Rounding Of Tangential Block Transitions (G645) - Siemens SINUMERIK 840D sl Function Manual

B1: Continuous-path mode, Exact stop, Look Ahead
4.3 Continuous-path mode
With jerk limitation, the jerk of each axis is limited to its maximum value within the rounding
area. The rounding motion thus generally consists of three phases:
● Phase 1
During phase 1, each axis builds up its maximum acceleration. The jerk is constant and
equal to the maximum possible jerk on the respective axis.
● Phase 2
During phase 2, the maximum permissible acceleration is applied.
● Phase 3
During phase 3, which is the last phase, the acceleration of each axis is reduced back to
zero with the maximum permissible jerk.
4.3.3.4

Rounding of tangential block transitions (G645)

Function
In continuous-path mode with rounding, rounding blocks are also only generated on tangential
block transitions if the curvature of the original contour exhibits a jump in at least one axis.
The rounding motion is defined here so that the acceleration of all axes involved remains
smooth (no jumps) and the parameterized maximum deviations from the original contour
(MD33120 $MA_PATH_TRANS_POS_TOL) are not exceeded.
In the case of angular, non-tangential block transitions, the rounding behavior is the same as
with G642 (see Section "Rounding in compliance with defined tolerances (G642/G643)
(Page 192)").
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Basic Functions