Siemens SINAMICS SIMOTICS S200 PROFINET Operating Instructions Manual page 794

Appendix
A.3 Parameters
Note
The maximum deceleration appears to exhibit jumps (without jerk).
"Traversing blocks" operating mode:
The programmed deceleration override (p2620) acts on the maximum deceleration.
"Direct setpoint input/MDI" operating mode:
The deceleration override is effective (c2645, 4000 hex = 100 %).
"Jog" and "Active homing" operating modes:
No deceleration override is effective. The axis breaks with the maximum deceleration.
p2574 EPOS jerk limiting
Data type: FloatingPoint32
Read permission:
Write permission:
Can be changed in the operating
state:
Parameter group:
Unit: mm/s³
Min:
0.001 [mm/s³]
Description: Sets the jerk limiting
Dependency: See also: p2572, p2573, c2575
Note
The jerk limiting is internally converted into a jerk time as follows:
Jerk time Tr = max(p2572, p2573) / p2574
The jerk time is internally limited to 1000 ms, and is rounded off to an integer multiple of the sampling time of the basic
positioner cycle.
The jerk time is the same for the acceleration and deceleration phases, also if the maximum acceleration (p2572) and
maximum deceleration (p2573) are set differently.
If the maximum acceleration and maximum deceleration are set differently, then motion is not optimal from a time
perspective as the jerk limit cannot be utilized for the lower of the two values.
If, in the traversing profile, the acceleration time without jerk limiting is shorter than jerk time Tr, then motion with jerk
limiting is not time-optimized.
For traversing motion with a direct transition between acceleration and deceleration (i.e. jerk time is greater than the
constant velocity phase), jerk can increase up to twice the parameterized jerk.
CONTINUE_FLYING with direction reversal acts internally just like a CONTINUE_WITH_STOP without the "Set position
reached" being set. Without jerk limiting, this behavior can hardly be noticed as, when reversing, the position setpoint
is only kept at zero for the duration of one interpolator clock cycle.
For block change enable CONTINUE_WITH_STOP, jerk limiting results in a longer delay time.
p2574 EPOS jerk limiting
S200 Basic PN (EPOS Data type: FloatingPoint32
Lastseite rotierend),
Read permission:
S200 PN (EPOS
Write permission:
Lastseite rotierend)
Can be changed in the operating
state:
Parameter group:
Unit: °/s³
Min:
0.001 [°/s³]
Description: Sets the jerk limiting
Dependency: See also: p2572, p2573, c2575
792
Visible in: Standard display
Read drive data or acknowledge messages
Edit device configuration or drive applications
Operation
Limit
Max:
1e+08 [mm/s³]
Visible in: Standard display
Read drive data or acknowledge messages
Edit device configuration or drive applications
Operation
Limit
Max:
1e+08 [°/s³]
SINAMICS S200 PROFINET servo drive system with SIMOTICS S-1FL2
Operating Instructions, 11/2023, FW V6.3, A5E51646752B AB
Factory setting:
200000.000 [mm/s³]
Factory setting:
7.2e+06 [°/s³]