New velocity and new end position

The function 'New velocity and new end position' is used for instantly changing the target position and, if previously the target velocity VOld required by the user could not be reached, also - provided that this is possible - for instantly changing the current internal target velocity towards the target velocity VOld required by the user, and - after an activation position APos has been crossed - for (later) changing the target velocity of the axis. The specified velocity VNew in mm/s must be genuinely larger than 0.0 and must not exceed the maximum axis velocity. The new end position EPos must be within the software limit switches. The function 'New velocity and new end position' cannot be activated during position compensation.

Internal sequence: activation position

When requesting: New velocity VNew mm/s, new end position EPos mm, Activation position APos mm

the relationship of the positions EPos, APos and the current position Pos to each other is first determined in relation to the logical direction of the positioning. Let the logical direction be positive:

  1. if: Pos ≤ APos ≤ EPos, the new target velocity NewV is activated once position APos has been crossed,
  2. if: APos ≤ Pos ≤ EPos,, the activation position has already been crossed, and the target velocity NewV is activated instantaneously,
  3. if: APos ≤ EPos ≤ Pos, a stop is activated, and the system is returned automatically with the old target velocity VOld,
  4. if: Pos ≤ EPos ≤ APos, only the new end position and the old target velocity VOld is activated, but not the new target velocity,
  5. if: EPos ≤ APos ≤ Pos, a stop is activated, and the system is returned automatically with the old target velocity VOld to the new end position (not implemented: and the new target velocity VNew is activated when the activation position is crossed).
  6. if: EPos ≤ Pos ≤ APos, a stop is activated, and the system is returned automatically with the old target velocity (not implemented: new) to the new end position.

The same conditions apply analogically for negative logical direction.

If 'new velocity and new target position' is requested, a query occurs once the axis has been started, whether

In these cases, the axis is stopped internally via a stop and then automatically moved back to the desired new target position with the appropriate target velocity VOld (if this is achievable) or VNew (if this is achievable). 

Internal sequence: New velocity

If no return is required and either the new set velocity is requested instantaneously or the activation position is crossed, a new run time table is calculated with the new set velocity. If, due to the ratio of remaining distance and new set velocity, the new set velocity is not achievable, the set velocity is reduced iteratively 7-8 times. If no solution can be found (adverse scenarios are: small remaining distance and/or large new set velocity - relative to the old set velocity), the old run time table is maintained.

Special features 

In contrast to the function 'New end position', a stop does not have priority with the function 'New velocity and new target position'. This means that incoherent short successive instructions do not have to lead to the axis being stopped. The function 'New velocity and new target position' is compatible with the override function. If the request occurs during the brake phase, the instantaneous instruction, provided it cannot be carried out instantaneously, is suspended for later action, the instantaneous action is carried out with optimum delay, and the suspension is subsequently lifted. If the function with instantaneous (Event 1) and later activation (Event 2) is interrupted between Event 1 and Event 2 by a function that can only act instantaneously (Event 3), the activation of Event 3 is deleted. If the function is interrupted between Event 1 and Event 2, by a function acting again instantaneously (Event 3) and later (Event 4), Event 3 is replaced with Event 4.