Siemens SINUMERIK 840D sl Function Manual page 209

3.2 Smoothing the path velocity
Several blocks with SOFT and BRISK
Smoothing of the path velocity is only effective in continuouspath mode with LookAhead over
several blocks with SOFT and BRISK, but not with G0.
The cycle times of the control must be parameterized such that the preprocessing is
provided with enough blocks to be able to analyze an acceleration process.
Basic logic functions: Continuouspath Mode, Exact Stop, LookAhead (B1)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0
Supplementary conditions
3.2 Smoothing the path velocity
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