Siemens SINUMERIK 840D Function Manual page 364

B2: Acceleration and jerk
12.2 Functions
Acceleration profile
r
max
a
max
v
max
t:
Figure 12-4
The following features of the acceleration profile can be identified from the figure above:
● Interval: t
Constant jerk with +r
● Interval: t
Constant acceleration with +a
● Interval: t
Constant jerk with -r
velocity until maximum value +v
● Interval: t
Constant jerk with +r
velocity
● Interval: t
Constant braking acceleration with -a
● Interval: t
Constant jerk with -r
velocity reduction until zero velocity is reached v = 0
364
: Maximum jerk value
: Maximum acceleration value
: Maximum velocity value
Time
Jerk, acceleration and velocity schematic with jerk limitation acceleration profile
- t
0 1
; linear increase in acceleration; quadratic increase in velocity
max
- t
1 2
- t
2 3
; linear decrease in acceleration; quadratic decrease in excessive
max
- t
3 4
; linear increase in braking acceleration; quadratic decrease in
max
- t
4 5
- t
5 6
; linear decrease in braking acceleration; quadratic decrease in
max
; linear increase in velocity
max
is reached
max
; linear decrease in velocity
max
Function Manual, 06/2019, A5E47437747B AA
Axes and spindles