Axis parameters
P-AXIS-00099 | Proportional factor kv for P-positional control | |
Description | The P-positional controller has the amplification factor kv. The parameter is only effective if the CNC internal position control is used. With drive amplifiers with integrated position control, the amplification must be defined in the drive. The parameter P-AXIS-00320 determines the manner how an axis moves to its commanded position. | |
Parameter | getriebe[i].kv | |
Data type | UNS32 | |
Data range | 0 < kv ≤ MAX(UNS32) | |
Axis types | T, R, S | |
Dimension | T: 0.01/s | R,S: 0.01/s |
Default value | 1000 | |
Drive types | ---- | |
Remarks |
| |
P-AXIS-00167 | Factor for dynamic position lag monitoring | |
Parameter | getriebe[i].slep_dyn | |
Description | For standard and non-linear position lag monitoring the following is valid: The factor determines the time constant of an estimation filter for the dynamic position lag monitoring in the position controller. This parameter must be determined empirically. | |
Data range | 700 ≤ slep_dyn ≤ 1024 | |
Description | Linear position lag monitoring: The parameter defines the slope within the estimation of the dynamic position lag using the following equation:
Non linear position lag monitoring: The factor determines the time constant of an estimation filter for the dynamic position lag monitoring in the position controller. This parameter must be determined empirically. | |
Data range | 0 ≤ slep_dyn ≤ 1024 | |
Data type | SGN16 | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | 1000 | |
Drive types | ---- | |
Remarks | CAUTION: The position lag monitoring is disabled if the parameter has the value ≥ '1024'. | |
P-AXIS-00168 | Maximum position lag | |
Description | The parameter defines the maximum position lag. | |
Parameter | getriebe[i].slep_max | |
Data type | SGN32 | |
Data range | MAX(SGN32) > slep_max > 10* position lag at P-AXIS-00212 | |
Axis types | T, R, S | |
Dimension | T: 0.1 µm | R,S: 0.0001° |
Default value | 100000 | |
Drive types | ---- | |
Remarks | Standard position lag monitoring: The parameter is made use of for limiting the estimated position lag in the position controller. Especially in the case of oscillating systems an internal range overshooting of the operating data in the position controller would be quite conceivable. Linear position lag monitoring: The parameter defines the maximum permissible position lag. This helps to avoid a reaction of the position lag monitoring (adhesive friction), for example, when the axis starts moving from standstill. Non-linear position lag monitoring: For this type of position lag monitoring the parameter is without significance. Velocity-independent position lag monitoring: This parameter sets the position lag limit when the axis is moving. | |
P-AXIS-00169 | Minimum position lag | |
Description | The parameter defines the minimum position lag. | |
Parameter | getriebe[i].slep_min | |
Data type | SGN32 | |
Data range | 1 ≤ slep_min ≤ MAX(SGN32) | |
Axis types | T, R, S | |
Dimension | T: 0.1 µm | R,S: 0.0001° |
Default value | 20000 | |
Drive types | ---- | |
Remarks | Standard position lag monitoring: The parameter is used for plausibility test for the dynamic position lag monitoring. Since large position lags can arise in the case of non-high dynamic systems and under certain circumstances and these position lags are recognized as position lag in rare cases, even in the case of P-AXIS-00167 = 1023 (dynamic position lag monitoring as if switched off), a useful value must be determined empirically in this case. The dynamic position lag monitoring uses a digital filter which estimates the position lag on the basis of the reference variable (command value). Usually, a value from some of a few 'mm' or ' ° ' can be used here. Linear position lag monitoring: The parameter defines the maximum permissible position lag on axis standstill. Non linear position lag monitoring: For this type of position lag monitoring the parameter is without significance. Velocity independent position lag monitoring: The parameter defines the maximum permissible position lag at axis standstill. | |
P-AXIS-00170 | Time constant for position lag monitoring | |
Description | This parameter defines the compensation of time delays during the feedback of the actual values. By this method, the monitoring curve is shifted in time so that the real position lag can be monitored. This time constant is used for all types of position lag monitoring. | |
Parameter | getriebe[i].slep_time_const | |
Data type | UNS32 | |
Data range | 0 ≤ slep_time_const ≤ MAX(UNS32) | |
Axis types | T, R, S | |
Dimension | T: µs | R,S: µs |
Default value | 0 | |
Drive types | ---- | |
Remarks | Recommended setting: slep_time_const = 0 | |
P-AXIS-00172 | Type of position lag monitoring | |
Description | The parameter defines the type of position lag monitoring. | |
Parameter | getriebe[i].slep_ueberw_typ | |
Data type | UNS32 | |
Data range | 0 ≤ slep_ueberw_typ ≤ MAX(UNS32)
1: Standard position lag monitoring 2: Linear position lag monitoring 3: Non linear position lag monitoring (no longer supported!) 4: Velocity independent position lag monitoring
For all other values the position lag monitoring is disabled. | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | 0 | |
Drive types | ---- | |
Remarks |
| |
P-AXIS-00176 | Suppression of position lag | |
Description | To adjust the position lag monitoring the creation of position lag errors can be suppressed. But the dynamical calculation continues. By this method it is possible to record position lag and position lag monitoring limits and set the corresponding parameters. | |
Parameter | lr_param.suppress_pos_lag_error | |
Data type | BOOLEAN | |
Data range | 0/1 | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | 0 | |
Drive types | ---- | |
Remarks | Recommended setting: suppress_pos_lag_error = 0 'suppress_pos_lag_error = 1' suppresses the monitoring and output of an error message if the permissible position lag is exceeded. May only be TRUE during commissioning. | |
P-AXIS-00191 | Delay between command value and actual value | |
Description | This parameter is only active for digital drives (e.g. SERCOS). It defines the number of cycles between the output of the command values and the read-in of the actual values. The parameter is only used to calculate the position lag. | |
Parameter | antr.nbr_delay_cycles | |
Data type | UNS16 | |
Data range | 0 ≤ nbr_delay_cycles ≤ 10 | |
Axis types | T, R, S | |
Dimension | T: Number of interpolation cycles | R,S: Number of interpolation cycles |
Default value | 4 | |
Drive types | SERCOS, CANopen, KUKA | |
Remarks |
| |
P-AXIS-00488 | Delayed generation of position lag error message | |
Description | The parameter specifies a time delay for the position lag monitoring function from type 4 (velocity independent mode) used to delay the generation of the position lag error message, if the actual position lag exceeds the maximum permissible position lag. This permits a reduction in the maximum permissible position lag error limits (see P-AXIS-00168, P-AXIS-00169) since an exceedance in dynamical phases does not immediately lead to an error message.. | |
Parameter | getriebe[i].pos_lag_mon_error_delay_time | |
Data type | UNS32 | |
Data range | 0 ≤ pos_lag_mon_error_delay_time ≤ 250000 | |
Axis types | T, R, S | |
Dimension | T: µs | R,S: µs |
Default value | 0 | |
Drive types | ---- | |
Remarks | Specifying a time delay > 0 leads to a delayed error message generation and delayed stopping of the drives, when the permitted position lag is exceeded. | |