Siemens SINUMERIK 840D sl Function Manual page 244

Functions
2.10 Acceleration margin for radial acceleration (channel-specific)
2.10 Acceleration margin for radial acceleration (channel-specific)
2.10.1 Detailed Description
2.10.1.1 General Information
Overview
In addition to the path acceleration (tangential acceleration), radial acceleration also has an
effect on curved contours. If this is not taken into account during parameterization of the path
parameters, the effective axial acceleration during acceleration and deceleration on the
curved contour can, for a short time, reach 2x the maximum value.
Effective axial acceleration =
Path acceleration + radial acceleration =
2 * ( MD32300 $MA_MAX_AX_ACCEL )
Figure 2-3
The channel-specific machine data:
MD20602 $MC_CURV_EFFECT_ON_PATH_ACCEL
(influence of path curvature on dynamic path response)
can be used to set the proportion of the axis-specific acceleration that is to be taken into
account for radial acceleration.
When, for example, a value of 0.75 is applied, 75% of the axis-specific acceleration will be
made available for radial acceleration and 25% for path acceleration.
The corresponding maximum values are generally calculated as follows:
Radial acceleration =
MD20602 $MC_CURV_EFFECT_ON_PATH_ACCEL * MD32300 $MA_MAX_AX_ACCEL
Path acceleration =
(1 - MD20602 $MC_CURV_EFFECT_ON_PATH_ACCEL) * MD32300
$MA_MAX_AX_ACCEL
26
Radial and path acceleration on curved contours
Basic logic functions: Acceleration (B2)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0