Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 318)

Acc/Dec Parameters
Chapter 10
10-22
R
T = ----- and
J
R
J
Max
= ------ where JMax = 2 scans (0.04 s) and
T
Min
R
J
Min
= ------ where J
Min
= 60 scans (1.20 s)
T
Max
Where : Is :
J Axis jerk value
R Ramp value
T S--Curve time per system scan rate 1,2
1 Time is in seconds.
2 Maximum S--Curve time = 1.20 s (60 scans at 20 ms scan rate)
Minimum S--Curve time = 0.04 s (2 scans at 20 ms scan rate)
Refer to the table below for examples of resulting jerk values, given
R, T, and the system scan rate:
Ramp Value S--Curve Time
per System Scan
Rate
Coarse Foreground
Scan Time
Axis Jerk Value
1,000 ipm/s 0.04 s 20 ms 25,000 ipm/s/s (max)
1.20 s 833 ipm/s/s (min.)
0.16 s 6,250 ipm/s/s
(example per
machine parameters)
2,500 ipm/s 0.028 s 14 ms 89,286 ipm/s/s (max)
0.84 s 2,976 ipm/s/s (min.)
0.112 s 22,321 ipm/s/s
(example per
machine parameters)