Siemens SINUMERIK 840D sl Function Manual page 367

Fine adjustment
The fine adjustment of the jerk filter is carried out as follows:
1. Assess the traversing response of the axis
(e.g. based on positioning processes with servo trace).
2. Modify the filter time in MD32410 $MA_AX_JERK_TIME.
3. Activate the modified time via "Enable machine data" or RESET on the machine control
panel.
Deactivation
Disabling the jerk filter:
1. Block the filter calculation:
MD32400 $MA_AX_JERK_ENABLE = 0
2. Activate the interlock via "Enable machine data" or RESET on the machine control panel.
Boundary conditions
Filter times
The jerk filter is only effective when the time constant (MD32410) is greater than one position
control cycle.
Filter effect
● The display of the calculated servo gain factor (K
smaller values than would be appropriate based on the filter effect.
● Path accuracy is better than the displayed servo gain (K
Therefore, on resetting MD32400 = 1 to MD32400 = 2, the displayed servo gain (K
be reduced while retaining the same filter time, although the path accuracy improves.
Axes that are interpolating axes with one another
● Must be set identically.
● Once an optimum value has been identified for these axes, the one with the longest filter
time should be used as the setting for all axes within the interpolation group.
References
For further information on jerk limitation at the interpolator level, see Sections "Jerk limitation
with single-axis interpolation (SOFTA) (axis-specific) (Page 262)" and "Axis/spindlespecific
machine data (Page 291)".
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
G2: Velocities, setpoint / actual value systems, closed-loop control
7.6 Optimization of the control
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