Siemens SINUMERIK 840Di Function Manual page 210

Brief Description
1.2 Features
Channel-specific functions:
• Acceleration profile that can be selected via part-program instruction:
• Programmable constant travel time for the purpose of avoiding extreme sudden
• Programmable acceleration margin for overlaid traversing
• Adjustable acceleration limitation
• Adjustable acceleration for specific real-time events
• Programmable acceleration margin for radial acceleration
Jerk
Axis-specific functions:
• Acceleration profile that can be selected via part-program instruction:
• Programmable maximum jerk value for single-axis interpolation
• Programmable maximum jerk value for path interpolation
Channel-specific functions:
• Acceleration profile that can be selected via part-program instruction:
• Adjustable jerk limitation
• Adjustable path jerk for specific real-time events
• Specific maximum value for programmed rapid traverse (G00)
• Excessive jerk for block transitions without constant curvature
Kneeshaped acceleration characteristic
A knee-shaped acceleration characteristic is parameterized using the following characteristic
data:
• Maximum velocity v
• Maximum acceleration a
• Creep velocity v
• Creep acceleration a
• Nature of the acceleration reduction (constant, hyperbolic, linear)
1-2
Acceleration without jerk limitation (BRISK)
acceleration
Acceleration with jerk limitation (SOFTA)
Acceleration with jerk limitation (SOFT)
max
red
red
max
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
Acceleration (B2)