HEIDENHAIN iTNC 530 HSCI - Maximum Acceleration; Relation between Jerk, Acceleration, Velocity and Distance

812 HEIDENHAIN Technical Manual iTNC 530 HSCI
6.8.1 Relation between jerk, acceleration, velocity and distance
To ensure proper operation of an axis, the following two conditions must be
fulfilled:
 The desired maximum speed v
max
and maximum jerk r
max
result in a
maximum acceleration a
max
.
 A minimum distance s
min
must be traversed in order to attain the maximum
speed v
max
.
Maximum
acceleration
Taking into account the motor and the power module, the machine should be
designed in such a way that acceleration during the acceleration phase is as
constant as possible. This ensures maximum utilization of the drive current.
On the other hand, the machine should also be designed to fulfill the dynamic
requirements. The jerk should be kept to a minimum and the jerk phase should
be maximized in order to prevent the machine from oscillating. The result is no
constant acceleration, but a short acceleration peak. If the maximum velocity
and the maximum permissible jerk of the machine are preset, the maximum
attainable velocity can be determined.
Jerk r
t
Velocity v
Acceleration a
t
Acceleration a
Velocity v
Jerk r
a
max
v
max
r
max
⋅=