Jerk limitation within the path

Parameterisation

The parameter P-AXIS-00199 defines the ramp time of geometrical paths.

When a path passes through a circle or a polynomial at a constant feedrate, this parameter can limit the maximum occurring jerk resulting from the path curvature. The influence of curvature changes on jerk at the start and end of a path segment is not considered here.

With polynomial paths, the influence of parameter P-CHAN-00110 must also be taken into consideration.

The permissible jerk caused by geometrical paths results from the default setting in

• parameter P-AXIS-00199 and the
• acceleration parameters P-AXIS-00011, P-AXIS-00012 and P-AXIS-00004

depending on the motion block type as follows:

Example

Feed block: a=1m/s², tr_geom. = 0.1s, j_geom = 10m/s³

Rapid traverse block: a=2m/s², tr_geom. = 0.1s, j_geom = 20m/s³

Excerpt from the axis parameter list:

getriebe[0].slope_profil.a_beschl   1000

getriebe[0].slope_profil.a_brems    1000

getriebe[0].slope_profil.a_grenz    2000

.........

getriebe[0].dynamik.tr_geom         100000