Weighting of acceleration at motion block transition (P-AXIS-00013)

P-AXIS-00013

Weighting of acceleration at motion block transition

Description

By this parameter the permissible acceleration at a motion block transition is weighted.

If the value is not set in the parameter list, the weighting of the permissible acceleration with the cycle time/ramp time factor is valid (default setting).

Parameter

getriebe[i].dynamik.a_trans_weight

Data type

UNS32

Data range

1 ≤ a_trans_weight ≤ 1000

Axis types

T, R, S

Dimension

T: 0.1%

R,S: 0.1%

Default value

0

Drive types

----

Remarks

This parameter is only considered if the non-linear slope is used and as soon as the contour has a kink angle.

In dependence of the trajectory velocity in the following example at the block transitions of N10 - N20 because of the change of direction an acceleration is generated.

Acceleration by block transitions N10 to N20 due to a direction change
Acceleration by block transitions N10 to N20 due to a direction change
Acceleration at linear-linear block transition
Acceleration at linear-linear block transition

By the parameter a_trans_weight a factor can be defined, by which the maximum acceleration, and by this the velocity, at block transition can be weighted. The permissible acceleration at motion block transition depends on the active movement mode G00 or G01:

Notice

notice

By default the acceleration is considered at the block transition. This means, by default the parameter is set to 0.

If set to 0 (a_trans_weight = 0), then the weighting of the permissible acceleration is done with the factor cycle time / ramp time (default setting). Result is a very low speed at the motion block transition.

If higher speeds with an accordingly higher jerk at motion block transitions shall be driven, a_trans_weight is adjusted accordingly high. With an value of 1000 (upper limit) the acceleration at motion block transitions is kept but the jerk is bigger than the adjusted limits.

Factor range for acceleration weighting at block transition
Factor range for acceleration weighting at block transition

Maximum jerk for a_trans_weight = 1000: