Siemens SINUMERIK 828D Function Manual page 233

Acceleration profile
r : Maximum jerk value
max
a : Maximum acceleration value
max
v : Maximum velocity value
max
t: Time
Figure 4-4 Jerk, acceleration and velocity schematic with jerk limitation acceleration profile
The following features of the acceleration profile can be identified from the figure above:
• Interval: t - t
0 1
Constant jerk with +r
• Interval: t - t
1 2
Constant acceleration with +a
• Interval: t - t
2 3
Constant jerk with -r
max
maximum value +v
max
• Interval: t - t
3 4
Constant jerk with +r
• Interval: t - t
4 5
Constant braking acceleration with -a
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
; linear increase in acceleration; quadratic increase in velocity
max
; linear increase in velocity
max
; linear decrease in acceleration; quadratic decrease in excessive velocity until
is reached
; linear increase in braking acceleration; quadratic decrease in velocity
max
; linear decrease in velocity
max
B2: Acceleration
4.2 Functions
233