Multi-Axis Coordinated Motion Instructions
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 401
Decel Jerk
Decel Jerk defines the maximum deceleration jerk for the programmed move. For
more information on calculating Decel Jerk, refer to the Jerk Units below.
Jerk Units
The jerk units define the units that are applied to the values entered in the Accel
Jerk and Decel Jerk operands. The values are entered directly in the position units
of the specified coordinate system or as a percentage. When configured using %
of Maximum, the jerk is applied as a percentage of the Maximum Acceleration Jerk
and Maximum Deceleration Jerk operands specified in the coordinate system
attributes. When configured using % of Time, the value is a percentage based on
the Speed, Accel Rate, and Decel Rate specified in the instruction.
If you want to convert engineering units to % of Time, use these equations.
If you want to convert % of Time to engineering units, use these equations.
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