Jerk; Path Velocity Characteristic - Siemens SINUMERIK 840D sl Function Manual

B2: Acceleration
5.3 Examples

Path velocity characteristic

Acceleration profile: BRISK
1: Accelerate to 100% of path velocity (F10000) in accordance with acceleration default: ACC (N2200...)
2: Brake to 10% of path velocity as a result of override modification ($AC_OVR) in accordance with real-time accel‐
eration $AC_PATHACC (N53/N54...)
3: Accelerate to 100% of path velocity as a result of override modification ($AC_OVR) in accordance with real-time
acceleration $AC_PATHACC (N53/N55...)
4: Brake to block end velocity for intermediate smoothing block in accordance with acceleration default: ACC (N2200...)
5: Speed limitation as a result of smoothing (see 9)
6: Accelerate to 100% of path velocity ($AC_OVR) in accordance with acceleration default: ACC (N2300...)
7: Decelerate as a result of override modification at a rate of acceleration that is in accordance with real-time accel‐
eration $AC_PATHACC (N53/N54...)
8: Accelerate to 100% of path velocity as a result of override modification ($AC_OVR) in accordance with real-time
acceleration $AC_PATHACC (N53/N55...)
9: Intermediate block inserted within the control as a result of the programmed smoothing (RNDM) (N2200...)
Figure 5-13 Switching between path acceleration specified during preprocessing and real-time acceleration
5.3.2

Jerk

5.3.2.1 Path velocity characteristic
The following example shows the characteristic of path velocity and jerk based on programmed
traversing motion and the actions initiated in a part program segment.
Part program extract
Program code
; Setting of path acceleration and path jerk in the event of external
intervention:
N0100 $AC_PATHACC = 0.0
N0200 $AC_PATHJERK = 4.0 * ($MA_MAX_AX_JERK[X] + $MA_MAX_AX_JERK[Y]) / 2.0
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Basic Functions