Siemens SINUMERIK 840D Function Manual page 669

PLC interface
For geometry axes/orientation axes, there is a separate PLC interface that contains the same
signals as the axis-specific PLC interface:
● Geometry axes:
DB21, ... DBB12 - 23 and
DB21, ... DBB40 - 56
● Orientation axes:
DB21, ... DBB320 - 331 and
DB21, ... DBB332 - 343
Velocity
● Geometry axes
The velocity applied for the manual traversing of geometry axes is defined by the channel-
specific machine data:
MD21165 $MC_JOG_VELO_GEO (conventional velocity for geometry axes)
● Orientation axes
The velocity applied for the manual traversing of orientation axes is defined by the channel-
specific machine data:
MD21155 $MC_JOG_VELO_ORI (conventional velocity for orientation axes)
Rapid traverse override
If the traversing keys/handwheel are also actuated together with the rapid traverse override
key, the movement will be made with the configured rapid traverse velocity:
● Geometry axes
– MD21160 $MC_JOG_VELO_RAPID_GEO (conventional rapid traverse for geometry
● Orientation axes
– MD21150 $MC_JOG_VELO_RAPID_ORI (conventional rapid traverse for orientation
Feedrate override
The channel-specific feedrate override switch is active when manually traversing geometry
axes.
Acceleration and jerk
For the manual traversing of geometry axes/orientation axes, the acceleration and jerk can be
limited for specific channels. This enables better handling of the kinematics that generate
Cartesian motions entirely via rotary axes (robots).
Geometry axes
The maximum acceleration when manually traversing geometry axes can be specified for each
channel via the machine data:
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA
axes)
axes)
17.8 Manual traversing of geometry axes/orientation axes
H1: Manual traversing
669