Change of speed during one linear motion

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.

Comments

  • lemster68
    lemster68 United States ✭✭✭
    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.
    Lee Justice
  • EricH
    EricH Germany
    Why not split movement instructions?
  • 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
    lemster68 United States ✭✭✭
    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.
    Lee Justice