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Specifies the maximum deceleration jerk of the move in Units/s3. Jerk is the derivative of deceleration (change of deceleration per unit time). Setting deceleration jerk to 0 (default) allows SoftMotion to automatically calculate the jerk using the specified Smoothing. If you specify a value for deceleration jerk but not acceleration jerk SoftMotion assumes equal values for deceleration jerk and acceleration jerk when calculating the move profile. If you specify jerk values but not acceleration and deceleration values, SoftMotion automatically calculates all values and uses the provided jerk values as maximum limits.
Decreasing the deceleration jerk smooths the deceleration portion of the motion profile, resulting in less abrupt transitions from constant velocity to deceleration and deceleration to stop. Coordinate deceleration jerk is calculated using the root sum of squares as follows:
The following figure shows the result of changing the deceleration jerk on the motion profile:
A sufficiently low jerk will smooth the profile so much that the maximum deceleration value is never reached.
|Generating Profiles||Performing a Move|
|When Calculated||When Solve Profile is called.||During move execution.|
|Other Influencing Factors|