Description
P-AXIS-00325 | Numerator scaling factor for torque | |
Description | Numerator of the scaling factor for the commanded torque to the drive. The factor is specified as a quotient. This quotient is the value which must be output to the motor to reach the nominal torque. | |
Parameter | antr.torque_scale_num | |
Data type | UNS32 | |
Data range | 0 < torque_scale_num < MAX(UNS32) | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | 1 | |
Drive types | SERCOS, Lightbus,CANopen | |
Remarks |
| |
P-AXIS-00326 | Denominator scaling factor for torque | |
Description | Denominator of the scaling factor for the commanded torque to the drive. The factor is specified as a quotient. This quotient is the value which must be output to the motor to reach the nominal torque. | |
Parameter | antr.torque_scale_denom | |
Data type | UNS32 | |
Data range | 1 < torque_scale_denom < MAX(UNS32) | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | 1 | |
Drive types | SERCOS, Lightbus,CANopen | |
Remarks | If the value 0 is set for P-AXIS-00326, an error message with the ID number P-ERR-110465 is output and the internal scaling factor is set to 0 In this case no output of the additive torque command value to the drive is sent. | |
P-AXIS-00392 | Reference value for converting torque values to the motor format. | |
Description | This parameter is used for the scaling of the additive torque command if acceleration feedforward control is used with additive command values. The motor stall torque must be enetered. | |
Parameter | antr.acc_reference_value | |
Data type | REAL64 | |
Data range | 0 ≤ acc_reference_value < MAX(REAL64) | |
Axis types | T, R, S | |
Dimension | T: N | R,S: Nm |
Default value | 1 | |
Drive types | SERCOS, CANopen | |
Remarks |
| |
P-AXIS-00396 | Name of drive functions in NC program | |
Description | This parameter defines the name by which the drive function is activated by the keyword KEY in the #DRIVE command in the NC program ([PROG]). | |
Parameter | antr.function[i].id | |
Data type | STRING | |
Data range | Maximum of 29 characters | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | * | |
Drive types | SERCOS, Profidrive, CANopen | |
Remarks | Example: The ID 'TORQLIMIT' is defined for a drive function. antr.function[0].id TORQLIMIT In the NC program this drive function can then be addressed by the command… #DRIVE WR SYN [AX=... KEY=TORQLIMIT VAL=… ] ... * Note: The default value of variables is a blank string. | |
P-AXIS-00397 | Type of communication with drive controller | |
Description | This parameter defines the type of communication by which the function in the drive is addressed. | |
Parameter | antr.function[i].commu | |
Data type | STRING | |
Data range | CYCLIC: The drive function is switched by a telegram element that is configured in the cyclic drive telegram. The name of the telegram element is defined in P-AXIS-00398 . ACYCLIC: The drive function is addressed by writing a drive parameter through the parameter channel. The name of the telegram element is defined in P-AXIS-00398 . IGNORE: No value is transmitted to the drive. | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | CYCLIC | |
Drive types | SERCOS, Profidrive, CANopen | |
Remarks |
| |
P-AXIS-00398 | Name of the parameter or telegram element | |
Description | This parameter defines which drive parameter or which telegram element of the cyclic telegram is to be used for to activate the drive function. | |
Parameter | antr.function[i].wr_ident[j] | |
Data type | STRING | |
Data range | Maximum of 29 characters | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | * | |
Drive types | SERCOS, Profidrive, CANopen | |
Remarks | Dependent on the drive function to be activated, maximum 2 IDs (j=0/1) can be set. Parameterisation example: For a SERCOS drive the torque limit is defined by writing the parameter S-0-92: antr.function[0].wr_ident[0] S-0-92 * Note: The default value of variables is a blank string. | |
P-AXIS-00399 | Data type of the data to be transmitted | |
Description | This parameter defines the data type of the drive parameter or of the telegram element of the cyclic telegram which is used for the activation of the drive function. | |
Parameter | antr.function[i].data_type | |
Data type | STRING | |
Data range | SGN16: Signed 16 bit integer. SGN32: Signed 32 bit integer. BITARRAY_16: Bit array 16 bit. BITARRAY_32: Bit array 32 bit. | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | SGN16 | |
Drive types | SERCOS, Profidrive, CANopen | |
Remarks |
| |
P-AXIS-00400 | Value of data element after start-up of control | |
Description | This parameter defines the value of the cyclic telegram element after controller start-up. | |
Parameter | antr.function[i].startup_value | |
Data type | REAL64 | |
Data range | If P-AXIS-00399 =' SGN16': MIN(SGN16) ≤ startup_value ≤ MAX(SGN16)
If P-AXIS-00399 =' SGN32': MIN(SGN32) ≤ startup_value ≤ MAX(SGN32) | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | 0 | |
Drive types | SERCOS, Profidrive, CANopen | |
Remarks | This parameter is used only if P-AXIS-00397 has the vaue 'CYCLIC'. | |
P-AXIS-00401 | Scaling of the data to be transmitted | ||
Description | This parameter defines the scaling of the value that has to be transmitted to the drive. | ||
Parameter | antr.function[i].scaling_type | ||
Data type | STRING | ||
Data range | UNSCALED: | Unscaled output of the value programmed in the NC program = 1 (default). | |
TORQUE_DRIVE_SIDE: | The programmed value is a torque value related to the motor shaft and is scaled to the drive torque format by the parameters P-AXIS-00325, P-AXIS-00326 and P-AXIS-00392 . The scaling factor does not change during gear change. Scaling factor f is:
| ||
Axis types | T, R, S | ||
Dimension | T: ---- | R,S: ---- | |
Default value | UNSCALED | ||
Drive types | SERCOS, Profidrive, CANopen | ||
Remarks |
| ||
P-AXIS-00408 | Minimum permissible output value | |
Description | This parameter defines the minimum permissible output value. If the programmed value of the #DRIVE command goes below the minimum value, the drive output value is set automatically to the minimum value. No error message is then output. If parameter P-AXIS-00399 is smaller than the smallest possible output value of the data type, the error message P-ERR-70384 is output and the parameter value is corrected. if P-AXIS-00409 is configured, P-AXIS-00409 must be greater than P-AXIS-00408. If this is not the case, the warning P-ERR-70385 is output and the values are swapped. If this parameter is not configured, no limitation is active. | |
Parameter | antr.function[i].min_limit | |
Data type | REAL64 | |
Data range | Depending on P-AXIS-00399 and P-AXIS-00401 | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | 1.000000e+199 | |
Drive types | SERCOS, Profidrive, CANopen | |
Remarks |
| |
P-AXIS-00409 | Maximum permissible output value | |
Description | This parameter defines the maximum permissible output value. If the programmed value of the #DRIVE command exceeds the maximum value, the drive output value is set automatically to the maximum value. No error message is then output. If the parameter is greater than the maximum value of the set data type defined by P-AXIS-00399 , the error message P-ERR-70383 is output and the parameter value is corrected. if P-AXIS-00408 is configured, P-AXIS-00408 must be less than this parameter. If this is not the case, the warning P-ERR-70385 is output and the- minimum and maximum values are swapped. If this parameter is not configured, no limitation is active. | |
Parameter | antr.function[i].max_limit | |
Data type | REAL64 | |
Data range | Depending on P-AXIS-00399 and P-AXIS-00401 | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | 1.000000e+199 | |
Drive types | SERCOS, Profidrive, CANopen | |
Remarks |
| |
P-AXIS-00429 | Writing of drive values by bit mask | |
Description | This parameter specifies the bit mask that must be used if bitwise writing is defined. If the value programmed in the #DRIVE command is greater than zero, the bits defined in the bit mask are set and for a programmed value of zero the bits are reset. This value is only used if the data type configured In P-AXIS-00399 has the value 'BITARRAY_16’ or 'BITARRAY_32’. The value of this parameter must be smaller than or equal to the maximum values defined by the setting in P-AXIS-00399 , otherwise the error message P-ERR-70403 is output. | |
Parameter | antr.function[i].mask | |
Data type | STRING | |
Data range | Depending on P-AXIS-00399: BITARRAY_16: Bit mask 16 Bit - 0 ... MAX(UNS16) BITARRAY_32: Bit mask 32 Bit - 0 ... MAX(UNS32) | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | NOT_USED | |
Drive types | SERCOS, Profidrive, CANopen | |
Remarks |
| |