B2: Acceleration
4.2 Functions
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
233
Acceleration profile
Figure 4-4
Jerk, acceleration and velocity schematic with jerk limitation acceleration profile
The following features of the acceleration profile can be identified from the figure above:
• Interval: t
0
- t
1
Constant jerk with +r
max
; linear increase in acceleration; quadratic increase in velocity
• Interval: t
1
- t
2
Constant acceleration with +a
max
; linear increase in velocity
• Interval: t
2
- t
3
Constant jerk with -r
max
; linear decrease in acceleration; quadratic decrease in excessive velocity until
maximum value +v
max
is reached
• Interval: t
3
- t
4
Constant jerk with +r
max
; linear increase in braking acceleration; quadratic decrease in velocity
• Interval: t
4
- t
5
Constant braking acceleration with -a
max
; linear decrease in velocity
r
max
:
Maximum jerk value
a
max
:
Maximum acceleration value
v
max
:
Maximum velocity value
t:
Time
W
UPD[
U
UPD[
W
W
W
W
W
W
W
DPD[
D
DPD[
YPD[
W
W
Y
