Siemens SINUMERIK 840Di Function Manual page 195

Examples
4.1 Example of jerk limitation on the path
4.1
...
N1000 G64 SOFT
N1004 G0 X-20 Y10
N1005 G1 X-20 Y0
N1010 G3 X-10 Y-10 I10
N1011 G3 X0 Y0 J10
N1020 G2 X5 Y5 I5
N1021 G2 X10 Y0 J-5
...
Continuous-Path Mode, Exact Stop, LookAhead (B1)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
; Continuous-path mode with SOFT acceleration
characteristics
; Straight
; Block transition with jump in path curvature
(straight - circular)
; Block transition with continuous-path curvature
; Block transition with jump in path curvature
(circular - circular)
4
4-1