Parameterization Of The Jerk Limit And The Jerk Filter - Siemens SINUMERIK 840D sl Commissioning Manual

5.7.3

Parameterization of the jerk limit and the jerk filter

Independent of the controller data sets in the drive, there is a further optimization option for the
robot axis using the following parameters:
• 32431 MAX_AX_JERK: Axial jerk limit. Maximum jerk value for building up acceleration. An
increase of the jerk limit improves the productivity of the plant. At the same time, however,
the natural frequencies are excited more strongly.
• 32410 MA_AX_JERK_TIME: Time constant for smoothing the position setpoint. Increasing
the time constant amplifies the smoothing of the setpoint curve and reduces the excitation
of the natural frequencies, with the same jerk limit. However, this is accompanied by a
deterioration in contour accuracy.
The influence of the individual parameters is shown in the following diagram.
Focus:
User interface
Focus:
Accuracy
Figure 5-24
Depending on the application, you can change both parameters without hesitation by a factor
of up to 3.
Since the filter time constant MD32410 is relevant for interpolation, it is important to enter the
same value in all interpolating axes.
SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 07/2020, A5E45238414B AD
Typical application:
Robot with slow
feedrate (<10m/min)
Typical application:
Robot with high
feedrate (>10m/min)
Graphic jerk filter
Time constant
Setpoint filter
MD32410
Typical application:
Handling
Default
setting RMR
No known
application
Commissioning
5.7 Controller data
Focus:
Productivity
Axial
jerk limit
MD32431
63