Abrupt acceleration profile

This very frequently used profile involves staircase-shaped acceleration. This results in dynamic motion segments for the individual axes in which these are guided with a linear speed increase/drop over time. At the start of the block acceleration takes place up to the programmed feed rate, followed by deceleration at the maximum permissible acceleration towards the end of the block. Abrupt jerk changes take place due to the staircase-shaped acceleration profile during acceleration and deceleration of the axes. This behavior can have a negative impact on machine constructions that are critical in terms of vibrations. The great advantage, though, lies in the optimum distance-time response, i.e. the time needed for a contouring motion segment is the shortest in comparison with other acceleration profiles.

Therefore, this profile must be chosen for the shortest possible positioning times.

Abrupt acceleration profile 1:
Figure 1-2: Parameters of the linear speed profile

Parameterization

During both starting and braking, the acceleration profile consists of two stages each, which can be parameterized with two different acceleration values. Stage 1 is both accelerated and decelerated with the acceleration value P-AXIS-00011, and stage 2 with the acceleration value P-AXIS-00012. The speed at which changeover to the other acceleration profile takes place is set with P-AXIS-00221. The linear speed profile or the abrupt acceleration profile for a typical parameterization variant is shown in Figure 1-2.It goes without saying that a setting in which the acceleration value 1 is lower than the acceleration value 2 is also possible.

Parameterization for rapid traversing (G00)

A further parameter set is available for dynamic motion segments with active rapid traversing (G00). The acceleration value P-AXIS-00005 is active in stage 1, and P-AXIS-00006 in stage 2. The changeover speed can be defined in the rapid traversing mode with the parameter P-AXIS-00211.

Parameterization for feed hold

The acceleration value for feed hold for deceleration down to standstill is set with the parameter P-AXIS-00024.

The influence of the channel parameter P-CHAN-00097 must be taken into account (see Chapter Control flags).