Detailed Description
2.11 Jerk limitation with path interpolation (SOFT) (channel-specific)
Acceleration (B2)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
2-21
• Interval: t
3
- t
4
Constant jerk with +r
max
; linear increase in braking acceleration; quadratic decrease in
velocity
• Interval: t
4
- t
5
Constant braking acceleration with -a
max
; linear decrease in velocity
• Interval: t
5
- t
6
Constant jerk with -r
max
; linear decrease in braking acceleration; quadratic decrease in
velocity reduction until zero velocity is reached v = 0
2.11.1.2 Maximum jerk value (axis-specific)
Key statement
The maximum jerk value can be set for each specific machine axis using the following
machine data:
MD32431 $MA_MAX_AX_JERK (maximum axis jerk)
The path parameters are calculated by the path planning component during preprocessing
so that the programmed maximum values of the machine axes that are of relevance for the
path are not exceeded.
Exceeding of maximum value
It is possible for the maximum value to be exceeded in connection with specific machining
situations (see next Chapter: "System variables ($AC_PATHJERK)" )
2.11.1.3 Maximal jerk value (canal-specific)
Key statement
As well as it being possible to set the maximum jerk value for specific axes, it can also be
assigned as a channel-specific path parameter using the following machine data:
MD20600 $MC_MAX_PATH_JERK (path-related maximum jerk)
To prevent the axis and channel-specific maximum jerk values interfering with one another,
the channel-specific value must be set to a value greater then the maximum axial values.
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