Acceleration And Jerk For Jog Motions; Parameterization - Siemens SINUMERIK 840D sl Function Manual

B2: Acceleration
5.2 Functions
5.2.20

Acceleration and jerk for JOG motions

In order to avoid unwanted machine motions in JOG mode, separate axial acceleration and
jerk limit values can be specified for JOG motion.
It is also possible to limit acceleration and jerk channel-specifically for manual traversing of
geometry and orientation axes. This enables better handling of the kinematics that generate
Cartesian motions entirely via rotary axes (robots).
5.2.20.1

Parameterization

Axial limitation of acceleration and jerk
Maximum axial acceleration for JOG motions
The maximum axial acceleration for JOG motion can be specified for each machine axis via
the machine data:
MD32301 $MA_JOG_MAX_ACCEL
With MD32301 = 0, the value from MD32300 $MA_MAX_AX_ACCEL is effective instead of
the JOG-specific maximum value.
Maximum axial jerk for JOG motions
The maximum axial jerk for JOG motion can be specified for each machine axis via the machine
data:
MD32436 $MA_JOG_MAX_JERK
With MD32436 = 0, the value from MD32430 $MA_JOG_AND_POS_MAX_JERK is effective
instead of the JOG-specific maximum value.
Note
MD32436 $MA_JOG_MAX_JERK is only effective when the axial jerk limitation in JOG mode
has been enabled for the machine axes to be traversed:
MD32420 $MA_JOG_AND_POS_JERK_ENABLE [<axis>] == TRUE
This is also possible by programming SOFTA(<Axis1>,<Axis2>, ... ) in the part
program.
Channel-specific limitation of acceleration and jerk
Maximum acceleration when manually traversing geometry axes
The maximum acceleration when manually traversing geometry axes can be specified for each
channel via the machine data:
MD21166 $MC_JOG_ACCEL_GEO [<geometry axis>]
With <geometry axis> = 0, 1, 2
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Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Basic Functions