Siemens SINAMICS SIMOTICS S200 PROFINET - Page 794

Note
The maximum deceleration appears t
o exhibit jumps (without jerk).
"Traversing blocks" operating mode:
The programmed deceleration override (p2620) acts on the maximum deceleration.
"Direct setpoint input/MDI" operating mode:
The deceleration override is e󹪜ective (c2645, 4000 hex = 100 %).
"Jog" and "Active homing" operating modes:
No deceleration override is e󹪜ective. The axis breaks with the maximum deceleration.
p2574 EPOS jerk limiting
 Data type: FloatingPoint32 Visible in: S
tandard display 
Read permission: Read drive data or acknowledge messages
Write permission: Edit device con󹪝gur
ation or driv
e applications
Can be changed in the operating
stat
e:
Operation
Parameter group: Limit
 Unit: mm/s³
 Min:
0.001 [mm/s³]
Max:
1e+08 [mm/s³]
Factory setting:
200000.000 [mm/s³]
Description: Sets the jerk limiting
Dependency: See also: p2572, p2573, c2575
Note
The jer
k limiting is internall
y converted into a jerk time as follows:
Jerk time Tr = max(p2572, p2573) / p2574
The jerk time is internally limited to 1000 ms, and is rounded o󹪜 to an integer multiple of the sampling time of the basic
positioner cycle.
The jerk time is the same for the acceleration and deceleration phases, also if the maximum acceleration (p2572) and
maximum deceleration (p2573) are set di󹪜erently.
If the maximum acceleration and maximum deceleration are set di󹪜erently, then motion is not optimal from a time
perspective as the jerk limit cannot be utilized for the lower of the two values.
If, in the traversing pro󹪝le, the acceleration time without jerk limiting is shorter than jerk time Tr, then motion with jerk
limiting is not time-optimized.
For traversing motion with a direct transition between acceleration and deceleration (i.e. jerk time is greater than the
constant velocity phase), jerk can increase up to twice the parameterized jerk.
CONTINUE_FLYING with direction reversal acts internally just like a CONTINUE_WITH_STOP without the "Set position
reached" being set. Without jerk limiting, this behavior can hardly be noticed as, when reversing, the position setpoint
is only kept at zero for the duration of one interpolator clock cycle.
For block change enable CONTINUE_WITH_STOP, jerk limiting results in a longer delay time.
p2574 EPOS jerk limiting
S200 Basic PN (EPOS
Lastseite r
otierend),
S200 PN (EPOS
Lastseite rotierend)
Data type: FloatingPoint32 Visible in: Standard display 
Read permission: Read drive data or acknowledge messages
Write permission: Edit device con󹪝gur
ation or driv
e applications
Can be changed in the operating
stat
e:
Operation
Parameter group: Limit
 Unit: °/s³
 Min:
0.001 [°/s³]
Max:
1e+08 [°/s³]
Factory setting:
7.2e+06 [°/s³]
Description: Sets the jerk limiting
Dependency: See also: p2572, p2573, c2575
Appendix
A.3Parameters
SINAMICS S200 PROFINET servo drive system with SIMOTICS S-1FL2
792 Operating Instructions, 11/2023, FW V6.3, A5E51646752B AB