Example 3
The user performs positioning in "Positioning" mode and specifies a large jerk via the Positioning.in.lrJerk input variable. Shortly before the target position is reached, the user switches in the deceleration phase on the fly to the already activated "Velocity" mode by switching off Positioning.In.xActivate and simultaneously switching on the start signal Velocity.In.xStart. In doing so, the user specifies a positive speed via Velocity.In.lrVelocity but a small jerk via Velocity.In.lrJerk.
As a result, the effective deceleration decreases with the now small jerk so that a negative acceleration takes effect for a certain time after the changeover. This means that the speed can even be negative, i.e. the drive is reversed even though a positive speed is specified. The diagram below illustrates this scenario.
v(t) | Speed |
a(t) | Acceleration |
j(t) | Jerk |
