Unexpected behavior when processing jerk specifications

The described time-based operating modes velocity specification (Velocity), positioning mode absolute (Positioning), positioning mode relative (PositioningRelative), jog mode (Jog), and reference travel (Homing) enable direct control of the jerk via the lrJerk variable. This chapter describes scenarios where unexpected behavior of the relevant axis can occur, particularly when changing over from a large jerk to a small jerk during certain phases of the movement.

NOTICE

Unexpected system behavior when reversing the drive, particularly when changing over from a large jerk to a small jerk during certain phases of the movement. The user is responsible for ensuring that the control configured for profile generation does not result in unexpected behavior.
Death, severe injuries, damage to property
  • Check the effects that unexpected reversing of the drive would have in your application. To prevent unexpected reversing of the drive, treat the specified jerk like a uniquely configured parameter or only change it if the currently effective acceleration is approximately "0".
Additional information