Siemens SINUMERIK 840C Installation Instructions Manual page 719

09.01
Example:
Maximum jerk (r):
Maximum acceleration (a):
Programmed velocity (v)
Interpolation cycle (TIPO):
A jerk of 50 m/s3 results in a change in acceleration per IPO cycle of 0.5 ms/2.
This is calculated as follows:
r=50
With jerk limitation the maximum acceleration of 4 m/s2 is not reached until 8 IPO cycles have
elapsed.
In addition, the change in acceleration of 0.5 m/s2 per IPO cycle results in a change of velocity
of 0.005 m/s (corresponds to 0.3 m/min) per IPO cycle.
This is calculated as follows:
a=0.5
In the table below a movement from zero speed is assumed:
Constant, maximum acceleration takes place In the 8th to 10th IPO cycle. Then, the
acceleration is reduced to zero again with jerk limitation. After 17 IPO cycles a velocity of 24
m/min is reached and a "constant travel phase" follows.
Time [ms]
r [m/s
a [m/s
v [m/min]
Time [ms]
r [m/s
a [m/s
v [m/min]
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SINUMERIK 840C (IA)
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50 m
m m
= = 0.5
3 2
s 100·TIPO·s s
m 0.5 m
= 0.005
=
2
s
100·TIPO·s
10 20 30
3
] 0.5 0.5 0.5
2
] 0.5 1.0 1.5
0.3 0.9 1.8
110 120 130
3
] -0.5 -0.5 -0.5
2
] 3.5 3.0 2.5
17.7 19.5 21.0
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50 m/s 3
4 m/s 2
24 m/min
10 ms
/TIPO
2
m m
/
TIPO=0.3 /TIPO
s min
40 50 60
0.5 0.5 0.5
2.0 2.5 3.0
3.0 4.5 6.3
140 150 160
-0.5 -0.5 -0.5
2.0 1.5 1.0
22.2 23.1 23.7
6FC5197- AA50
10 Axis and Spindle Installation
10.4.1 Drive optimization
70 80 90 100
0.5 0.5 0 0
3.5 4.0 4.0 4.0
84 10.8 13.2 15.6
170 180 190 200
-0.5 -0.5 0 0
0.5 0 0 0
24.0 24.0 24.0 24.0
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