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6 Description of the Functions
6.2
Positioning mode (P0700 = 3, from SW 2.1)
Jerk limiting
P0107
(from SW 3.1 )
Applications
Table 6-18
Jerk limiting parameters
No.
Name
0107
Jerk limiting
The duration of the acceleration ramp (jerk time T
maximum acceleration (P0103), the maximum deceleration (P0104) and the selected jerk limit-
ing (P0107).
amax [10
T
[s] =
R
r [10
0
Jerk limiting off
> 0
Jerk limiting on, the selected value is effective (refer to P1726)
Note:
The jerk is internally limited to the appropriate jerk time of 200 ms.
P0103
Maximum
acceleration
P0104
Maximum
deceleration
P0107
–P0107
6-368
Acceleration and deceleration are step–like if jerk limiting is not used.
Using jerk limiting, a ramp–type increase can be parameterized for both
quantities, so that approach and braking are "smooth" (jerk–limited).
Jerk limiting can be used, e.g. for positioning tasks using liquids or ge-
nerally to reduce the mechanical stressing on an axis.
Min.
Standard
0
0
v:
Velocity
3
2
MSR/s
]
a
: Acceleration (higher value from P0103 and P0104)
max
3
3
MSR/s
]
r:
Jerk
T
:
Jerk time (calculated jerk time: refer to P1726)
R
v
a
r
T
:
T
R
SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition
Max.
100 000 000
) is calculated from the higher value of the
R
:
T
:
R
R
E Siemens AG 2005 All Rights Reserved
10.99
01.99
! not 611ue !
Units
Effective
3
1 000 MSR/s
Vset_0
t
t
T
:
R
t
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