Rockwell Automation 8520-GUM 9/Series CNC Grinder Operation and Programming Manual Documentation Set - Manual (Page 439)

Axis Motion
Chapter 12
12-67
Programmable Acc/Dec allows you to change the Linear Acc/Dec modes
and values within an active part program via G47.x and G48.x codes.
You cannot retrace through programmable acc/dec blocks (G47.x and
G48.x). However, you can retrace through blocks where programmable
acc/dec was already active.
Selecting Linear Acc/Dec Modes (G47.x - - modal)
Programming a G47.x in your part program allows you to switch Linear
Acc/Dec modes in nonmotion blocks. If S--Curve Acc/Dec is active, all
positioning moves within fixed cycles will use this mode.
G47 -- Linear Acc/Dec in All Modes
G47.1 -- S--Curve Acc/Dec for Positioning and Exact Stop Mode Only
G47.9 -- Infinite Acc/Dec (No Acc/Dec) (Enabled by your system
installer in AMP)
Important: For optimum S--Curve Acc/Dec functionality, any block
preceding a G47.1 block will decel to 0.
The table below shows you the interaction between contouring,
positioning, exact stop moves, and acc/dec type (i.e., linear, exponential,
S--Curve, and disabled).
Table 12.B
Interaction Between Contouring, Positioning, Exact Stop, and
Acc/Dec Modes
Programming: In this mode will result in:
G00 G01 G02 G03
G47 Linear/
Exponential 1
Linear Linear Linear
G47 & G09/G61 Linear/
Exponential 1
Linear Linear Linear
G47.1 S--Curve/
Exponential 2
Linear Linear Linear
G47.1 & G09/G61 S--Curve/
Exponential 2
S--Curve Linear Linear
G47.9 Disabled Disabled Disabled Disabled
G47.9 & G09/G61 Disabled Disabled Disabled Disabled
1 Linear/Exponential is a function of Positioning Acc/Dec. If Exponential is AMPed, this is the acc/dec type,
otherwise, the type is Linear.
2 S--Curve/Exponential is a function of Positioning Acc/Dec. If Exponential is AMPed, this is the acc/dec type,
otherwise, the type is S--Curve.
12.9.4
Programmable Acc/Dec