Jerk; Path Velocity Characteristic - Siemens SINUMERIK 828D Function Manual

Hide thumbs Also See for SINUMERIK 828D:

Table of Contents

B2: Acceleration

4.3 Examples

Jerk

Key statement

An excerpt from a part program is provided below, together with the associated acceleration characteristic, by

way of an example. These are used to illustrate how the path velocity can be adapted to take account of various

events and the resulting change in jerk.

Part program (excerpt, schematic)

; Setting of path acceleration and path jerk in the event of external intervention:

N0100 $AC_PATHACC = 0.

N0200 $AC_PATHJERK = 4. * ($MA_MAX_AX_JERK[X] + $MA_MAX_AX_JERK[Y]) / 2.

; Synchronized actions for the purpose of varying the override (simulates external

intervention):

N53 ID=1 WHENEVER ($AC_TIMEC > 16) DO $AC_OVR=10

N54 ID=2 WHENEVER ($AC_TIMEC > 30) DO $AC_OVR=100

N1000 G0 X0 Y0 SOFT

N1100 TRANS Y=-50

N1200 AROT Z=30 G642

N2200 X = 70 G1 F10000 RNDM=10

N2300 Y = 70

Function Manual, 09/2011, 6FC5397-0BP40-2BA0

Basic Functions

Sinumerik 840d sl