6
6.2
Positioning mode (P0700 = 3, from SW 2.1)
6-369
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SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition
Table 6-18
Jerk limiting parameters, continued
No.
Effective
Units
Max.
Standard
Min.
Name
Note:
The following is valid for this diagram: Acceleration and deceleration have been set the
same.
If, when setting the jerk limiting, the warning 870 ”Jerk: Jerk time is limited” is displayed, then
the actual motion is ”harder” than that set in P0107.
For traversing motion with a direct transition between acceleration and deceleration (i.e. jerk
time T
R
is greater than the constant velocity phase), jerk r can increase up to twice the para-
meterized jerk.
1726
Calculated jerk time
–
–
–
ms
RO
... indicates the calculated, current effective jerk time.
Note:
The jerk time is internally limited to 200 ms.
Table 6-19
Examples for acceleration, deceleration and jerk limiting
P0103
1)
(Maximum
acceleration)
[1000 MSR/s
2
]
P0104
1)
(Maximum
deceleration)
[1000 MSR/s
2
]
P0107
1)
(Jerk
limiting)
[1000 MSR/s
3
]
Which jerk time
is effective for
acceleration and deceleration?
= 2 000
––> 2 m/s
2
= 2 000
––> 2 m/s
2
= 100 000
––> 100 m/s
3
a
max
= 2 m/s
2
––> Jerk time = 20 ms
= 8 000
––> 8 m/s
2
= 2 000
––> 2 m/s
2
= 100 000
––> 100 m/s
3
a
max
= 8 m/s
2
––> Jerk time = 80 ms
The jerk time of 80 ms is effective for accel-
eration and deceleration.
= 2 000
––> 2 m/s
2
= 8 000
––> 8 m/s
2
= 100 000
––> 100 m/s
3
a
max
= 8 m/s
2
––> Jerk time = 80 ms
The jerk time of 80 ms is effective for accel-
eration and deceleration.
= 30 000
––> 30 m/s
2
= 25 000
––> 25 m/s
2
= 100 000
––> 100 m/s
3
a
max
= 30 m/s
2
––> Jerk time = 300 ms
A warning is output, and the jerk is limited
corresponding to the jerk time of 200 ms for
acceleration and deceleration.
= 8 000
––> 8 m/s
2
= 2 000
––> 2 m/s
2
= 200 000
––> 200 m/s
3
a
max
= 8 m/s
2
––> Jerk time = 40 ms
The jerk time of 40 ms is effective for accel-
eration and deceleration.
1) Prerequisites:
There is a metric linear axis (dimension system P0100 = 1 ––> 1000 MSR = 1 mm)
6 Description of the Functions
01.99
! not 611ue !
10.99
