Siemens SINUMERIK 840Di Function Manual page 443

A considerably better result is achieved using this new filter type for axial jerk limitation with
floating averaging. In this case, filter time constants of approx. 20 to 40 ms can be used,
depending on the particular machine.
Thanks to the floating averaging, the new filter achieves lower contour errors with the same
smoothing effect, compared with the previous 2nd degree filter type. The contour of the
smoothing behavior is to a large degree balanced.
Filter enable with MD32402
Machine data:
MD32402 $MA_AX_JERK_ENABLE
is used to enable the new position setpoint filter,
and is defined as follows:
MD32402 $MA_AX_JERK_MODE
MD32410 $MA_AX_JERK_TIME
MD32400 $MA_AX_JERK_ENABLE
If no filter mode was previously activated:
MD32402 $MA_AX_JERK_MODE = 2,
POWER ON has to be triggered once.
Otherwise, "Enable machine data" or RESET on the machine control panel are sufficient.
For reasons of compatibility, the default setting is:
MD32402 $MA_AX_JERK_MODE = 1.
Note
For new machines, the new filter is generally recommended:
MD32402 $MA_AX_JERK_MODE = 2.
Only if very high filter times are needed and contour accuracy plays a minor part (e.g. as
sometimes occurs when positioning axes), can the old filter be more advantageous.
Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
2.5 Optimization of the control
= 2 Select new jerk filter mode
= 0.02 Set filter time in seconds (20 ms)
= 1 Enable filter calculation
Detailed Description
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