Acceleration And Jerk - Siemens SINUMERIK 840D Function Manual

Characteristic of path velocity 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 limiting using arcs
5: Jerk according to $AC_PATHJERK
Figure 12-10 Switching between path jerk specified during preprocessing and $AC_PATHJERK
12.3.3

Acceleration and jerk

The following example shows the characteristic of velocity and acceleration of the X axis based
on the programmed traversing motion of the part program extract. Further, which of the velocity
and acceleration-relevant machine data are decisive for which section of the contour.
Part program extract
Program code
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
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA
Comment
; Continuous-path mode, jerk-limited acceleration
; Rapid traverse
; Straight line
; Circular arc, radius 5 mm, block transition: Tangential
; Circular arc, radius 10 mm, block transition: Tangential
; Straight line, 15° kink
B2: Acceleration and jerk
12.3 Examples
393