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02.99
5.5.6
Jerk limitation
Description
Acceleration and deceleration are step–like if jerk limiting is not used.
Using jerk limiting, a ramp–type increase can be parameterized for both
quantities, so that approach and braking are "smooth" (jerk–limited).
Applications
Jerk limiting can be used, e.g. for positioning tasks using liquids or gen-
erally to reduce the mechanical stressing on an axis.
Fig. 5-14 Jerk limitation
Parameter
P23
(refer to Chapter
P22
5.6.2)
E Siemens AG 2013 All Rights Reserved
SIMODRIVE POSMO A User Manual (POS1) – 08/2013 Edition
v
a
P22
P23
r
2
a [mm/s
]
P23 = T
[s] =
R
3
r [mm/s
]
Jerk time constant
Maximum acceleration
5 Description of the Functions
5.5 SIMODRIVE POSMO A functions
P22
a :
Acceleration
r:
Jerk
t:
Time
T
:
Jerk time
R
v:
Velocity
t
t
t
5-179
5
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