Siemens SINUMERIK 840Di Function Manual page 214

Detailed Description
2.1 Acceleration without jerk limitation (BRISK/BRISKA) (channel-/axis-specific)
Acceleration profile
Fig. 2-1
a
max
v
max
t:
The following features of the acceleration profile can be identified from the figure above:
• Time: t
• Interval: t
• Time: t
Note
Sudden acceleration can generally be avoided by setting a constant travel time (see chapter:
"Abrupt acceleration changes with constant travel phase").
• Interval: t
2-2
Velocity and acceleration schematic for stepped acceleration profile
: Maximum acceleration value
: Maximum velocity value
Time
0
Sudden acceleration from 0 to +a
- t
0 1
Constant acceleration with +a
1
Sudden acceleration from 2 * a
- t
1 2
Constant acceleration with -a
max
; linear increase in velocity
max
with immediate switchover from acceleration to braking
max
; linear decrease in velocity
max
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
Acceleration (B2)