Siemens SINUMERIK 840D Function Manual page 73

"Selectable filter circuits" (6FC5800-0xxy0-0YB0)
Function
Position control of an axis/spindle with switchable position setpoint filter circuit:
MD32410 $MA_AX_JERK_TIME
MD32910 $MA_DYN_MATCH_TIME
MD32895 $MA_DESVAL_DELAY_TIME
MD32200 $MA_POSCTRL_GAIN
x Position setpoint
v Velocity setpoint
x Position actual value
act
n Speed actual value
act
n Speed setpoint
set
Figure 2-12 Switchable position setpoint filter circuits
Selection and/or preassignment of filter types for every filter circuit
The switchable position setpoint filter circuits are activated by entering a two-digit value in
machine data MD32402 $MA_AX_JERK_MODE (filter type for axial jerk limiting). This allows
two alternative jerk filters to be selected.
Axes and spindles
Function Manual, 06/2019, A5E47437747B AA
G2: Velocities, setpoint / actual value systems, closed-loop control
2.5 Closed-loop control
73