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

B2: Acceleration and jerk
12.2 Functions
12.2.20

Acceleration and jerk for JOG motions

The axis-specific acceleration and jerk limitation values also take effect in JOG mode.
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).
12.2.20.1

Parameterization

Axis-specific limitation of acceleration and jerk
Maximum axis-specific acceleration
The maximum acceleration for manual traversing of an axis is defined in machine data:
MD32300 $MA_MAX_AX_ACCEL [0] (maximum axis-specific acceleration for path motions in
dynamic response mode DYNNORM)
Note
Only the dynamic response mode DYNNORM is always effective for JOG mode.
See also Chapter "Acceleration without jerk limitation (BRISK/BRISKA) (channel/axis-specific)
(Page 349)".
Basic setting of axis-specific jerk limitation
Acceleration with jerk limitation can be specified as the axis-specific basic setting for JOG
mode:
MD32420 $MA_JOG_AND_POS_JERK_ENABLE== TRUE
Maximum axis-specific jerk
For JOG motions with active jerk limitation, the value from the following machine data takes
effect as the maximum axis-specific jerk:
MD32430 $MA_JOG_AND_POS_MAX_JERK (maximum axis-specific jerk)
See also Chapter "Jerk limitation with single-axis interpolation (SOFTA) (axis-specific)
(Page 366)".
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>]
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Axes and spindles
Function Manual, 06/2019, A5E47437747B AA