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This property is used to set the jerk (rate of change of acceleration) on the element. It is manifested in the amount of smoothing applied to the motion profile. It is frequently more convenient to use SMOOTHFACTOR to set the smoothing being applied to the profile. This property can be used inside a motion command to override the permanent value.
<element>.Jerk = <expression>
Greater than 0. The upper limit is defined by the ratio between jerk and acceleration or deceleration, according to the following relationship:
Jerk/Acc < 0.9 * π/5T
where T is the sample time in seconds. For a cycle time of 2 msec, this value is 282.743.
User element jerk units, as given by <element>.JERKFACTOR.
Configuration, Task or Terminal
- JERK has an effect only if SMOOTHFACTOR is set to -1.
- If you specify a jerk higher than JERKMAX, the system sets the value to JERKMAX and notifies you.
- To set the value within a task, the group must be attached to that task (using the ATTACH command).
A1.Jerk = 1.2
G1.Jerk = 1.2