Siemens SINUMERIK 840Di Function Manual page 262

Examples
4.3 Acceleration and jerk
Acceleration profile: SOFT
1: Jerk according to $MA_MAX_AX_JERK[..]
2: Jerk according to $AC_PATHJERK
3: Jerk according to $MA_MAX_AX_JERK[..] (approach block end velocity)
4: Velocity limit due to arc
5: Jerk according to $AC_PATHJERK
4.3 Acceleration and jerk
4.3
Key statement
In the following example a short part program is used to illustrate the velocity and
acceleration characteristic for the X-axis. It also shows the connection between specific
velocity and acceleration-related machine data and the contour sections they influence.
Part program
N90 F5000 SOFT G64
N100 G0 X0 Y0 Z0
N110 G1 X10
N120 G3 CR=5 X15 Y5
N130 G3 CR=10 X5 Y15
N140 G1 X-5 Y17.679
N200 M30
Fig. 4-3
4-4
; Continuous-path mode, acceleration with jerk
limitation
; Rapid traverse
;Straight line
; Circular arc, radius 5 mm, block transition:
tangential
; Circular arc, radius 10 mm, block transition:
tangential
; straight, 15
Part program contour
o
bend
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
Acceleration (B2)