Including jerk in the polynomial (P-CHAN-00110)

P-CHAN-00110

Including jerk in the polynomial

Description

The curvature of the programmed contour (polynomial) results in an axis jerk. If the value is 1 or 3, this jerk is monitored together with the axis-specific dynamic parameters of the geometrical ramp time (P-AXIS-00199).

In addition, an active kinematic compensation movement is included when value 3 is in the polynomial.

If the value is 2, the ramp times P-AXIS-00195P-AXIS-00198 are used for jerk monitoring.

If a relatively small maximum jerk is specified in the axis, the velocity on the path is reduced accordingly. If this reduction is not required for technological reasons, these parameters suppress jerk monitoring in polynomials.

Parameter

check_jerk_on_poly_path

Data type

UNS32

Data range

0: No jerk limiting in the polynomial.

1: Jerk limiting in the polynomial based on P-AXIS-00199 (Default).

2: Jerk limiting in the polynomial based on the maximum of P-AXIS-00195in normal mode P-AXIS-00196in normal mode P-AXIS-00197in normal mode P-AXIS-00198.

3: As for value 1 and in addition polynomials in combination with kinematic compensation movement.

Dimension

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Default value

1

Remarks