Dear all,

I am going to program a D425-2 and I need to do a thing that I have never made previously...

Consider an axis (rotary) that must go from 0° to 100° using the normal move command. This move command (sorry I don't know the english name of that command) allows of course to set the Speed, the target (absolute or relative), the direction (positive,negative, shortest, ecc) , the ramps and eventually the jerk... Ok, fine and easy.

Without using a cam, I need that that axis (without stopping !) when reaches 70°, increments (or decrements) its speed by a value, like a percentage... For example axis is going from 0 to 100 at VEL1 as speed but at 70° it must change its speed to 120% of VEL1 and of course always stop at 100.0.

Is there a method to change the dynamic of an axis during its run but always let you reach the original position and without stopping (Speed=0) the axis ? 

Danke in advance...

PS: I am using MCC chart to do this...

Motion commands can be aborted by other motion commands, I'm sure you've seen it already: "Command aborted".

In the motion task, you don't have to wait for "WHEN_COMMAND_DONE", but something earlier. Like command entered the buffer and started.

So then as the next statement you do a _WAITFORCONDITION, looking at the position (the 70 degrees), and then when that condition fires, issue another _pos command that automatically aborts the first one and has your new dynamics.

It knows it's already in motion, so it's not like it's going to stop.

The motion tasks are built for this specifically. Instructions that use any kind of a wait (wait time, wait for condition, etc.) are being checked constantly regardless of program execution of the background task or even other motion tasks. It will reliably fire the few instructions you put inside the _WAITFORCONDITION construct.

Thanks,

I didn't know that the second command (since it is identical to the first) will take in account that the axis is already moving and will cancel the previous command and then use the residual velocity of movement 1 and terminate the trajectory with the new speed...

This is really interesting,

Thanks again

You could probably use the MotionIn interface, but it doesn't seem to be well documented in the books

Best regards

Phil