Siemens SINUMERIK 840D sl Function Manual page 155

It is also possible to limit acceleration and jerk channel-specifically for manual traversing of
geometry and orientation axes. This enables better handling of the kinematics that generate
Cartesian motions entirely via rotary axes (robots).
Maximum axis-specific acceleration for JOG motion
The maximum axis-specific acceleration for JOG motions can be specified for each machine
axis via the machine data:
MD32301 $MA_JOG_MAX_ACCEL
With MD32301 = 0, the value from MD32300 $MA_MAX_AX_ACCEL is effective instead of
the JOG-specific maximum value.
Maximum axis-specific jerk during JOG motions
The maximum axis-specific jerk for JOG motions can be specified for each machine axis via
the machine data:
MD32436 $MA_JOG_MAX_JERK
With MD32436 = 0, the value from MD32430 $MA_JOG_AND_POS_MAX_JERK is effective
instead of the JOG-specific maximum value.
Note
MD32436 $MA_JOG_MAX_JERK is only effective when the axial jerk limitation in JOG mode
has been enabled for the machine axes to be traversed:
MD32420 $MA_JOG_AND_POS_JERK_ENABLE [<axis>] == TRUE
This is also possible by programming SOFTA(<Axis1>,<Axis2>, ... ) in the part
program.
Maximum acceleration when manually traversing spindles
As a spindle often uses many gear stages in speed-control and position-control modes, the
acceleration associated with the current gear stage is always applied to the spindle in JOG
mode.
References:
Function Manual Basic Functions; Spindles (S1)
Maximum acceleration when manually traversing geometry axes
The maximum acceleration when manually traversing geometry axes can be specified for each
channel via the machine data:
MD21166 $MC_JOG_ACCEL_GEO [<geometry axis>]
With <geometry axis> = 0, 1, 2
Extended Functions
Function Manual, 10/2015, 6FC5397-1BP40-5BA3
H1: Manual and handwheel travel
4.3 Parameter assignment (general)
155