Detailed Description
2.1 Acceleration without jerk limitation (BRISK/BRISKA) (channel-/axis-specific)
Acceleration (B2)
2-2 Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
Acceleration profile
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D
PD[
D
D
PD[
Y
PD[
W
W
Y
Fig. 2-1 Velocity and acceleration schematic for stepped acceleration profile
a
max
: Maximum acceleration value
v
max
: Maximum velocity value
t: Time
The following features of the acceleration profile can be identified from the figure above:
• Time: t
0
Sudden acceleration from 0 to +a
max
• Interval: t
0
- t
1
Constant acceleration with +a
max
; linear increase in velocity
• Time: t
1
Sudden acceleration from 2 * a
max
with immediate switchover from acceleration to braking
Note
Sudden acceleration can generally be avoided by setting a constant travel time (see chapter:
"Abrupt acceleration changes with constant travel phase").
• Interval: t
1
- t
2
Constant acceleration with -a
max
; linear decrease in velocity
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