CNC objects 3D distance control
When you start up 3D distance control, it is useful to record some values, e.g. using the ISG Object Browser.
Number | Name of the CNC object |
|---|---|
1 | |
2 | |
3 | |
4 | |
5 | |
6 | |
7 | |
8 | |
9 | |
10 | |
11 | |
12 | m_sollw_absolut (axis-specific for all axes) |
13 | sollw_absolut (axis-specific for all axes) |
14 | dig cmd pos high_res (axis-specific for all axes) |
15 | dig act pos (axis-specific for all axes) |
Channel-specific distance control, also 3D distance control
The number of possible 3D distance control operations in the NC channel is limited to one distance control operation. Therefore, only one access is possible to the objects with DSTCTRL[0].
This function is available as of CNC Build V3.1.3080.12 or V3.1.3107.44.
The channel-specific CNC objects for distance control below are only available if they are configured by Description.
configuration.decoder.function FCT_3D_DIST_CTRL
Name | DIST_CTRL_IFC[0]::a_max_int | ||
Description | Maximum acceleration of the linear slope. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x3000 |
Data type | REAL64 | Length | 8 |
Attributes | read | Unit | [0.1 µm/s²] |
Remarks |
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Name | DIST_CTRL_IFC[0]::sloped_delta_deviation | ||
Description | The deviation to be executed in this cycle after being influenced by the slope. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x3001 |
Data type | SGN64 | Length | 8 |
Attributes | read | Unit | [0.01 nm] |
Remarks |
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Name | DIST_CTRL[0]::m_actual_offset | ||
Description | Current offset to the interpolated command position of the drive as specified by distance control. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x3100 |
Data type | SGN64 | Length | 8 |
Attributes | read | Unit | [0.01 nm] |
Remarks |
| ||
Name | DIST_CTRL[0]::v_max_int | ||
Description | Maximum permissible velocity. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x3102 |
Data type | REAL64 | Length | 8 |
Attributes | read | Unit | [0.1 µm/s] |
Remarks |
| ||
Name | DIST_CTRL[0]::set_distance | ||
Description | Set command distance of the tool to the surface. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x3103 |
Data type | SGN64 | Length | 8 |
Attributes | read | Unit | [0.01 nm] |
Remarks | Only effective in “SET_DIST” mode | ||
Name | DIST_CTRL[0]::set_pos | ||
Description | Set command value of the workpiece surface. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x3104 |
Data type | SGN64 | Length | 8 |
Attributes | read | Unit | [0.01 nm] |
Remarks | Only effective in “SET_POS” mode | ||
Name | DIST_CTRL[0]::state | ||
Description | Current internal state of 3D distance control. 0: IDLE 2: ACTIVE 3: FREEZE 4: OFF 5: OFF_NO_MOVE 6-12: ERROR 15: DRYRUN | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x<3105 |
Data type | UNS32 | Length | 4 |
Attributes | read | Unit | [-] |
Remarks |
| ||
Name | DIST_CTRL[0]::kp | ||
Description | Weighting the distance control output values. Parameterisation can be executed analogous to P-CHAN-00821. The value range is limited to 0.0 < KP <= 2.0. For KP values less than 1.0, the distance control dynamics are reduced; for KP values greater than 1.0, the dynamics are increased. A KP factor less than 1 reduces a possible distance control oscillation and steadies control in the event of minor distance errors. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x3106 |
Data type | REAL64 | Length | 8 |
Attributes | read/ write | Unit | [-] |
Remarks | The new values only become effective with the following transitions for safety reasons
| ||
Name | DIST_CTRL[0]::i_tn | ||
Description | Integral action time of the PID controller in [s]. The integral action time defines the time after which the P and I components of the manipulated variable are equal. Parameterisation can be executed analogous to P-CHAN-00822. The value range is limited to 0.0 <= I_TN <= 50.0. 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. A short integral action time excites oscillations more strongly. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x3107 |
Data type | REAL64 | Length | 8 |
Attributes | read/ write | Unit | [s] |
Remarks | The new values only become effective with the following transitions for safety reasons
| ||
Name | DIST_CTRL[0]::d_tv | ||
Description | Derivative action time of the PID controller in [s]. The derivative action time defines the time after which the P and D components of the manipulated variable are equal. Parameterisation can be executed analogous to P-CHAN-00823. The value range is limited to 0.0 <= D_TV <= 2.0. The larger the derivative action time, the stronger the D component. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x3108 |
Data type | REAL64 | Length | 8 |
Attributes | read/ write | Unit | [s] |
Remarks | The new values only become effective with the following transitions for safety reasons
| ||
Name | DIST_CTRL[0]::smoothing_fact | ||
Description | Currently set smoothing factor of the exponential averaging filter analogous to P-CHAN-00827. Specifies the weighting of the current measured value. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x3109 |
Data type | REAL64 | Length | 8 |
Attributes | read | Unit | [-] |
Remarks |
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Name | DIST_CTRL[0]::kalman_sigma | ||
Description | Currently set uncertainty of the included measured values analogous to P-CHAN-00826. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x310A |
Data type | REAL64 | Length | 8 |
Attributes | read | Unit | [-] |
Remarks |
| ||
Name | DIST_CTRL[0]::n_cycles | ||
Description | Currently set number of measured values used for filtering analogous to P-CHAN-00800. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x310B |
Data type | SGN32 | Length | 4 |
Attributes | read | Unit | [-] |
Remarks |
| ||
Name | DIST_CTRL[0]::skip_dist_ctrl | ||
Description | Not in use - in preparation | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x310C |
Data type | BOOLEAN | Length | 1 |
Attributes | read | Unit | [-] |
Remarks |
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Name | DIST_CTRL[0]::filter_type | ||
Description | Active filter type to smooth sensor values. Filter types for smoothing sensor values, see P-CHAN-00825. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x310D |
Data type | STRING | Length | 30 |
Attributes | read | Unit | [-] |
Remarks |
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Name | DIST_CTRL[0]::max_dist_change | ||
Description | Maximum change in sensor values per cycle. Required for the “Kalman_DYN” filter. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x310E |
Data type | REAL64 | Length | 8 |
Attributes | read | Unit | [0.1 µm] |
Remarks | Filter not yet available. | ||
Name | DIST_CTRL[0]::filtered_feedback | ||
Description | Filtered feedback value. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x310F |
Data type | SGN64 | Length | 8 |
Attributes | read | Unit | [0.01 nm] |
Remarks |
| ||
Name | DIST_CTRL[0]::feedback_value | ||
Description | Calculated distance control feedback value. SET_DIST mode: Measured actual distance between the interpolated command position of the drive and the surface. SET_DIST (use_both_encoder) and SET_POS modes: Measured position of the real surface in the selected coordinate system. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x3110 |
Data type | SGN64 | Length | 8 |
Attributes | read | Unit | [0.01 nm] |
Remarks |
| ||
Name | DIST_CTRL[0]::target_deviation | ||
Description | SET_DIST mode: Current difference between the interpolated command position of the dive and the set command distance to the surface. SET_POS mode: Current difference between the measured real surface and the specified command surface. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x3111 |
Data type | SGN64 | Length | 8 |
Attributes | read | Unit | [0.01 nm] |
Remarks | Filtered sensor values are included in this value. | ||
Name | DIST_CTRL[0]::delta_deviation_pre_limiter | ||
Description | The distance to be executed in this cycle before being influenced by the limiter. Influenced by the PID controller. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x3112 |
Data type | SGN64 | Length | 8 |
Attributes | read | Unit | [0.01 nm] |
Remarks | SET_DIST: For kp=1, this is the distance to go between the actual position of the tool and the set command distance to the surface. SET_POS: For kp=1, this is the distance to go to be executed in order to compensate for the difference between the actual position of the tool and the real surface. | ||
Name | DIST_CTRL[0]::sensor_value | ||
Description | Return value of the sensor. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x3113 |
Data type | SGN64 | Length | 8 |
Attributes | read | Unit | [0.01 nm] |
Remarks |
| ||
Name | DIST_CTRL_PARAM[0]::v_max | ||
Description | The maximum velocity set by P-CHAN-00802 when a position offset is executed. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x3500 |
Data type | SGN32 | Length | 4 |
Attributes | read/ write | Unit | [µm/s] |
Remarks | The new values only become effective with the following transitions for safety reasons
| ||
Name | DIST_CTRL_PARAM[0]::a_max | ||
Description | The maximum acceleration set by P-CHAN-00803 when a position offset is executed. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x3501 |
Data type | SGN32 | Length | 4 |
Attributes | read/ write | Unit | [mm/s²] |
Remarks | The new values only become effective with the following transitions for safety reasons
| ||
Name | DIST_CTRL_IFC[0]::actual_offset | ||
Description | Offset to the interpolated command position of the drive currently output by distance control to the drive. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x3900 |
Data type | SGN32 | Length | 4 |
Attributes | read | Unit | [Incr.] |
Remarks |
| ||
Name | DIST_CTRL_IFC[0]::delta_offset | ||
Description | Delta currently output to the drive indicating that the cycle must be executed. | ||
Task | GEO (Port 551) | ||
Index group | 0x12130<CID> | Index offset | 0x3901 |
Data type | SGN32 | Length | 4 |
Attributes | read | Unit | [Incr.] |
Remarks |
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