Rockwell Automation 8520-ARM2 9/Series CNC AMP Reference Manual Documentation Set - Manual (Page 320)

Acc/Dec Parameters
Chapter 10
10-24
or
0.00000 to 1,000,000.0000 deg/sec/sec/sec
or
0.0000 to 39370.0787 in/sec/sec/sec
Notes
This parameter must be set independently for each axis.
Changing the Rapid Feedrate or Acceleration Ramp affects the Minimum
Programmable Jerk value.
To manually calculate the Minimum Programmable Jerk value, use this
equation:
Use this equation to calculate the Axis Jerk value:
R
If T = ----- then
J
R
J
Max
= ----- where JMax = 2 scans (0.04 s) and
T
Min
R
J
Min
= ------ where J
Min
= 60 scans (1.20 s)
T
Max
Where : Is :
J Axis jerk value
R Ramp value
T S--Curve time per system scan rate 1,2
1 Time is in seconds.
2 Maximum S--Curve time = 1.20 s (2 scans at 20 ms scan rate)
Minimum S--Curve time = 0.04 s (60 scans at 20 ms scan rate)
Refer to the table below for examples of resulting jerk values, given
R, and T, and the system scan rate: