Jerk limiting slope

The slope function determines the velocity on the programmed path and maintains the specified permissible velocities, accelerations and jerks [2]-1. The following modes are available :

Step-shaped acceleration profile with restriction of acceleration without monitoring the jerk
Trapezoidal acceleration profile with jerk monitoring
Square-sinusoidal acceleration profile with jerk monitoring

The acceleration curve is generated depending on the slope function selected:

Jerk limiting slope 1: — Acceleration on the programmed path

The acceleration profile is parameterised axis-specific by accelerations and ramp times [2]-1:

Jerk limiting slope 2: — Parameters of the acceleration profile.