Siemens SINUMERIK 840D sl Function Manual page 269

Availability
The "velocity-dependent jerk adaptation" function is available independent of the function
"Free-form surface mode: Basic functions (Page 224)".
Parameterization
The "Velocity-dependent jerk adaptation" function is parameterized with the following machine
data:
● MD32437 $MA_AX_JERK_VEL0[<n>] = <threshold value
Lower velocity threshold of the jerk adaptation. Velocity-dependent jerk adaptation takes
effective as of this velocity.
The lower velocity threshold can be set separately via index n for each dynamic response
mode (see Section "Dynamic response mode for path interpolation (Page 222)"):
● MD32438 $MA_AX_JERK_VEL1[<n>] = <threshold value
Upper velocity threshold of the jerk adaptation. The velocity-dependent jerk reaches its
maximum value j
velocity.
The upper velocity threshold can be set separately via index n for each dynamic response
mode (see Section "Dynamic response mode for path interpolation (Page 222)"):
● MD32439 $MA_MAX_AX_JERK_FACTOR = <factor>
Factor for the parameterization of the maximum velocity-dependent jerk j
the upper velocity threshold MD32438 $MA_AX_JERK_VEL1[<n>]:
j
The velocity-dependent jerk adaptation is active at a value > 1.0.
The velocity-dependent jerk adaptation is inactive at a value = 1.0.
v :
0
v :
1
j :
0
j :
1
Figure 5-5
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
parameterized with MD32439 $MA_MAX_AX_JERK_FACTOR at this
max
= (MD32431 $MA_MAX_AX_JERK) * (MD32439 $MA_MAX_AX_JERK_FACTOR)
max
MD32437 $MA_AX_JERK_VEL0
MD32438 $MA_AX_JERK_VEL1
MD32431 $MA_MAX_AX_JERK
MD32439 $MA_MAX_AX_JERK_FACTOR * MD32431 $MA_MAX_AX_JERK
Axial jerk as a function of the axis velocity
B2: Acceleration
5.2 Functions
>
lower
>
upper
on reaching
max
269