Siemens SINAMICS SIMOTICS S200 PROFINET - Page 795

Note
The jerk 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.
c2575 EPOS jerk limiting activation
 Data type: Unsigned8 Visible in: S
tandard display 
Read permission: Read drive data or acknowledge messages
Write permission: Edit device con󹪝gur
ation or driv
e applications
Parameter group: Limit, Jog, Homing, Traversing blocks, Direct setpoint input (MDI)
Unit: -
Description: Signal to activate jerk limiting.
Activating/deactiv
ating:
- Using c2575 = 1 signal or 0 signal.
- Using the JERK command in the traversing block (only for c2575 = 0 signal).
Dependency: See also: p2574
Note
A change t
o the signal state is only accepted at zero speed.
p2576 EPOS modulo correction modulo range
 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:
Ready for operation
Parameter group: Basic positioner, Mechanics, Actual position value preprocessing
 Unit: mm
 Min:
0.0001 [mm]
Max:
2.1474828e+09 [mm]
Factory setting:
360.0000 [mm]
Description: Sets the modulo range for axes with modulo correction.
Dependency: See also: c2577
Appendix
A.3Parameters
SINAMICS S200 PROFINET servo drive system with SIMOTICS S-1FL2
Operating Instructions, 11/2023, FW V6.3, A5E51646752B AB 793