Axis 4 (virtual axis)
In "Velocity" operating mode, the user starts a movement in a certain direction and specifies a large jerk via Velocity.in.lrJerk. During the acceleration phase, the user removes the enable on the axis by switching off Basic.in.xEnableApplicationStop. In doing so, the user specifies a small jerk via ProfileGeneration.in.lrStopJerk.
As a result, the acceleration decreases with the now small jerk, which means that a positive acceleration still takes effect over a certain period of time. This results in a further increase in speed even after the enable signal has been removed. The diagram below illustrates this scenario.
v(t) | Speed |
a(t) | Acceleration |
j(t) | Jerk |
