Calculation of the velocity

Initially, only the path axes (X, Y and Z) are considered for the calculation of the path velocity.
The path and the travel distance of the individual auxiliary axes result in a fixed coupling ratio for each auxiliary axis within a segment. The target velocity of the auxiliary axis is thus also known. If this velocity is greater than the permitted maximum velocity for this auxiliary axis, the path velocity is reduced until the upper speed limit is adhered to. In other words, exceeding of the velocity limits of the auxiliary axes also has an indirect effect on the path velocity.