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num parameter manual - Documentation CN

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9.5 Minimum Block Execution Time P51<br />

Description<br />

9 - 12 en-938818/6<br />

Category Miscellaneous<br />

Type 5 Unsigned decimal<br />

No. of words 2<br />

Defines the minimum time for executing a block by interpolation.<br />

Principle<br />

Word N0<br />

The block execution time is displayed in milliseconds. The default value is 20 ms.<br />

Before execution, the system prepares a variable <strong>num</strong>ber of blocks.<br />

During execution of short interpolation blocks, the movements may be completed before the system has time to<br />

prepare the following blocks (see diagram), causing jerky movements.<br />

Execution of interpolation blocks 1 2 3 4 5 6 next<br />

Preparation of blocks 1 to 4 Preparation of blocks 5 to 10 Preparation of following blocks<br />

The jerks can be avoided by setting a minimum interpolation block execution time in <strong>parameter</strong> P51 to allow sufficient<br />

time for preparing the following blocks (see diagram).<br />

P51<br />

Execution of interpolation blocks 1 (P51) 2 (P51) 3 (time > P51) 4 (P51) 5 (P51) 6 (P51) next<br />

Preparation of blocks 1 to 4 Preparation of blocks 5 to 10 Preparation of following blocks<br />

jerk<br />

t<br />

t

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