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B1: Continuouspath Mode, Exact Stop, LookAhead

3.4 Dynamic adaptations

Basic Functions

Function Manual, 09/2011, 6FC5397-0BP40-2BA0

187

3.4.3 Determination of the dynamic response limiting values

In addition to determining the natural frequency of the path axes for assigning parameters to the axis-specific

limit frequencies (MD32440 $MA_LOOKAH_FREQUENCY), the implementation of the "adaptation of the

dynamic path response" function also requires dynamic response limits to be determined for velocity,

acceleration and jerk.

Procedure

The determination of the dynamic response limits for the traversing of path axes by means of acceleration with

jerk limiting (SOFT) is described below. This procedure can be applied by analogy to the case of acceleration

without jerk limiting (BRISK).

1. Deactivate the "adaptation of the dynamic path response" function:

MD20465 $MC_ADAPT_PATH_DYNAMIC[1] = 1

2. Observe the positioning behavior of each path axis at different traversing velocities. When doing so, set the

jerk such that the desired positioning tolerance is maintained.

3. Use the maximum permissible jerk determined for the least critical traversing velocity:

MD32431 $MA_MAX_AX_JERK (maximum jerk)

4. Determine the F

APD

factor for all of the path axes using:

APD

= (largest determined jerk) / (smallest determined jerk)

5. Enter the largest F

APD

factor that was determined via all the path axes as the value for the adaptation factor

for the path dynamic response:

MD20465 $MC_ADAPT_PATH_DYNAMIC[ 1 ] = F

APD

Note

The higher the traversing velocity from which the positioning process is started, the higher

in general the jerk can be set.

Note

The smallest determined jerk is the value for the jerk during the most critical traversing

velocity.

Siemens SINUMERIK 828D Function Manual

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