Siemens SIMATIC S7-1500 Function Manual page 133

Smoothing time / jerk
You can enter the jerk limit parameters in the "Smoothing time" box, or alternatively in the
"Jerk" box:
● Set the desired jerk for the acceleration ramp and the deceleration ramp in the "Jerk" box.
● Set the required smoothing time for the acceleration ramp in the "Smoothing time" box.
The following equations show the relationship between the smoothing times and the jerk:
Traversing jobs initiated in the user program are executed with the selected jerk.
S7-1500 Motion Control V13 Update 3
Function Manual, 07/2014, A5E03879256-AC
6.6 Configuring the positioning axis/synchronous axis technology object
The value 0 means that the jerk is disabled.
Note
The configured smoothing time displayed in the configuration, applies only to the
acceleration ramp.
If the values of the acceleration and deceleration differ, the smoothing time of the
deceleration ramp is calculated and used according to the jerk of the acceleration ramp.
The smoothing time of the deceleration is adapted as follows:
• Acceleration > Deceleration
A shorter smoothing time is used for the deceleration ramp compared with the
acceleration ramp.
• Acceleration < Deceleration
A longer smoothing time is used for the deceleration ramp compared with the
acceleration ramp.
• Acceleration = Deceleration
The smoothing times of the acceleration ramp and the deceleration ramp are the
same.
If an error occurs, the axis decelerates with the configured emergency stop deceleration.
A configured jerk limit is not taken into account for this.
Configuring
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