Change of speed during one linear motion

pacijent

Hello to all, we have request from customer to accelerate or decelerate in one MoveL instruction in the way to enter beginning speed and ending speed between two points. I was looking at Accset and PathAccLim instructions but they it looks to me tha are not providing such functionality. Do you have any idea how to solve this request? Thanks a lot in advance.

lemster68

Those will not work.  Speedrefresh will.  There will be a lag, but it will be the best that you can do.  It will work better with slower speeds.

EricH

Why not split movement instructions?

pacijent

lemster68 said:

Those will not work.  Speedrefresh will.  There will be a lag, but it will be the best that you can do.  It will work better with slower speeds.

Hello Lemster, wouldn't speed refresh steady decrease or increase speed for full length of linear motion between two points? Is there some way to get gradual increase or decrease during motion? Thanks.

lemster68

You can use a timed interrupt to set the speedrefresh value, taking into consideration the distance from the start point, where the robot is at that point, and the distance remaining to the destination.