Determination Of The Dynamic Response Limiting Values - Siemens SINUMERIK 828D Function Manual

3.4.3

Determination of the dynamic response limiting values

In addition to determining the natural frequency of the path axes for assigning parameters to the axis-specific
limit frequencies (MD32440 $MA_LOOKAH_FREQUENCY), the implementation of the "adaptation of the
dynamic path response" function also requires dynamic response limits to be determined for velocity,
acceleration and jerk.
Procedure
The determination of the dynamic response limits for the traversing of path axes by means of acceleration with
jerk limiting (SOFT) is described below. This procedure can be applied by analogy to the case of acceleration
without jerk limiting (BRISK).
1. Deactivate the "adaptation of the dynamic path response" function:
MD20465 $MC_ADAPT_PATH_DYNAMIC[1] = 1
2. Observe the positioning behavior of each path axis at different traversing velocities. When doing so, set the
jerk such that the desired positioning tolerance is maintained.
Note
The higher the traversing velocity from which the positioning process is started, the higher
in general the jerk can be set.
3. Use the maximum permissible jerk determined for the least critical traversing velocity:
MD32431 $MA_MAX_AX_JERK (maximum jerk)
4. Determine the F
APD
F = (largest determined jerk) / (smallest determined jerk)
APD
Note
The smallest determined jerk is the value for the jerk during the most critical traversing
velocity.
5. Enter the largest F
APD
for the path dynamic response:
MD20465 $MC_ADAPT_PATH_DYNAMIC[ 1 ] = F
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
factor for all of the path axes using:
factor that was determined via all the path axes as the value for the adaptation factor
B1: Continuous­path Mode, Exact Stop, LookAhead
APD
3.4 Dynamic adaptations
187