Rockwell Automation 8520-GUM 9/Series CNC Grinder Operation and Programming Manual Documentation Set - Manual (Page 436)

Axis Motion
Chapter 12
12-64
Table 12.A
Acc/Dec Type Performed with Manual Motion and Programmed Moves
Motion Type Always Uses Exponential
Acc/Dec
Configurable in AMP by
System Installer via
Manual Acc/Dec Mode
Always Uses Linear
Acc/Dec
Linear or S- Curve
Acc/Dec per G- code
Hand--pulse generator 
Arbitrary angle moves (i.e.,
hand--pulse generator and
continuous and incremental
motion) 
Homing 
All programmed moves except
for G00 and exact stop 
Manual continuous motion 
Manual incremental motion 
PAL axis mover 
All moves programmed in G00
(positioning) mode 
To begin and complete a smooth axis motion, the control uses an exponential
function curve to automatically accelerate/decelerate an axis. Your system
installer sets the acceleration/deceleration time constant “T” for each axis in
AMP. Figure 12.31 shows axis motion using exponential acc/dec.
Figure 12.31
Exponential Acceleration/Deceleration
Velocity
Time
T T
“F” is the programmed feedrate
“T” is the acceleration/deceleration
time constant
F
12160-I
12.9.1
Exponential Acc/Dec