Description
Channel parameters
P-CHAN-00500 | Definition of decoder functions |
Description | The parameter defines specific functionalities for decoding. This disables specific functions for testing or for performance reasons. |
Parameter | configuration.decoder.function |
Data type | STRING |
Data range | FCT_USE_CACHED_FILES: Enabling file caching FCT_VOL_COMP_COMPUTATION: Calculations for machine calibration FCT_3D_DIST_CTRL: Enable 3D distance control (as of V3.1.3080.12 or V3.1.3107.44) -: No functionalities defined. |
Dimension | ---- |
Default value | * |
Remarks | Parameter is available as of the following Builds: V2.11.2040.04 ; V2.11.2810.02 ; V3.1.3079.17 ; V3.1.3107.10 Parameterisation example: configuration.decoder.function FCT_USE_CACHED_FILES configuration.decoder.max_cache_number 4 configuration.decoder.max_cache_size 4096 * Note: The default value of variables is a blank string. The parameters P-CHAN-00507 and P-CHAN-00508 can be used to define functions depending on the machining mode. |
P-CHAN-00800 | Filtering of sensor values |
Description | Sensor values may be noisy. To keep excitation of the machine low, the setpoints for distance control can be smoothed by a filter. The parameter specified the number of values that are used for filtering. |
Parameter | dist_ctrl[i].n_cycles (where i=0) |
Data type | SGN32 |
Data range | 0 ≤ n_cycles < 100 |
Dimension | [-] |
Default value | 4 |
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 |
P-CHAN-00801 | Maximum position offset |
Description | The compensation value that was calculated via distance control may not exceed this machine data item.
An error message is issued if this value is exceeded. The correction value is limited. |
Parameter | dist_ctrl[i].max_deviation (where i=0) |
Data type | SGN32 |
Data range | 0 <= max_deviation < MAX(SGN32) |
Dimension | [0.1 10^-3 mm or ø] |
Default value | 50000 |
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 |
P-CHAN-00802 | Maximum velocity |
Description | The parameter defines the maximum speed at which a position offset is cleared. |
Parameter | dist_ctrl[i]. v_max (where i=0) |
Data type | SGN32 |
Data range | 0 <= v_max < MAX(SGN32) |
Dimension | [1µm/s or 0.001°/s] |
Default value | 5000 |
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 |
P-CHAN-00803 | Maximum acceleration |
Description | The parameter defines the maximum acceleration at which a position offset is cleared. Correction of the distance is limited dynamically with respect to maximum acceleration to limit the resulting excitation.
This parameter must be specified. If this is not the case, Error ID 315001 is output. |
Parameter | dist_ctrl[i].a_max (where i=0) |
Data type | SGN32 |
Data range | 0 < a_max < MAX(SGN32) |
Dimension | [mm/s^2 bzw. °/s^2] |
Default value | 0 |
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 |
P-CHAN-00804 | Maximum permissible change in velocity of the measured distance |
Description | The parameter defines the maximum permissible change in velocity of the measured distance. When distance control is activated, the sensor actual values are monitored with respect to their change velocity. |
Parameter | dist_ctrl[i].max_act_value_change (where i=0) |
Data type | SGN32 |
Data range | 0 <= max_act_value_change < MAX(SGN32) |
Dimension | [1µm/s or 0.001°/s] |
Default value | 5000 |
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 |
P-CHAN-00805 | Reference point offset for measuring system |
Description | The value range of the sensor measuring system can be moved by an offset using this machine data item. This is necessary in the case of absolute sensors, for example, to define the reference point, i.e. the sensor position that is adjusted if the spindle touches the ideal workpiece surface. |
Parameter | dist_ctrl[i]. ref_offset (where i=0) |
Data type | SGN32 |
Data range | MIN(SGN32) <=ref_offset < MAX(SGN32) |
Dimension | [0.1 10^-3 mm or ø] |
Default value | 0 |
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 |
P-CHAN-00806 | Upper limit for measuring system |
Description | The parameter defines the upper limit of the sensor. An error message is output if this limit is exceeded when distance control is active. |
Parameter | dist_ctrl[i].max_pos (where i=0) |
Data type | SGN32 |
Data range | 0 <= max_pos < MAX(SGN32) |
Dimension | [0.1 10^-3 mm or ø] |
Default value | 50000 |
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 |
P-CHAN-00807 | Lower limit for measuring system |
Description | The following value defines the lower limit of the sensor. An error message is output if this limit is exceeded when distance control is active. |
Parameter | dist_ctrl[i].min_pos (where i=0) |
Data type | SGN32 |
Data range | 0 <= min_pos < MAX(SGN32) |
Dimension | [0.1 10^-3 mm or ø] |
Default value | -50000 |
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 |
P-CHAN-00808 | Tolerance band for limits |
Description | This parameter defines a minimum distance from the minimum and maximum sensor positions. If there is a deviation from the valid distance, the CNC outputs the error messages ID 310019 or ID 310020 (or ID 70330 or ID 70576) . If the tolerance band is specified by zero, the limits of the minimum and maximum sensor positions in axis parameters P-CHAN-00806 and P-CHAN-00807 have a direct effect. |
Parameter | dist_ctrl[i].tolerance (where i=0) |
Data type | SGN32 |
Data range | 0 <= P-CHAN-00808 < MAX(SGN32) |
Dimension | [0.1 10^-3 mm or ø] |
Default value | 0 |
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 |
P-CHAN-00810 | Option: Coupling of distance sensor and motor encoder. |
Description | As an extension, both the distance sensor and the Z actual value sensor can be used. The inverse coupling of the two sensors can reduce an oscillation tendency. |
Parameter | dist_ctrl[i].mode_dist_use_both_encoder (where i=0) |
Data type | BOOLEAN |
Data range | 0: No coupling 1: Coupling of motor encoder and distance sensor active |
Dimension | [-] |
Default value | 0 |
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 |
P-CHAN-00811 | Option: Adaptive weighting of acceleration |
Description | To reduce a possible oscillation the acceleration can be reduced for small deviations. |
Parameter | dist_ctrl[i].use_adaptive_acceleration (where i=0) |
Data type | BOOLEAN |
Data range | 0: No adaptive weighting of acceleration 1: Adaptive weighting of acceleration active |
Dimension | [-] |
Default value | 0 |
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 In addition the following limits for acceleration and distance error must be configured: P-CHAN-00812 or P-CHAN-00803 and P-CHAN-00813 or P-CHAN-00814 |
P-CHAN-00812 | Minimum acceleration |
Description | The parameter defines the minimal acceleration of distance control. |
Parameter | dist_ctrl[i].a_min (where i=0) |
Data type | UNS32 |
Data range | 1 ... MAX (UNS32) |
Dimension | [mm/s²] |
Default value | 500 |
Remarks | Available as of v3.1.3107.44 |
P-CHAN-00813 | Minimum distance error |
Description | The parameter defines the minimum distance error for distance control up to which minimum acceleration (P-CHAN-00812) is used. |
Parameter | dist_ctrl[i].dist_error_a_min (where i=0) |
Data type | UNS32 |
Data range | 0 ≤ dist_error_a_min < MAX(UNS32) |
Dimension | [0.1 µm or 0.0001°] |
Default value | 1000 |
Remarks | Available as of v3.1.3107.44 |
P-CHAN-00814 | Maximum distance error |
Description | The parameter defines the maximum distance error for distance control up to which maximum acceleration (P-CHAN-00803) is used. |
Parameter | dist_ctrl[i].dist_error_a_max (where i=0) |
Data type | UNS32 |
Data range | 0 ≤ dist_error_a_max < MAX(UNS32) |
Dimension | [0.1 µm or 0.0001°] |
Default value | 5000 |
Remarks | Available as of v3.1.3107.44 |
P-CHAN-00815 | Low-pass filter |
Description | The tendency for oscillation can be better suppressed by using a low-pass filter. For more information on the low-pass filter, see [FCT-A7]. |
Parameter | dist_ctrl[i].low_pass_filter_enable (where i=0) |
Data type | BOOLEAN |
Data range | 0: Without low pass filter 1: Low pass filter active |
Dimension | [-] |
Default value | 0 |
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 In addition the following filter parameters for order and limit frequency must be configured: |
P-CHAN-00816 | Order of the filter |
Description | The filter order describes its behaviour in the event of a drop in frequency response. The following applies: Frequency drop = - P-CHAN-00816 * 20 dB/decade |
Parameter | dist_ctrl[i].low_pass_filter_order (where i=0) |
Data type | UNS32 |
Data range | 0 … 6 |
Dimension | [-] |
Default value | 4 |
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 |
P-CHAN-00817 | Filter cut-off frequency |
Description | The parameter defines the value of a filter's characteristic frequency. |
Parameter | dist_ctrl[i].low_pass_filter_fg_f0 (where i=0) |
Data type | REAL64 |
Data range | 0 ≤ low_pass_filter_fg_f0 < MAX(REAL64) |
Dimension | [Hz] |
Default value | 25 |
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 |
P-CHAN-00819 | Weighting factor for velocity of lowering movement |
Description | This parameter weights the velocity (see P-CHAN-00802) of the lowering movement (towards the workpiece) This can be useful since the lifting movement is normally highly dynamic in order to avoid an obstacle or elevation quickly. With the weighting factor it is possible to use a reduced velocity for the lowering movement towards the workpiece. |
Parameter | dist_ctrl[i].v_weight_down (where i=0) |
Data type | UNS32 |
Data range | 0 ≤ v_weight_down < 2000 |
Dimension | [0.1%] |
Default value | 0 |
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 * Weighting is deactivated, i.e. lifting and lowering movements use the identical velocity P-CHAN-00802 . |
P-CHAN-00820 | Weighting factor for acceleration of lowering movement |
Description | This parameter weights the velocity (see P-CHAN-00803) of the lowering movement (towards the workpiece) This can be useful since the lifting movement is normally highly dynamic in order to avoid an obstacle or elevation quickly. With the weighting factor it is possible to use a reduced acceleration for the lowering movement towards the workpiece. |
Parameter | dist_ctrl[i].a_weight_down (where i=0) |
Data type | UNS32 |
Data range | 0 ≤ a_weight_down < 2000 |
Dimension | [0.1%] |
Default value | 0 |
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 * Weighting is deactivated, i.e. lifting and lowering movements use the identical acceleration P-CHAN-00803 . |
P-CHAN-00821 | Weighting the distance control output values |
Description | The parameter weights the cyclic output value of the distance control. This may affect the distance control dynamics. For kp values less than 1.0, the distance control dynamics are reduced; for kp value greater than 1.0, the dynamics are increased. |
Parameter | dist_ctrl[i].kp (where i=0) |
Data type | REAL64 |
Data range | 0.0 < kp <= 2.0 |
Dimension | [-] |
Default value | 1.0 |
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 A kp factor less than 1 reduces a possible distance control oscillation and steadies the control in the event of minor distance errors. |
P-CHAN-00822 | Integral (I) action time of the PID controller |
Description | This parameter weights the I component of the PID controller. The integral action time defines the time after which the P and I components of the manipulated variable are equal. A large integral action time produces greater control stability. The shorter the integration action time, the greater the I component and the faster the control. Disable the I component by i_tn = 0. |
Parameter | dist_ctrl[i].i_tn (where i=0) |
Data type | REAL64 |
Data range | 0.0 <= i_tn <= 50.0 |
Dimension | [s] |
Default value | 0.0 |
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 To begin with, it is advisable to select a high initial value for the integral action time setting (e.g. 5) to avoid instability in the control loop. You can then reduce the integral action time step by step to obtain the effect you require. If there are no permanent control deviations, do not use the I component at first. |
P-CHAN-00823 | Derivative (D) action time of the PID controller |
Description | This parameter weights the D component of the PID controller. The derivative action time defines the time after which the P and D components of the manipulated variable are equal. The derivative action time stabilises controller behaviour and reduces oscillations. The larger the derivative action time, the stronger the D component. Disable the D component by d_tv=0. |
Parameter | dist_ctrl[i].d_tv (where i=0) |
Data type | REAL64 |
Data range | 0.0 <= d_tv <= 2.0 |
Dimension | [s] |
Default value | 0.0 |
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 To begin with, it is advisable to select a low initial value for the derivative action time setting to avoid instability in the control loop (e.g.: 0.01). You can then reduce the derivative action time step by step to obtain the effect you require. |
P-CHAN-00825 | Filter type for smoothing sensor data |
Description | Sensor values may be noisy. The oscillation tendency can better be suppressed by using a suitable filter . You can select the following filter types for distance control:
|
Parameter | dist_ctrl[i].filter_type (where i=0) |
Data type | STRING |
Data range | DEFAULT MOVING_AVERAGE LOWPASS KALMAN_MA EXPO_MEAN KALMAN_EXPO |
Dimension | [-] |
Default value | DEFAULT |
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 In addition, the following filter parameters are required for each of the filter types::
|
P-CHAN-00826 | Uncertainty of measured values |
Description | The parameter specifies the degree of deviation of the measured value from the actual values. The higher this value, the better the filter effect. However, possible overshoots are amplified. |
Parameter | dist_ctrl[i].kalman_sigma (where i=0) |
Data type | REAL64 |
Data range | 1.0 ≤ P-CHAN-00826 ≤ 10000.0 |
Dimension | [-] |
Default value | 4 |
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 |
P-CHAN-00827 | Smoothing factor |
Description | The parameter specifies the weighting of the current measured value. Example: With a smoothing factor of 0.5, the current value is applied to the average value at a rate of 50%. |
Parameter | dist_ctrl[i].smoothing_factor (where i=0) |
Data type | REAL64 |
Data range | 0 < P-CHAN-00827 ≤ 1.0 |
Dimension | [-] |
Default value | 0.7 |
Remarks | Available as of Build V3.1.3080.12 or V3.1.3107.44 |
start-up parameters
P-STUP-00175 | 32-bit compatibility mode for CNC display data |
Description | As of CNC Build 2807 and CNC Build 3039.06 and higher, the CNC position controller uses 64-bit integer variables with a finer resolution for command and actual positions. To ensure downward compatibility, this data is downscaled for display data in CNC objects and continue to be supplied as 32-bit values. Conversion can be deactivated by setting the ads_32_bit_comp_mode parameter to the value 0. High-resolution position controller variables are then transferred via CNC objects as 64-bit integer values. |
Parameter | ads_32_bit_comp_mode |
Data type | BOOLEAN |
Data range | 0: No conversion; high-resolution 64-bit variable. 1: Downward compatibility, conversion and supply of 32-bit integer variables |
Dimension | ---- |
Default value | 1 |
Remarks | This parameter is available as of CNC Builds 2.11.2027.01 and V3.1.3039.06 or higher. |