B2: Acceleration
4.2 Functions
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
239
Programming
For the purpose of setting the jerk for real-time events in accordance with the acceleration, the system variables
can be set as follows:
$AC_PATHJERK = $AC_PATHACC/smoothing time
• $AC_PATHACC: Path acceleration [m/s
2
]
Smoothing time: freely selectable, e.g. 0.02 s
For information about programming system variables in the part program or synchronized actions, see Chapter
"Programming".
4.2.15.2 Programming
Syntax
$AC_PATHJERK =
path jerk
Functionality
The path jerk for real-time events is set via the channel-specific system variables.
Jerk value
:
• Value range: Path jerk ≥ 0
• Unit: m/s
3
Application:
• Part program
• Static synchronized action
Reset response
The function is deactivated on reset.
Supplementary conditions
Programming $AC_PATHJERK in the part program automatically triggers a preprocessing stop with REORG
(STOPRE).
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