Machine data
2.4 Axis-specific machine data
Parameter Manual
224
Operating Instructions, 08/2013, 6FC5397-8EP40-0BA0
Description:
Filter type for axial jerk limitation:
1: 2nd order filter (as in SW 1 through 4)
2: Moving averaging (SW 5 and higher)
3: Bandstop filter (SW 6 and higher)
Type 2 requires more computing time, but causes smaller contour errors for
the same smoothing effect, or smoother movements at the same accuracy.
Type 2 is recommended; type 1 is set as a default value for reasons of com-
patibility.
The maximum jerk is set in the time constant MD32410 $MA_AX_JERK_TIME.
Recommended values for type 1:
Min. 0.03 s; max. 0.06s.
Recommended values for type 2:
Min. 1 position-control cycle; max. 16 position-control cycles
At a position-control cycle of 2ms, this corresponds to 0.002 to 0.032 sec-
onds.
Type 3 requires the setting of
MD32410 $MA_AX_JERK_TIME
MD32412 $MA_AX_JERK_FREQ
MD32414 $MA_AX_JERK_DAMP.
To parameterize a simple bandstop filter, we recommend setting MD32410
$MA_AX_JERK_TIME=0,
which automatically sets "denominator frequency = numerator frequency =
blocking frequency = MD32412 $MA_AX_JERK_FREQ".
However, MD32410 $MA_AX_JERK_TIME > 0 is used to set a specific denominator
frequency, which makes it possible to implement a bandstop filter with ampli-
tude increase for frequencies beyond the blocking frequency.
MD32402 $MA_AX_JERK_MODE is only active if MD32400 $MA_AX_JERK_ENABLE has
been set to 1.
Special cases, errors:
The machine data must be same for all axes of an axis container.
Related to:
MD32400 $MA_AX_JERK_ENABLE
MD32410 $MA_AX_JERK_TIME
and for type 3:
MD32412 $MA_AX_JERK_FREQ and
MD32414 $MA_AX_JERK_DAMP
32402 AX_JERK_MODE A07, A04 B2,G2,B3
- Filter type for axial jerk limitation BYTE PowerOn
CTEQ
-- 2 2 2 1/1
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