Siemens SIMATIC S7 System Manual page 615

Entering jerk time
Available on certain types of moves, jerk compensation provides smoother position control
by reducing the jerk (rate of change) in the acceleration and deceleration parts of the motion
profile. See the following figure:
Jerk compensation is also known as "S curve profiling". This compensation is applied equally
to the beginning and ending portions of both the acceleration and deceleration curve. Jerk
compensation is not applied to the initial and final step between zero speed and SS_SPEED.
Specify the jerk compensation by entering a time value (JERK_TIME). This is the time
required for acceleration to change from zero to the maximum acceleration rate. A longer
jerk time yields smoother operation with a smaller increase in total cycle time than would be
obtained by decreasing the ACCEL_TIME and DECEL_TIME. A value of 0 ms (the default
value) indicates that no compensation is to be applied.
Note
A good first value for JERK_TIME is 40% of ACCEL_TIME.
Note
Jerk compensation is not available for two speed moves, manual speed change moves,
aborted moves, and automatic deceleration reactions upon reaching a limit or STP input.
Configuring the Backlash compensation
Backlash compensation: Distance that the motor must move to eliminate the backlash
(slack) in the system on a direction change. Backlash compensation is always a positive
value:
● Default = 0
● Choose a Reference Point search sequence to use backlash.
S7-200 SMART
System Manual, V2.3, 07/2017, A5E03822230-AF
Open loop motion control
12.5 Configuring an Axis of Motion
615