B2: Acceleration
4.1 Brief description
Basic Functions
216 Function Manual, 09/2011, 6FC5397-0BP40-2BA0
Channel-specific functions:
• Acceleration profile that can be selected via part-program instruction:
Acceleration without jerk limitation (BRISK)
• Programmable constant travel time for the purpose of avoiding extreme sudden acceleration
• Programmable acceleration margin for overlaid traversing
• Adjustable acceleration limitation
• Adjustable acceleration for specific real-time events
• Programmable acceleration margin for radial acceleration
Jerk
Axis-specific functions:
• Acceleration profile that can be selected via part-program instruction:
Acceleration with jerk limitation (SOFTA)
• Programmable maximum jerk value for single-axis interpolation
• Programmable maximum jerk value for path interpolation
Channel-specific functions:
• Acceleration profile that can be selected via part-program instruction:
Acceleration with jerk limitation (SOFT)
• Adjustable jerk limitation
• Adjustable path jerk for specific real-time events
• Specific maximum value for programmed rapid traverse (G00)
• Excessive jerk for block transitions without constant curvature
Kneeshaped acceleration characteristic
A knee-shaped acceleration characteristic is parameterized using the following characteristic data:
• Maximum velocity v
max
• Maximum acceleration a
max
• Creep velocity v
red
• Creep acceleration a
red
• Nature of the acceleration reduction (constant, hyperbolic, linear)
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