Contents
Acceleration (B2)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
v
2.15 Jerk with programmed rapid traverse (G00) (axis-specific)..................................................... 2-28
2.15.1 Detailed description ................................................................................................................. 2-28
2.15.1.1 General information ................................................................................................................. 2-28
2.15.2 Activation.................................................................................................................................. 2-29
2.15.2.1 Parameterization...................................................................................................................... 2-29
2.15.3 Programming............................................................................................................................ 2-29
2.16 Excessive jerk for block transitions without constant curvature (axis-specific) ....................... 2-29
2.16.1 Detailed description ................................................................................................................. 2-29
2.16.1.1 General information ................................................................................................................. 2-29
2.16.2 Activation.................................................................................................................................. 2-30
2.16.2.1 Parameterization...................................................................................................................... 2-30
2.16.3 Programming............................................................................................................................ 2-30
2.17 Jerk filter (axis-specific) ........................................................................................................... 2-30
2.17.1 Detailed description ................................................................................................................. 2-30
2.17.1.1 General information ................................................................................................................. 2-30
2.17.2 Activation.................................................................................................................................. 2-34
2.17.2.1 Parameterization...................................................................................................................... 2-34
2.17.3 Programming............................................................................................................................ 2-34
2.18 Knee-shaped acceleration characteristic curve....................................................................... 2-34
2.18.1 Detailed description ................................................................................................................. 2-34
2.18.1.1 Adaptation for the motor characteristic curve .......................................................................... 2-34
2.18.1.2 Effect on the path acceleration ................................................................................................ 2-37
2.18.1.3 Substitute characteristic curve................................................................................................. 2-38
2.18.2 Activation.................................................................................................................................. 2-40
2.18.2.1 Parameterization...................................................................................................................... 2-40
2.18.2.2 Activation.................................................................................................................................. 2-41
2.18.3 Programming............................................................................................................................ 2-41
2.18.3.1 Channel-specific activation (DRIVE)........................................................................................ 2-41
2.18.3.2 Axis-specific activation (DRIVEA)............................................................................................ 2-42
3 Supplementary Conditions...................................................................................................................... 3-1
3.1 Acceleration and jerk ................................................................................................................. 3-1
3.2 Knee-shaped acceleration characteristic curve..............
........................................................... 3-1
3.2.1 Active kinematic transformation................................................................................................. 3-1
4 Examples................................................................................................................................................ 4-1
4.1 Acceleration ............................................................................................................................... 4-1
4.1.1 Path velocity characteristic ........................................................................................................ 4-1
4.2 Jerk ............................................................................................................................................ 4-2
4.2.1 Path velocity characteristic ........................................................................................................ 4-2
4.3 Acceleration and jerk ................................................................................................................. 4-4
4.4 Knee-shaped acceleration characteristic curve......................................................................... 4-5
4.4.1 Activation.................................................................................................................................... 4-5
5 Data Lists................................................................................................................................................ 5-1
5.1 Machine data.............................................................................................................................. 5-1
5.1.1 Channel-specific machine data.................................................................................................. 5-1
5.1.2 Axis-/spindle-specific machine data........................................................................................... 5-1
5.2 Setting data................................................................................................................................ 5-2
5.2.1 Channel-specific setting data..................................................................................................... 5-2
5.3 System variables........................................................................................................................ 5-2
Index................................................................................................................................................ Index-1
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