions
8-21
Note
1. When operation method is continuous, sometimes it can be changed to next operation step speed before
reaching the amount of movement current step's goal position. This is operation to change operating speed
continuously, The remained moving amount of current step is operated in next step.
(The remaining distance is less than the distance can be moved within 1 control cycle at current speed)
2. If the control method is set as linear or circular interpolation and the operation method is set as continuous,
operating speed of positioning will be different according to the interpolation continuous operation positioning
method
」
of extended parameter.
refer to continuous operation of interpolation control for detail.
(b) Look Ahead
1) if the moving amount of next operation step is smaller than the deceleration distance from current position, the
"Look ahead control" is activated to avoid immediate stop at [operation speed
≠
bias speed].
2) The "Look Ahead control" is control method which calculate the available entry speed for next step by goal
position of current and next step and change current speed. if the moving amount of next operation step is
smaller than the deceleration distance from current position, it will decrease the current speed to make stop
speed and bias speed equal..
3) XBC-DN32UP embedded positioning executes the "Look Ahead" using goal position of total 3 steps including
current step..
The difference of general continuous operation and Look Ahead control is as below.
End speed = Operating speed
Speed
Time
Operation step no. : 1
Operation step no. : 2
Operation step no. : 3
Speed
Time
Operation step no. : 1
Operation step no. : 2
Operation step no. : 3
ON
Start
command
In
operation
ON
Start
command
In
operation
ON
ON
Calculate the
End speed with
Look Ahead
Calculate the
Endspeed with
Look Ahead
n1
n2
Normal continuous operation Continuous operation with Look Ahead
*1 : moving amount of Step 2 and Step 3 is more than the deceleration stop distance from operation speed. So, endpoint
speed = operation speed.
*2 : When moving amount of step 3 is smaller than deceleration stop distance from operation speed of step 2. Therefore, it
calculate available end point speed for step 2 by goal position of step2,3 and change speed to this..
.