Jerk value

luciano

Does anyone know whether and how a value for jerk can be set in a robot program? I mean a precise value expressed in m/s^3, not only a reduction of the "normal values".
Or which are the normal values, referred to by the programming manual.

I am using an IRB4400-40 for simulating the acceleration of a transported load (is friction enough, or the load is sliding on the tool?) and besides the acceleration value I need to set also its derivative.

Thanks in advance.

lemster68

I am not exactly sure what you mean by "jerk" value, but WorldAccLim instruction might be what you are seeking.

luciano

Jerk is the acceleration rate of change. It is expressed in m/s^3.
The instruction WorldAccLim allows setting the acceleration value in m/s^2, not its rate.
On the contrary, AccSet allows decreasing both of them, but as a percentage of their "normal values" and I could not find that of rate of change.

I understand that in normal applications you don't mind which is its value, you only try to get a regular, smooth movement, but if you want to simulate the movement of a different apparatus, you must be sure that all the dynamic parameters are the same.