Parameterization; Programming - Siemens SINUMERIK 840D sl Function Manual

● Interval: t
Constant braking acceleration with -a
● Interval: t
Constant jerk with -r
velocity reduction until zero velocity is reached v = 0
5.2.11.2

Parameterization

Maximum jerk value for path motions (axis-specific)
The maximum axial jerk for path motions can be set for the specific technology for each
machine axis via the following machine data:
MD32431 $MA_MAX_AX_JERK[<parameter set index>]
With <parameter set index> = 0, 1, 2 ... (max. parameter set number - 1)
For the technology-specific parameter sets, see Section "Dynamic response mode for path
interpolation (Page 222)".
The path parameters are calculated by the path planning of the preprocessing so that the
parameterized maximum values of the machine axes involved in the path are not exceeded.
Note
It is possible for the maximum value to be exceeded in connection with specific machining
situations (see Section "Path jerk for real-time events (channel-specific) (Page 265)").
Maximum jerk value for path motions (channel-specific)
In addition to the axis-specific setting, the maximum jerk value can also be specified as channel-
specific path parameter via the following machine data:
MD20600 $MC_MAX_PATH_JERK (path-related maximum jerk)
In order to exclude the mutual influencing of axis and channel-specific maximum jerk values,
the channel-specific maximum value must be set to a value greater than the axial maximum
values.
5.2.11.3

Programming

Syntax
SOFT
Functionality
The SOFT part-program instruction is used to select the acceleration profile with jerk limitation
for the traversing operations of geometry axes in the channel.
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
- t
4 5
- t
5 6
; linear decrease in braking acceleration; quadratic decrease in
max
; linear decrease in velocity
max
B2: Acceleration
5.2 Functions
261