Jerk limiting algorithm(P-CHAN-00141)
The "jerk_monitoring_mode" parameter determines which algorithm is to be used for jerk limiting.
Variable name | Type | Permitted range | Dimension |
jerk_monitoring_mode | UNS32 | 0/1/2 | ---- |
0 | Jerk limiting without consideration of internal derivations of the polynomials (du/ds). |
1 | Jerk limiting with consideration of internal derivations of the polynomials (dr/ds) (default). |
2 | Jerk limiting with minimum speed from 0 and 1, MIN[du/ds, dr/ds] |