Siemens SINUMERIK 840D sl Function Manual page 283

With MD21166 = 0, the axis-specific limit value from MD32301 $MA_JOG_MAX_ACCEL is
effective instead of the channel-specific acceleration limitation.
Note
With MD21166 $MC_JOG_ACCEL_GEO [<geometry axis>], there is no direct limitation to
MD32300 $MA_MAX_AX_ACCEL.
Note
When a transformation is active, MD32300 $MA_MAX_AX_ACCEL determines the maximum
possible axial acceleration.
Maximum jerk when manually traversing geometry axes
The maximum jerk when manually traversing geometry axes in the SOFT acceleration mode
(acceleration with jerk limitation) can be specified for each channel via the machine data:
MD21168 $MC_JOG_JERK_GEO [<geometry axis>]
With <geometry axis> = 0, 1, 2
With MD21168 = 0, the axis-specific limit value from MD32436 $MA_JOG_MAX_JERK is
effective instead of the channel-specific jerk limitation.
Note
MD21168 $MC_JOG_JERK_GEO is only effective when the axial jerk limitation in JOG mode
has been enabled for the basic machine axes:
MD32420 $MA_JOG_AND_POS_JERK_ENABLE [<axis>] == TRUE
Maximum jerk when manually traversing orientation axes
The maximum jerk when manually traversing orientation axes can be specified for each
channel via the machine data:
MD21158 $MC_JOG_JERK_ORI [<orientation axis>]
For MD21158 to take effect, the channel-specific jerk limitation for the manual traversing of
orientation axes must be enabled via the following machine data:
MD21159 $MC_JOG_JERK_ORI_ENABLE == TRUE
Note
Orientation axes are not affected by the machine data MD32301 $MA_JOG_MAX_ACCEL and
MD32436 $MA_JOG_MAX_JERK.
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
B2: Acceleration
5.2 Functions
283