Jerk limiting within the contour

Parameterization

The ramp time of geometric contours is defined by means of the P-AXIS-00199 parameter. When running through a circle with a constant feed rate, you can therefore limit the maximum occurring jerk that results from the curvature. The influence of curvature change to jerk profile on start and end of contour element is not taken into consideration.

With polynomial contouring additionally the parameter setting of P-CHAN-00110 has influence to jerk limiting.

The permissible jerk due to geometric contours results from the P-AXIS-00199 parameter and the acceleration parameters P-AXIS-00011 and P-AXIS-00012 respectively P-AXIS-00004 depending on movement block type as follows:

Jerk limiting within the contour 1:

Examples:

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

Rapid movement: 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