Siemens SINUMERIK 840D sl Function Manual page 11

5.2.8.2 Parameterization..................................................................................................................256
5.2.9 Excessive acceleration for non-tangential block transitions (axis-specific)..........................256
5.2.9.1 General Information.............................................................................................................256
5.2.9.2 Parameterization..................................................................................................................257
5.2.10 Acceleration margin for radial acceleration (channel-specific).............................................257
5.2.10.1 General Information.............................................................................................................257
5.2.10.2 Parameterization..................................................................................................................258
5.2.11 Jerk limitation with path interpolation (SOFT) (channel-specific).........................................259
5.2.11.1 General Information.............................................................................................................259
5.2.11.2 Parameterization..................................................................................................................261
5.2.11.3 Programming........................................................................................................................261
5.2.12 Jerk limitation with single-axis interpolation (SOFTA) (axis-specific)...................................262
5.2.12.1 Parameterization..................................................................................................................262
5.2.12.2 Programming........................................................................................................................263
5.2.13 Path-jerk limitation (channel-specific)..................................................................................263
5.2.13.1 General Information.............................................................................................................263
5.2.13.2 Parameterization..................................................................................................................264
5.2.13.3 Programming........................................................................................................................264
5.2.14 Path jerk for real-time events (channel-specific)..................................................................265
5.2.14.1 General Information.............................................................................................................265
5.2.14.2 Programming........................................................................................................................266
5.2.15 Jerk with programmed rapid traverse (G00) (axis-specific).................................................267
5.2.15.1 General Information.............................................................................................................267
5.2.15.2 Parameterization..................................................................................................................267
5.2.16 Excessive jerk for block transitions without constant curvature (axis-specific)....................268
5.2.16.1 General Information.............................................................................................................268
5.2.16.2 Parameterization..................................................................................................................268
5.2.17 Velocity-dependent jerk adaptation (axis-specific)...............................................................268
5.2.18 Jerk filter (axis-specific)........................................................................................................270
5.2.18.1 General Information.............................................................................................................270
5.2.18.2 Parameterization..................................................................................................................272
5.2.19 Kneeshaped acceleration characteristic curve.....................................................................274
5.2.19.1 Adaptation to the motor characteristic curve........................................................................274
5.2.19.2 Effects on path acceleration.................................................................................................276
5.2.19.3 Substitute characteristic curve.............................................................................................276
5.2.19.4 Parameterization..................................................................................................................279
5.2.19.5 Programming........................................................................................................................280
5.2.19.6 Boundary conditions.............................................................................................................281
5.2.20 Acceleration and jerk for JOG motions................................................................................282
5.2.20.1 Parameterization..................................................................................................................282
5.2.20.2 Supplementary conditions....................................................................................................284
5.3 Examples.............................................................................................................................285
5.3.1 Acceleration.........................................................................................................................285
5.3.1.1 Path velocity characteristic...................................................................................................285
5.3.2 Jerk......................................................................................................................................286
5.3.2.1 Path velocity characteristic...................................................................................................286
5.3.3 Acceleration and jerk............................................................................................................288
5.3.4 Knee-shaped acceleration characteristic curve...................................................................289
5.3.4.1 Activation..............................................................................................................................289
5.4 Data lists..............................................................................................................................290
5.4.1 Machine data........................................................................................................................290
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Table of contents
11