Actual Jerk

Type:	Axis Status Register
RMC70 Address:	Primary Input: Fn:9, where n = 8 + the axis number Secondary Input: Fn:24, where n = 8 + the axis number
RMC150 Address:	Primary Input: Fn:9, where n = 8 + the axis number Secondary Input: Fn:24, where n = 8 + the axis number
System Tag:	Primary Input: _Axis[n].ActJerk, where n is the axis number Secondary Input: _Axis[n].SecActJerk, where n is the axis number
How to Find:	Axes Status Registers Pane, All tab: Feedback
Data Type:	REAL
Units:	pu/sec2

Description

This is the actual jerk (rate of change of acceleration) of the axis. It is updated every control loop. This value is valid only on acceleration feedback axes.

The Actual Jerk is calculated as the first derivative of the Actual Acceleration.

Filtering the Jerk

The Actual Jerk is filtered by default. See the Actual Jerk Filter topic for details on filtering the Actual Jerk. Filtering makes the Actual Jerk less noisy.

Algorithm Usage

The Actual Jerk is used in both Active Damping and Acceleration Control. The following gains apply to the Actual Acceleration: