Festo Кабели и принадлежности - Manual (Page 302)

7. Description of the commands
7−36
Festo P.BE−SPC200−EN en 0901d
With command G01 the nominal speed value rises at first in
ramp form until the maximum positioning speed programmed
with FX or FY, FU or FZ is reached. Before the nominal position
is reached, the nominal speed value drops in ramp form again.
The steepness of the approach and braking ramps is preset by
the maximum acceleration configured in the application data.
With the commands G08 ad G09 you can specify the steepĆ
ness of the ramps by program independently of each other.
t [s]
v [m/s]
t [s]
s [m]
t [s]
a [m/s 2 ]
3
1
2
4
5
6
7
8
1
Nominal speed value
2
Configured maximum speed
3
Programmed speed
4
Nominal position value
5
Nominal acceleration value
6
Configured maximum acceleration
7
Prog. acceleration for approach ramp
(G08)
8
Prog. acceleration for braking ramp
(G09)
Fig. 7/7: Nominal value specification with command G01