# Jerk value

**URL:** <https://tech-community.robotics.abb.com/t/jerk-value/11999>\
**Category:** RAPID Programming\
**Created:** [August 6, 2025, 5:22am UTC](https://tech-community.robotics.abb.com/t/jerk-value/11999 "2025-08-06T05:22:40Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![luciano](https://avatars.discourse-cdn.com/v4/letter/l/f05b48/32.png) [@luciano](https://tech-community.robotics.abb.com/u/luciano)\
**Post date:** [August 6, 2025, 5:22am UTC](https://tech-community.robotics.abb.com/t/jerk-value/11999/1 "2025-08-06T05:22:40Z")

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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.

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**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\
**Post date:** [August 6, 2025, 11:56am UTC](https://tech-community.robotics.abb.com/t/jerk-value/11999/2 "2025-08-06T11:56:23Z")

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

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**Author:** ![luciano](https://avatars.discourse-cdn.com/v4/letter/l/f05b48/32.png) [@luciano](https://tech-community.robotics.abb.com/u/luciano)\
**Post date:** [August 7, 2025, 7:06am UTC](https://tech-community.robotics.abb.com/t/jerk-value/11999/3 "2025-08-07T07:06:20Z")

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_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.