6
6.2
Positioning mode (P0700 = 3, from SW 2.1)
6-368
Siemens AG 2005 All Rights Reserved
SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition
Acceleration and deceleration are step–like if jerk limiting is not used.
Using jerk limiting, a ramp–type increase can be parameterized for both
quantities, so that approach and braking are ”smooth” (jerk–limited).
Jerk limiting can be used, e.g. for positioning tasks using liquids or ge-
nerally to reduce the mechanical stressing on an axis.
Table 6-18
Jerk limiting parameters
No.
Name
Min.
Standard
Max.
Units
Effective
0107
Jerk limiting
0
0
100 000 000
1 000 MSR/s
3
Vset_0
The duration of the acceleration ramp (jerk time T
R
) is calculated from the higher value of the
maximum acceleration (P0103), the maximum deceleration (P0104) and the selected jerk limit-
ing (P0107).
v: Velocity
a
max
: Acceleration (higher value from P0103 and P0104)
r: Jerk
T
R
:
Jerk time (calculated jerk time: refer to P1726)
T
R
[s] =
amax [10
3
MSR/s
2
]
r [10
3
MSR/s
3
]
0
Jerk limiting off
> 0
Jerk limiting on, the selected value is effective (refer to P1726)
Note:
The jerk is internally limited to the appropriate jerk time of 200 ms.
t
P0107
–P0107
P0103
Maximum
acceleration
P0104
Maximum
deceleration
v
a
r
t
t
T
R
:
T
R
:
T
R
:
T
R
:
Jerk limiting
P0107
(from SW 3.1 )
Applications
6 Description of the Functions
01.99
! not 611ue !
10.99
