Altering the Motion Dynamics

Command	#set paramPathDynamics
Parameter <acc>	Value of the maximum permitted path acceleration in mm/s^2.
Parameter <dec>	Value of the maximum permitted deceleration in mm/s^2.
Parameter <jerk>	Value of the maximum permitted jerk in mm/s^3.

Sample:

N10 G01 X100 Y200 F6000
N15 R4=3000
N20 #set paramPathDynamics( 700; 700; R4 )#
N30 G01 X500

The 'paramPathDynamics' command can be used to alter the motion dynamics as the NC program is running. The new dynamic values become effective as from the line in which they are programmed. For the example illustrated, this means that the whole of block 10 is still treated with the default values. The new parameters are used for block 30 from the start of the segment.

This command limits all path axes to the parameterized dynamic values, although the path itself can have higher dynamics, depending on its orientation. The dynamics of auxiliary axes remains unchanged.

See also dynamic override.

Notice The dynamic values changed via the NC program remain active until the interpreter is next reset and/or TwinCAT has been restarted.

Notice The old command 'paramGroupDynamics' continues to be valid. However, it cannot be used to transfer R parameters.

Command	#set paramGroupDynamics(<grp>,<acc>,<dec>,<jerk>)#
Parameter <grp>	Group for which the alteration of the motion dynamics is to be effective. Presently always 1.
Parameter <acc>	Value of the maximum permitted path acceleration in mm/s^2.
Parameter <dec>	Value of the maximum permitted deceleration in mm/s^2.
Parameter <jerk>	Value of the maximum permitted jerk in mm/s^3.

Sample:

N10 G01 X100 Y200 F6000
N20 #set paramGroupDynamics( 1, 700, 700, 3000 )#
N30 G01 X500

Change in axis dynamics

Command	#set paramAxisDynamics
Parameter <axis>	Axis in the interpolation group: X: 0 Y: 1 Z: 2 Q1: 3 ... Q5: 7
Parameter <acc>	Value of the maximum permitted acceleration in mm/s^2
Parameter <dec>	Value of the maximum permitted deceleration in mm/s^2.
Parameter <jerk>	Value of the maximum permitted jerk in mm/s^3.

Sample:

N10 G01 X100 Y200 F6000
N15 R4=30000
N20 #set paramAxisDynamics( 0; 1500; 1400; R4 )#
N30 G01 X500

'paramAxisDynamics' can be used to change the axis dynamics at runtime. Generally the behavior is the same as for 'paramPathDynamics', except that here the dynamics can be specified individually for each axis.