Siemens SINUMERIK 840D sl Function Manual page 184

H1: Manual and handwheel travel
4.8 Manual traversing of geometry axes/orientation axes
Velocity
● Geometry axes
The velocity applied for the manual traversing of geometry axes is defined by the channel-
specific machine data:
MD21165 $MC_JOG_VELO_GEO (conventional velocity for geometry axes)
● Orientation axes
The velocity applied for the manual traversing of orientation axes is defined by the channel-
specific machine data:
MD21155 $MC_JOG_VELO_ORI (conventional velocity for orientation axes)
Rapid traverse override
If the traversing keys/manual wheel are also actuated together with the rapid traverse override
key, the movement will be made with the configured rapid traverse velocity:
● Geometry axes
– MD21160 $MC_JOG_VELO_RAPID_GEO (conventional rapid traverse for geometry
● Orientation axes
– MD21150 $MC_JOG_VELO_RAPID_ORI (conventional rapid traverse for orientation
Feedrate override
The channel-specific feedrate override switch is active for manual traversing of geometry axes.
Acceleration and jerk
For the manual traversing of geometry axes/orientation axes, the acceleration and jerk can be
limited for specific channels. This enables better handling of the kinematics that generate
Cartesian motions entirely via rotary axes (robots).
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
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
Orientation axes
The maximum jerk when manually traversing orientation axes can be specified for each
channel via the machine data:
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Function Manual, 10/2015, 6FC5397-1BP40-5BA3
Extended Functions