Delta AX-3 Series, Operation Manual

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A X - 3 S e r i e s O p e r a t i o n M a n u a l
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7.7.5.4 Jerk Command
The jerk assigns the changes in acceleration or deceleration rate. When the jerk is specified, the velocity waveform
is in S-curve (the ramp of acceleration increases or decreases, no jerk) can reduce the shock on machines.

Types of jerk
The following two types of jerk are used in the MC function modules.
Position type Meaning
Command jerk The outputs of MC function modules to control axis
Actual jerk The jerk that is calculated based on actual acceleration

Jerk unit
The jerk is in “command units/s
3
”.

Axis settings related to jerk
(1) Types of jerk waveform
Please refer to “7.7.5.2 Velocity Command- Velocity ramp type” for more information.

Description of jerk in MC function modules
The following input variable that is related to jerk in MC function modules:
Item Meaning
Jerk Target jerk*
*Note: When velocity ramp type is trapezoid or in Sin
2
, the setting values of jerk
are not applied in the movement; when velocity ramp type is quadratic or
quadratic (smooth), the jerk does affect the velocity ramp.

Monitoring jerk
To observe change in jerk, you can focus on the following two axis variables (AXIS_REF_SM3 type) for
monitoring:
Variable name Position type Data type
.fSetJerk Command jerk LREAL
.fActJerk Actual jerk LREAL