Siemens SINUMERIK 840D sl Function Manual page 247

Acceleration profile
Figure 2-4
r
max
a
max
v
max
t:
The following features of the acceleration profile can be identified from the figure above:
• Interval: t
• Interval: t
• Interval: t
• Interval: t
• Interval: t
Basic logic functions: Acceleration (B2)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0
2.11 Jerk limitation with path interpolation (SOFT) (channel-specific)
Jerk, acceleration and velocity schematic with jerk limitation acceleration profile
: Maximum jerk value
: Maximum acceleration value
: Maximum velocity value
Time
- t
0 1
Constant jerk with +r
max
- t
1 2
Constant acceleration with +a
- t
2 3
Constant jerk with -r
max
velocity until maximum value +v
- t
3 4
Constant jerk with +r
max
velocity
- t
4 5
Constant braking acceleration with -a
; linear increase in acceleration; quadratic increase in velocity
; linear increase in velocity
max
; linear decrease in acceleration; quadratic decrease in excessive
is reached
max
; linear increase in braking acceleration; quadratic decrease in
; linear decrease in velocity
max
Functions
29