Siemens SINUMERIK 840D Function Manual page 348

B2: Acceleration and jerk
12.1 Brief description
Channel-specific functions:
● Acceleration profile that can be selected via part-program instruction:
Acceleration without jerk limitation (BRISK)
● Programmable constant travel time for the purpose of avoiding extreme sudden acceleration
● 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:
Acceleration with jerk limitation (SOFTA)
● 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:
Acceleration with jerk limitation (SOFT)
● 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)
348
max
max
red
red
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA