Siemens SINUMERIK 840D sl Function Manual page 249

2.11.3 Programming
Syntax
SOFT
Functionality
The SOFT part-program instruction is used to select the acceleration profile with jerk
limitation for the traversing operations of geometry axes in the channel.
G group: 21
Effective: Modal
Reset response
The channel-specific initial setting is activated via a reset:
MD20150 $MC_GCODE_RESET_VALUES[20]
Supplementary conditions
If the acceleration mode is changed in a part program during machining (BRISK ↔ SOFT), a
block change is performed at the point of transition with an exact stop at the end of the block,
even in continuous-path mode.
2.12 Jerk limitation with single-axis interpolation (SOFTA) (axis-specific)
2.12.1 Detailed Description
2.12.1.1 General Information
Overview
The maximum jerk value can be set for each specific machine axis for single-axis
movements (setup modes e.g. JOG, JOG/INC, positioning axis, reciprocating axis, etc.):
MD32430 $MA_JOG_AND_POS_MAX_JERK (maximum axis jerk)
Initial setting
Acceleration with jerk limitation can be set as the axial initial setting:
MD32420 $MA_JOG_AND_POS_JERK_ENABLE
(initial setting of axial jerk limitation)
Basic logic functions: Acceleration (B2)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0
2.12 Jerk limitation with single-axis interpolation (SOFTA) (axis-specific)
Functions
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