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Table of contents

Basic logic functions: Acceleration (B2)

Function Manual, 11/2006, 6FC5397-0BP10-2BA0

2.14.2 Activation......................................................................................................................................36

2.14.3 Programming................................................................................................................................36

2.15 Jerk with programmed rapid traverse (G00) (axis-specific).........................................................37

2.15.1 Detailed Description.....................................................................................................................37

2.15.1.1 General Information .....................................................................................................................37

2.15.2 Activation......................................................................................................................................37

2.15.2.1 Parameterization..........................................................................................................................37

2.15.3 Programming................................................................................................................................38

2.16 Excessive jerk for block transitions without constant curvature (axis-specific) ...........................38

2.16.1 Detailed Description.....................................................................................................................38

2.16.1.1 General Information .....................................................................................................................38

2.16.2 Activation......................................................................................................................................38

2.16.2.1 Parameterization..........................................................................................................................38

2.16.3 Programming................................................................................................................................39

2.17 Jerk filter (axis-specific) ...............................................................................................................39

2.17.1 Detailed Description.....................................................................................................................39

2.17.1.1 General Information .....................................................................................................................39

2.17.2 Activation......................................................................................................................................42

2.17.2.1 Parameterization..........................................................................................................................42

2.17.3 Programming................................................................................................................................42

2.18 Kneeshaped acceleration characteristic curve ............................................................................43

2.18.1 Detailed Description.....................................................................................................................43

2.18.1.1 Adaptation to the motor characteristic curve ...............................................................................43

2.18.1.2 Effects on path acceleration.........................................................................................................45

2.18.1.3 Substitute characteristic curve.....................................................................................................46

2.18.2 Activation......................................................................................................................................48

2.18.2.1 Parameterization..........................................................................................................................48

2.18.2.2 Commissioning.............................................................................................................................49

2.18.3 Programming................................................................................................................................49

2.18.3.1 Channel-specific activation (DRIVE)............................................................................................49

2.18.3.2 Axis-specific activation (DRIVEA)................................................................................................50

3 Supplementary conditions ....................................................................................................................... 51

3.1 Acceleration and jerk ...................................................................................................................51

3.2 Kneeshaped acceleration characteristic curve ............................................................................51

3.2.1 Active kinematic transformation...................................................................................................51

4 Examples................................................................................................................................................. 53

4.1 Acceleration .................................................................................................................................53

4.1.1 Path velocity characteristic ..........................................................................................................53

4.2 Jerk ..............................................................................................................................................55

4.2.1 Path velocity characteristic ..........................................................................................................55

4.3 Acceleration and jerk ...................................................................................................................57

4.4 Kneeshaped acceleration characteristic curve ............................................................................59

4.4.1 Activation......................................................................................................................................59

5 Data lists.................................................................................................................................................. 61

5.1 Machine data................................................................................................................................61

5.1.1 Channelspecific machine data.....................................................................................................61

5.1.2 Axis/spindlespecific machine data ...............................................................................................61