Siemens SINUMERIK 840D sl Function Manual page 223

2.14.2 Activation......................................................................................................................................36
2.14.3 Programming................................................................................................................................36
2.15 Jerk with programmed rapid traverse (G00) (axis-specific).........................................................37
2.15.1 Detailed Description.....................................................................................................................37
2.15.1.1 General Information .....................................................................................................................37
2.15.2 Activation......................................................................................................................................37
2.15.2.1 Parameterization ..........................................................................................................................37
2.15.3 Programming................................................................................................................................38
2.16 Excessive jerk for block transitions without constant curvature (axis-specific) ...........................38
2.16.1 Detailed Description.....................................................................................................................38
2.16.1.1 General Information .....................................................................................................................38
2.16.2 Activation......................................................................................................................................38
2.16.2.1 Parameterization ..........................................................................................................................38
2.16.3 Programming................................................................................................................................39
2.17 Jerk filter (axis-specific) ...............................................................................................................39
2.17.1 Detailed Description.....................................................................................................................39
2.17.1.1 General Information .....................................................................................................................39
2.17.2 Activation......................................................................................................................................42
2.17.2.1 Parameterization ..........................................................................................................................42
2.17.3 Programming................................................................................................................................42
2.18 Kneeshaped acceleration characteristic curve ............................................................................43
2.18.1 Detailed Description.....................................................................................................................43
2.18.1.1 Adaptation to the motor characteristic curve ...............................................................................43
2.18.1.2 Effects on path acceleration.........................................................................................................45
2.18.1.3 Substitute characteristic curve .....................................................................................................46
2.18.2 Activation......................................................................................................................................48
2.18.2.1 Parameterization ..........................................................................................................................48
2.18.2.2 Commissioning.............................................................................................................................49
2.18.3 Programming................................................................................................................................49
2.18.3.1 Channel-specific activation (DRIVE)............................................................................................49
2.18.3.2 Axis-specific activation (DRIVEA) ................................................................................................50
3 Supplementary conditions ....................................................................................................................... 51
3.1 Acceleration and jerk ...................................................................................................................51
3.2 Kneeshaped acceleration characteristic curve ............................................................................51
3.2.1 Active kinematic transformation ...................................................................................................51
4 Examples................................................................................................................................................. 53
4.1 Acceleration .................................................................................................................................53
4.1.1 Path velocity characteristic ..........................................................................................................53
4.2 Jerk ..............................................................................................................................................55
4.2.1 Path velocity characteristic ..........................................................................................................55
4.3 Acceleration and jerk ...................................................................................................................57
4.4 Kneeshaped acceleration characteristic curve ............................................................................59
4.4.1 Activation......................................................................................................................................59
5 Data lists.................................................................................................................................................. 61
5.1 Machine data................................................................................................................................61
5.1.1 Channelspecific machine data .....................................................................................................61
5.1.2 Axis/spindlespecific machine data ...............................................................................................61
Basic logic functions: Acceleration (B2)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0
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