Siemens SINAMICS S110 - Page 242

Drive functions
7.3 Function modules
Function Manual
240 Function Manual, 01/2011, 6SL3097-4AB10-0BP3
Jerk limitation can be used to achieve a ramp-like change of both variables, which ensures
"smooth" acceleration and braking as shown in the diagram below. Ideally, acceleration and
deceleration should be linear.
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Figure 7-50 Activated jerk limitation
The maximum inclination (r
k
) can be set in parameter p2574 ("Jerk limitation") in the unit
LU/s
3
for both acceleration and braking. The resolution is 1000 LU/s
3
. To activate limiting
permanently, set parameter p2575 ("Active jerk limitation") to 1. In this case, limitation
cannot be activated or deactivated in traversing block mode by means of the command
"JERK" as this would require parameter p2575 ("Activate jerk limitation") to be set to zero.
The status signal r2684.6 ("Jerk limitation active") indicates whether or not jerk limitation is
active.
Limitation is effective:
● In jog mode
● When traversing blocks are processed
● When setpoints are defined directly/MDI for positioning and setup
● during referencing
● During stop responses due to alarms
Jerk limitation is not active when messages are generated with stop responses OFF1 / OFF2
/ OFF3.
Function diagrams (see SINAMICS S110 List Manual)
● 3630 Traversing range limits
Overview of important parameters (see SINAMICS S110 List Manual)
● p2571 EPOS maximum velocity
● p2572 EPOS maximum acceleration
● p2573 EPOS maximum deceleration
● p2646 CI: EPOS velocity override