Weighting of jerk at block transition (P-AXIS-00154)

P-AXIS-00154

Weighting of jerk at block transition

Description

At block transition from linear movement block to circular movement or vice versa a jump in acceleration occurs, even if there is a tangential transition.

By the parameter the permissible jerk at such movement transition types is weighted. If the value is not set in the parameter list, the velocity is reduced to such an extent that the permissible jerk at the block transition is held.

Parameter

getriebe[i].dynamik.r_trans_weight

Data type

UNS32

Data range

0 ≤ r_trans_weight ≤ 1000

Axis types

T, R, S

Dimension

T: 0.1%

R,S: 0.1%

Default value

1000

Drive types

----

Remarks

This parameter is only considered if the non-linear slope is used and for circular - linear, circular - circular or linear - circular transitions.

Acceleration and jerk at linear-circular block transition
Acceleration and jerk at linear-circular block transition

The permissible jerk at such movement transition types is weighted.

Factor for jerk weighting at block transition
Factor for jerk weighting at block transition

Notice

notice

The minimum value is defined by the weighting of the maximum acceleration at block transition P-AXIS-00013 (a_trans_weight).

If the adjustment shall not be limited, this can be set (from version V2.11.ff) by channel parameter P-CHAN-00117 (mode_trans_jerk) on 1.

If set to 1000 the parameter has no influence. The result is that no speed reduction at block transition because of jerk will occur. Smaller value than 1000 leads to reduction of velocity because of jerk at block transition. Value 0 leads to velocity reduction depending on jerk setting of nonlinear slope (see parameters in section 5.5.2).

Notice

notice

By default the jerk is not considered at the block transition. If at the block transition the jerk shall be considered, this must be enabled by the channel parameter P-CHAN-00009 (corr_v_trans_jerk).

The permissible jerk at block transition is given by the active acceleration depending on movement type (G0, G1), and maximum of ramp time tr:

       (a_aktiv /tr_aktiv)* r_trans_weight / 1000.