Functions
2.11 Jerk limitation with path interpolation (SOFT) (channel-specific)
Basic logic functions: Acceleration (B2)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0
29
Acceleration profile
W
UPD[
U
UPD[
W
W
W
W
W
W
W
DPD[
D
DPD[
YPD[
W
W
Y
Figure 2-4
Jerk, acceleration and velocity schematic with jerk limitation acceleration profile
r
max
:
Maximum jerk value
a
max
:
Maximum acceleration value
v
max
:
Maximum velocity value
t:
Time
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
Summary of Contents for SINUMERIK 840D sl
Page 282: ...Index Basic logic functions Acceleration B2 64 Function Manual 11 2006 6FC5397 0BP10 2BA0 ...
Page 388: ...Basic logic functions Travel to fixed stop F1 Function Manual 11 2006 6FC5397 0BP10 2BA0 52 ...
Page 962: ...Index Basic logic functions Emergency Stop N2 20 Function Manual 11 2006 6FC5397 0BP10 2BA0 ...
Page 1704: ...Constraints Basic logic functions Spindles S1 94 Function Manual 11 2006 6FC5397 0BP10 2BA0 ...
Page 1716: ...Index Basic logic functions Spindles S1 106 Function Manual 11 2006 6FC5397 0BP10 2BA0 ...
Page 1996: ...Index Basic logic functions Tool Offset W1 208 Function Manual 11 2006 6FC5397 0BP10 2BA0 ...
Page 2150: ...Table of contents Basic logic functions Appendix 4 Function Manual 11 2006 6FC5397 0BP10 2BA0 ...
Page 2184: ...Glossary Basic logic functions Appendix 38 Function Manual 11 2006 6FC5397 0BP10 2BA0 ...
