Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 319)

Acc/Dec Parameters
Chapter 10
10-23
Function
Use this parameter when in S--Curve Acc/Dec (G47.1) mode to specify the
minimum allowable jerk value that the part program can set for each axis
used in a G48.5 block. Programming G48.5 values that are out of range
generates the decode error, “RAMP/JERK OUT OF RANGE”.
Minimum Programmable Jerk is also used at PTO to allocate the S--Curve
filter size buffer, with a maximum size of 60 iterations (1.20 sec) and a
minimum size of 2 iterations (0.04 sec).
To calculate the Minimum Programmable Jerk value:
1. Determine the maximum acceleration value and the appropriate units
(e.g., g) using S--Curve Acceleration parameter. Refer to page
10-11 for more information about S--Curve acceleration.
2. Determine the coarse iteration value in milliseconds using the System
Scan Time parameter. Refer to page 33--15 for more information
about system scan time.
3. Determine the maximum linear velocity (i.e., rapid feedrate) and the
appropriate units (e.g., IPM) using the Rapid Feedrate for
Positioning parameter. Refer to page 9-2 for more information about
rapid feedrate for positioning.
4. Enter the values from steps 1 to 3 into the spreadsheet located on the
MC Electronic Bulletin Board (440--646--3963). If you do not have
access to the Bulletin Board, the system will prompt you with further
instructions.
Once these values are entered, Excel will return the minimum and
maximum programmable jerk values. To manually calculate the minimum
programmable jerk value, refer to page 10-24.
Axis Parameter
Number
Axis Parameter
Number
(1) [1215] (7) [7215]
(2) [2215] (8) [8215]
(3) [3215] (9) [9215]
(4) [4215] (10) [10215]
(5) [5215] (11) [11215]
(6) [6215] (12) [12215]
Range
0.00000 to 1,000,000.0000 mm/sec/sec/sec
10.12
Minimum Programmable
Jerk