Siemens SINUMERIK 840Di Function Manual page 257

Supplementary Conditions
3.1 Acceleration and jerk
3.1
There are no other supplementary conditions to note.
3.2 Knee-shaped acceleration characteristic curve
3.2
3.2.1 Active kinematic transformation
Key statement
The knee-shaped acceleration characteristic curve is not taken into account in connection
with an active kinematic transformation. The control switches to acceleration without jerk
limitation (BRISK) and a substitute characteristic curve is adopted for path acceleration.
Acceleration (B2)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
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3-1