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Examples

4.3 Acceleration and jerk

Basic logic functions: Acceleration (B2)

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

4.3 Acceleration and jerk

Key statement

In the following example a short part program is used to illustrate the velocity and

acceleration characteristic for the X-axis. It also shows the connection between specific

velocity and acceleration-related machine data and the contour sections they influence.

Part program

N90 F5000 SOFT G64

; Continuous-path mode, acceleration with jerk limitation

N100 G0 X0 Y0 Z0

; Rapid traverse

N110 G1 X10

;Straight line

N120 G3 CR=5 X15 Y5

; Circular arc, radius 5 mm, block transition: tangential

N130 G3 CR=10 X5 Y15

; Circular arc, radius 10 mm, block transition: tangential

N140 G1 X-5 Y17.679

; straight, 15

bend

N200 M30









[



1

1

1

1

Figure 4-3 Part program contour

Function Manual - Basic Functions1
Preface3
1 Various NC/PLC interface signals and functions (A2)7
- Table of contents9
- 1 Brief description11
- 2 Detailed description13
  - 2.1 NC/PLC interface signals13
  - 2.2 Functions35
- 3 Supplementary conditions49
- 4 Examples51
- 5 Data lists53
2 Axis monitoring, protection zones (A3)67
- Table of contents69
- 1 Brief Description71
  - 1.1 Axis monitoring functions71
  - 1.2 Protection zones71
- 2 Detailed description73
  - 2.1 Axis monitoring73
  - 2.2 Protection zones108
- 3 Supplementary conditions129
  - 3.1 Axis monitoring functions129
- 4 Examples131
  - 4.1 Axis monitoring131
    - 4.1.1 Working area limitation in WKS/ENS131
  - 4.2 Protection zones134
    - 4.2.1 Definition and activation of protection zones134
- 5 Data lists145
3 Continuous path Mode, Exact Stop, LookAhead (B1)153
- Table of contents155
- 1 Brief Description157
- 2 Detailed description161
- 3 Supplementary conditions207
  - 3.1 Rounding and repositioning (REPOS)207
  - 3.2 Smoothing the path velocity209
- 4 Examples211
  - 4.1 Example of jerk limitation on the path211
- 5 Data lists213
- Index217
4 Acceleration (B2)219
- Table of contents221
- 1 Brief description225
- 2 Functions227
- 3 Supplementary conditions269
  - 3.1 Acceleration and jerk269
  - 3.2 Knee shaped acceleration characteristic curve269
    - 3.2.1 Active kinematic transformation269
- 4 Examples271
- 5 Data lists279
- Index281
5 Diagnostic tools (D1)283
- Table of contents285
- 1 Brief description287
- 2 Detailed description289
- 3 Constraints327
- 4 Examples329
- 5 Data lists331
- Index335
6 Travel to fixed stop (F1)337
- Table of contents339
- 1 Brief Description341
- 2 Detailed Description343
- 3 Supplementary conditions381
- 4 Examples383
- 5 Data lists385
- Index387
7 Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)389
- Table of contents391
- 1 Brief description393
- 2 Detailed description395
- 3 Supplementary conditions477
- 4 Examples479
- 5 Data lists481
  - 5.1 Machine data481
- Index485
8 Auxiliary Function Output to PLC (H2)489
- Table of contents491
- 1 Brief description493
  - 1.1 Function493
  - 1.2 Overview of auxiliary functions495
- 2 Detailed description503
- 3 Supplementary conditions543
  - 3.1 General constraints543
  - 3.2 Output behavior544
- 4 Examples547
  - 4.1 Defining auxiliary functions547
- 5 Data lists551
  - 5.1 Machine data551
    - 5.1.1 NC-specific machine data551
    - 5.1.2 Channel specific machine data551
  - 5.2 Signals552
- Index557
9 Mode Group, Channel, Program Operation, Reset Response (K1)559
- Table of contents561
- 1 Brief description565
- 2 Detailed description569
- 3 Supplementary conditions765
- 4 Examples767
- 5 Data lists769
- Index779
10 Axis Types, Coordinate Systems, Frames (K2)785
- Table of contents787
- 1 Brief description791
- 2 Detailed description799
- 3 Supplementary conditions923
- 4 Examples925
- 5 Data lists933
- Index941
11 Emergency Stop (N2)943
- Table of contents945
- 1 Brief Description947
- 2 Detailed description949
- 3 Restrictions955
- 4 Examples957
- 5 Data lists959
  - 5.1 Machine data959
    - 5.1.1 Drive-specific machine data959
    - 5.1.2 Axis/spindle specific machine data959
  - 5.2 Signals959
- Index961
12 Transverse axes (P1)963
- Table of contents965
- 1 Brief description967
- 2 Detailed Description969
  - 2.1 Defining a geometry axis as transverse axis969
  - 2.2 Dimensional information for transverse axes971
- 3 Supplementary conditions977
- 4 Examples979
- 5 Data lists981
  - 5.1 Machine data981
    - 5.1.1 Channel specific machine data981
    - 5.1.2 Axis/spindle specific machine data981
- Index983
13 PLC Basic program powerline (P3 pl)985
- Table of contents987
- 1 Brief description991
- 2 Detailed description993
- 3 Supplementary conditions1267
- 4 Examples1269
- 5 Data lists1271
  - 5.1 Machine data1271
    - 5.1.1 NC-specific machine data1271
    - 5.1.2 Channel specific machine data1271
- Index1273
14 PLC basic program solution line (P3 sl)1275
- Table of contents1277
- 1 Brief description1281
- 2 Detailed description1283
- 3 Supplementary conditions1539
- 4 Examples1541
- 5 Data lists1543
  - 5.1 Machine data1543
    - 5.1.1 NC-specific machine data1543
    - 5.1.2 Channel specific machine data1543
- Index1545
15 Reference point approach (R1)1547
- Table of contents1549
- 1 Brief Description1551
- 2 Detailed description1553
- 3 Supplementary conditions1601
  - 3.1 Large traverse range1601
- 4 Examples1603
- 5 Data lists1605
  - 5.1 Machine data1605
  - 5.2 Signals1607
- Index1609
16 Spindles (S1)1611
- Table of contents1613
- 1 Brief Description1615
- 2 Detailed Description1617
- 3 Constraints1703
- 4 Examples1705
  - 4.1 Example of automatic gear step selection (M40)1705
- 5 Data lists1707
- Index1713
17 Feeds (V1)1717
- Table of contents1719
- 1 Brief Description1721
- 2 Detailed description1725
- 3 Supplementary conditions1777
  - 3.1 General boundary conditions1777
  - 3.2 Supplementary conditions for feedrate programming1777
- 4 Examples1779
  - 4.1 Feedrate programming for chamfer/rounding FRC, FRCM1779
- 5 Data lists1781
- Index1787
18 Tool compensation (W1)1789
- Table of contents1791
- 1 Short description1795
- 2 Detailed Description1799
- 3 Supplementary conditions1971
  - 3.1 Flat D number structure1971
  - 3.2 SD42935 expansions1972
- 4 Examples1973
  - 4.1 Toolholder with orientation capability1973
  - 4.2 Examples 3-6: SETTCOR function for tool environments1980
- 5 Data lists1987
- Index1993
19 NC/PLC interface signals (Z1)1997
- Table of contents1999
- 1 Brief description2001
- 2 Detailed Description2003
- Index2141
20 Appendix (A)2147
- Table of contents2149
- A.1 List of abbreviations2151
- A.2 Publication -specific information2159
  - A.2.1 Correction sheet - fax template2159
  - A.2.2 Overview2161
- A Appendix2151
- Glossary2163

Series	SINUMERIK 840D
Axes	Up to 31
Channels	Up to 10
Operating System	Windows-based
Power Supply	24 V DC
Control Unit Type	CNC
Interface	Ethernet, PROFIBUS
Display	TFT color display
Interpolation	Spline
PLC	Integrated PLC
Data Storage	CompactFlash, USB

Siemens SINUMERIK 840D Function Manual

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