Siemens SINUMERIK 840Di Function Manual page 234

Detailed Description
2.11 Jerk limitation with path interpolation (SOFT) (channel-specific)
2.11.2 Activation
2.11.2.1 Parameterization
Key statement
The axis- and channel-specific maximum values are parameterized using the following
machine data:
MD32431 $MA_MAX_AX_JERK (maximum axis jerk)
MD20600 $MC_MAX_PATH_JERK (path-related maximum jerk)
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.
2-22
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
Acceleration (B2)