Rockwell Automation 8520-GUM 9/Series CNC Grinder Operation and Programming Manual Documentation Set - Manual (Page 449)

Axis Motion
Chapter 12
12-77
G36 and G36.1 are modal. The control should only be in short block
check disable mode (G36.1) when executing a series of fast short blocks
that contain only slight changes in direction and velocity. What constitutes
a slight change in direction and velocity is dependent on the Acc/Dec ramp
configured for your machine.
G36 -- Short Block Acc/Dec clamp Enable
G36.1 -- Short Block Acc/Dec clamp Disabled
G36 is the default mode and is established at power-up, E-Stop reset, and
end of program (M02, M30, or M99). The recommended method of
programming G36 and G36.1 is to program a relatively long entry and exit
move into and out of the mode.
The entry move should be a long move, in the general direction of the
first short move, and at the same feedrate as the first short move. This
entry move should be long enough for the axes to reach programmed
speed. Program the G36.1 code in this entry block.
The exit move should be a long move, in the general direction of the
last short move, and at the same feedrate as the last short move. This
exit move should be long enough for the axes to decelerate properly
without overshooting their end points. Program the G36 code in this
exit block.
Figure 12.39 shows the recommended entry and exit moves for short block
acc/dec clamp disable mode.
Figure 12.39
Entry and Exit Move to/from Short Block
Long Entry move.
This block contains a
G36.1 command Long Exit move.
This block contains
a G36 command
Series of short move blocks
X
Z
12165-I