G2: Velocities, setpoint / actual value systems, closed-loop control
7.6 Optimization of the control
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
385
Boundary conditions
The jerk filter is available in all control versions as follows:
• Effective filter times are limited to a range between a minimum of 1 position-control cycle up to a maximum of
32 position-control cycles (31 position-control cycles are available).
Further supplementary conditions regarding the filter effect:
• The display of the calculated servo gain factor (K
V
) in the Axis service screen form displays smaller values
than would be appropriate based on the filter effect.
• Path accuracy is better than the displayed servo gain (K
V
) suggests.
Therefore, on resetting
MD32400 $MA_AX_JERK_MODE = 1
to
MD32400 $MA_AX_JERK_MODE = 2,
the displayed servo gain (K
V
) can be reduced while retaining the same filter time,
although the path accuracy improves.
Axes that interpolate with each other must be set identically.
Once an optimum value has been identified for these axes, the one with the longest filter time should be used as
the setting for all axes within the interpolation group.
For further information about jerk limiting at the interpolator level, please see:
References:
/FB1/ Functions Manual Basic Functions; Acceleration (B2)
Chapter: "Axis-related jerk limiting"
Chapter: "Axisspecific machine data".
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