B2: Acceleration
4.3 Examples
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
259
Figure 4-14 Switching between path jerk specified during preprocessing and $AC_PATHJERK
4.3.3 Acceleration and jerk
Key statement
In the following example a short part program is used to illustrate the velocity and acceleration characteristic for
the X-axis. It also shows the connection between specific velocity and acceleration-related machine data and the
contour sections they influence.
Part program
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 limit due to arc
5: Jerk according to $AC_PATHJERK
N90 F5000 SOFT G64 ; Continuous-path mode, acceleration with jerk limitation
N100 G0 X0 Y0 Z0 ; Rapid traverse
N110 G1 X10 ;Straight line
N120 G3 CR=5 X15 Y5 ; Circular arc, radius 5 mm, block transition: tangential
N130 G3 CR=10 X5 Y15 ; Circular arc, radius 10 mm, block transition:
tangential
N140 G1 X-5 Y17.679
; straight, 15
o
bend
N200 M30
295 295
295
W>PV@
Y>PV@
51'051'0
11
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