Axis parameters
Overview
Only the specific parameters for spindle axes are described here. Refer to the [AXIS] documentation for details on further parameters available for setting axes.
P-AXIS-00015 | Axis mode | |
Description | Axes can be traversed in different operating modes. | |
Parameter | kenngr.achs_mode | |
Data type | UNS32 | |
Data range | 0x00000001 - 0x10000000 | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | 0x00000001 | |
Drive types | ---- | |
Remarks |
| |
P-AXIS-00016 | Logical axis number | |
Description | The logical axis number is a system-wide unique identifier for each axis. The entire management of axis data in the NC kernel takes place using the logical axis number. | |
Parameter | kopf.achs_nr | |
Data type | UNS16 | |
Data range | 0 < achs_nr < MAX(UNS16) | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | 1 | |
drive types. | ---- | |
Remarks | It is not allowed to use the same logical axis number more than once. The logical axis number "0" is not allowed. The assignment of an axis designation in the NC program to a logical axis (axis number) takes place in the channel parameters [CHAN]. This entry is not adopted when the axis parameter list is updated. Updates only become effective when the controller is rebooted. | |
P-AXIS-00018 | Axis type (linear axis, rotary axes, spindle) | |
Description | This parameter specifies the axis type of an axis. | |
Parameter | kenngr.achs_typ | |
Data type | STRING | |
Data range | Linear axis (ACHSTYP_TRANSLATOR) : 0x0001 Rotary axis (ACHSTYP_ROTATOR) : 0x0002 Spindle (ACHSTYP_SPINDEL): : 0x0004 | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | ACHSTYP_TRANSLATOR | |
Drive types | ---- | |
Remarks | Depending on the axis type that is set, special functionalities are addressed in the NC kernel. Examples: - modulo calculation for rotary axes, - speed monitoring for spindles | |
P-AXIS-00020 | Drive type | |
Description | This parameter defines the drive type for each axis. A choice of drive types can be made for each axis: | |
Parameter | kenngr.antr_typ | |
Data type | UNS16 | |
Data range | 1 : Conventional drive interface 2 : SERCOS drive interface 3 : PROFIDRIVE MC drive interface 4 : Drive simulation 5 : Beckhoff Lightbus drive interface 6 : Drive interface +-10V over field bus (terminal) 7 : RT Ethernet drive interface 8 : CANopen drive interface 16 : Virtual axis 32 : CAN bus | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | 0x0004 | |
Drive types | ---- | |
Remarks | This entry is not adopted when the axis parameter list is updated. Updates only become effective when the controller is rebooted. Axis parameter block data can be divided into drive type dependent and drive type independent parameters. | |
P-AXIS-00159 | Reverse of sign for setpoint and actual value | |
Description | The turning direction of a spindle is defined in this parameter. If reverse is TRUE, the signs of the output and input data are changed. This is an option for keeping the signs of setpoint and actual values. | |
Parameter | getriebe[i].reverse | |
Data type | BOOLEAN | |
Data range | 0/1 | |
Axis types | S | |
Dimension |
| S: ---- |
Default value | 0 | |
Drive types | Simulation, Conventional, Terminal, Lightbus, Profidrive | |
Remarks |
| |
P-AXIS-00234 | Distance resolution of measurement (numerator) | |
Description | The distance resolution of the measuring system is entered in the dimension [increment/0.1 µm] for translatory axes or [increment/0.0001°] for rotary axes. The number of increments must be entered in 'getriebe[i].wegaufz' (numerator), the size of the motion path in [0.1µm] for translatory axes or in [0.0001°] for rotary axes in 'getriebe[i].wegaufn' (denominator). | |
Parameter | getriebe[i].wegaufz | |
Data type | UNS32 | |
Data range | 1 ≤ wegaufz ≤ MAX(UNS32) | |
Axis types | T, R, S | |
Dimension | T: increments | R,S: increments |
Default value | 1 | |
Drive types | ---- | |
Remarks | These entries are not taken over when the axis parameter list is updated. A controller reboot is required to update. Note that when a distance resolution is greater than 1, the motion range is restricted to less than (-MAX(UNS32)… +MAX(UNS32)) [µm/10-³ °]. If wegaufz is 0, the CNC generates the warning 110386 and corrects the parameter to the value 1. If P-AXIS-00234/ P-AXIS-00233 are used, the parameters P-AXIS-00362 and P-AXIS-00363 must be set to 1. Recommendation: It is recommended to set the path resolution using the parameters P-AXIS-00362 and P-AXIS-00363 . For possible applications, see Settings of position scaling | |
P-AXIS-00233 | Distance resolution of measurement (denominator) | |
Description | The distance resolution of the measuring system is entered in the dimension [increment/0.1 µm] for translatory axes or [increment/0.0001°] for rotary axes. The number of increments must be entered in 'getriebe[i].wegaufz' (numerator), the size of the motion path in [0.1µm] for translatory axes or in [0.0001°] for rotary axes in 'getriebe[i].wegaufn' (denominator). | |
Parameter | getriebe[i].wegaufn | |
Data type | UNS32 | |
Data range | 1 ≤ wegaufn ≤ MAX(UNS32) | |
Axis types | T, R, S | |
Dimension | T: 0.1 µm | R,S: 0.0001° |
Default value | 1 | |
Drive types | ---- | |
Remarks | These entries are not adopted when updating the axis parameter list. For updating to take effect, the control system must be restarted. Note that when a distance resolution is greater than 1, the motion range is restricted to less than (-MAX(UNS32)… +MAX(UNS32)) [µm/10-³ °]. If wegaufn is 0, the CNC generates the warning 110086 and corrects the parameter to the value 1. If P-AXIS-00234/ P-AXIS-00233 are used, the parameters P-AXIS-00362 and P-AXIS-00363 must be set to 1. Recommendation: It is recommended to set the path resolution using the parameters P-AXIS-00362 and P-AXIS-00363 . For possible applications, see Settings of position scaling | |
P-AXIS-00129 | Adaptation of command value of drive to the drive format (numerator) | |
Description | The speed setpoint calculated in the position controller must be adapted to the D/A format of the D/A converter. The digital value at the D/A converter input (getriebe[i].multi_gain_z/getriebe[i].mulit_gain_n) must be specified at which the axis travels at the velocity of [1m/min] or at the speed [1000°/min]. Denominator : P-AXIS-00128 | |
Parameter | getriebe[i].multi_gain_z | |
Data type | UNS32 | |
Data range | 1 ≤ multi_gain_z ≤ MAX(UNS32) | |
Axis types | T, R, S | |
Dimension | T: Bit | R,S: Bit |
Default value | 2000 | |
Drive types | Simulation, Conventional, Terminal, Lightbus, Profidrive | |
Remarks |
| |
P-AXIS-00128 | Adapting the drive command value to the drive format (denominator) | |
Description | The speed setpoint calculated in the position controller must be adapted to the D/A format of the D/A converter. The digital value at the D/A converter input (getriebe[i].multi_gain_z/getriebe[i].mulit_gain_n) must be specified at which the axis travels at the velocity of [1m/min] or at the speed [1000°/min]. Numerator: P-AXIS-00129 | |
Parameter | getriebe[i].multi_gain_n | |
Data type | UNS32 | |
Data range | 1 ≤ multi_gain_n ≤ MAX(UNS32) | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | 1 | |
Drive types | Simulation, Conventional, Terminal, Lightbus, Profidrive | |
Remarks |
| |
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 |
| |
Settings for modulo calculation
P-AXIS-00126 | Upper modulo limit | |
Description | For modulo calculation for rotary axes, an upper modulo limit' (e.g. 360°) should be set. | |
Parameter | getriebe[i].moduloo | |
Data type | SGN32 | |
Data range | modulou < moduloo ≤ MAX(SGN32) | |
Axis types | R, S | |
Dimension |
| R,S: 0.0001° |
Default value | 3600000 | |
Drive types | ---- | |
Remarks | Modulo calculation is activated automatically for rotary axes and spindles (axis types 0x2 and 0x4). | |
P-AXIS-00127 | Lower modulo limit | |
Description | For modulo calculation for rotary axes, a lower modulo limit (e.g. 0°) should be set. | |
Parameter | getriebe[i].modulou | |
Data type | SGN32 | |
Data range | MIN(SGN32) ≤ modulou < moduloo | |
Axis types | R, S | |
Dimension |
| R,S: 0.0001° |
Default value | 0 | |
Drive types | ---- | |
Remarks | Modulo calculation is activated automatically for rotary axes and spindles (axis types 0x2 and 0x4). | |
P-AXIS-00125 | Number of rotations in case of modulo error compensation | |
Description | When a rotary axis is operated, in certain circumstances the modulo circle of the command variables cannot be converted to the modulo circle of the increments without errors. The modulo circle of the increments is less by the rounding error. This is compensated by the modulo compensation in the position controller so that the missing increments per modulo rotation can be preset as integers in the machine data P-AXIS-00124 . | |
Parameter | getriebe[i].modulo_umdreh | |
Data type | SGN16 | |
Data range | 0 ≤ modulo_umdreh ≤ MAX(SGN16) | |
Axis types | R, S | |
Dimension |
| R,S: ---- |
Default value | 0 | |
Drive types | Simulation, Conventional, Terminal, Lightbus, Profidrive | |
Remarks | This function is activated via the parameter P-AXIS-00120. | |
P-AXIS-00124 | Error in modulo circle | |
Description | See also P-AXIS-00125 | |
Parameter | getriebe[i].modulo_fehler | |
Data type | SGN16 | |
Data range | MIN(SGN16) ... MAX(SGN16) | |
Axis types | R, S | |
Dimension |
| R,S: increments |
Default value | 0 | |
Drive types | Simulation, Conventional, Terminal, Lightbus, Profidrive | |
Remarks |
| |
P-AXIS-00120 | Activation of modulo compensation | |
Description | This parameter activates the modulo compensation in position controller. | |
Parameter | lr_param.mod_komp | |
Data type | BOOLEAN | |
Data range | 0/1 | |
Axis types | R, S | |
Dimension |
| R,S: ---- |
Default value | 0 | |
Drive types | ---- | |
Remarks |
| |
Speeds and velocities
P-AXIS-00220 | Limiting velocity for the measurement system | |
Description | Especially with spindles, the limit at which the measuring system supplies erroneous signals at higher rotation speeds can be exceeded. The parameter describes the velocity value at which the position controller has to switch over to open-loop controlled operation mode. | |
Parameter | getriebe[i].vb_regelgrenze | |
Data type | UNS32 | |
Data range | 0 ≤ vb_regelgrenze ≤ MAX(UNS32) | |
Axis types | S | |
Dimension |
| S: 0.001°/s |
Default value | 200000 | |
drive types. | Simulation, Conventional, Terminal, Lightbus, Profidrive | |
Remarks |
| |
P-AXIS-00216 | Limit for spindle speed 'zero' | |
Description | Especially in the case of spindles, the barrier should be given below which rotational speed monitoring in the position controller shows the state 'speed zero'. | |
Parameter | getriebe[i].vb_min_null | |
Data type | UNS32 | |
Data range | 0 ≤ vb_min_null ≤ MAX(UNS32) | |
Axis types | S | |
Dimension |
| S: 0.001°/s |
Default value | 100 | |
drive types. | ---- | |
Remarks |
| |
P-AXIS-00217 | Speed-value attained - tolerance band | |
Description | This parameter defines the actual speed value at which the status 'speed-value attained' is declared. | |
Parameter | kenngr.vb_prozent | |
Data type | UNS16 | |
Data range | 0 ... 1000 | |
Axis types | S | |
Dimension |
| S: 0.1% |
Default value | 100 | |
Drive types | ---- | |
Remarks | Configuration example: For 'kenngr.vb_prozent = 100' the message 'speed-value attained' appears when '1.1 * commanded speed ≥ actual speed-value ≥ 0.9 * commanded speed '. | |
P-AXIS-00209 | Rapid mode velocity | |
Description | The rapid traverse velocity is specified for positioning in rapid traverse (G00). | |
Parameter | getriebe[i].vb_eilgang | |
Data type | UNS32 | |
Data range | 1 ≤ vb_eilgang ≤ P-AXIS-00212 | |
Axis types | T, R, S | |
Dimension | T: µm/s | R,S: 0.001°/s |
Default value | 166666 | |
Drive types | ---- | |
Remarks |
| |
Curve-controlled acceleration of spindles
A gear speed specific acceleration curve is defined by the following parameters. This functionality is only possible for axes of the spindle type with endless rotation.
P-AXIS-00202 | Type of the characteristic acceleration curve | |
Description | The parameter defines the type of the characteristic acceleration curve. | |
Parameter | getriebe[i].beschl_kennlinie.typ | |
Data type | UNS32 | |
Data range | 0: No characteristic curve acceleration is active, acceleration profile acc. to P-AXIS-00270 1: Hyperbola 2: Polynomial 3: Asynchronous drive | |
Axis types | S | |
Dimension |
| S: ---- |
Default value | 0 | |
Drive types | ---- | |
Remarks |
| |
P-AXIS-00130 | Limit speed of the acceleration curve | |
Description | The parameter defines the limit speed from which onwards the acceleration is specified in a polynomial or hyperbolic form (see P-AXIS-00202). | |
Parameter | getriebe[i].beschl_kennlinie.n_grenz | |
Data type | UNS32 | |
Data range | 0 < n_grenz ≤ MAX(UNS32) | |
Axis types | S | |
Dimension |
| S: 10-³ °/s |
Default value | 0 | |
Drive types | ---- | |
Remarks |
| |
P-AXIS-00007 | Constant acceleration in the range n<ngrenz | |
Description | The parameter defines a constant acceleration in the range n<ngrenz | |
Parameter | getriebe[i].beschl_kennlinie.a_konst | |
Data type | UNS32 | |
Data range | 0 ≤ a_konst ≤ MAX(UNS32) | |
Axis types | S | |
Dimension |
| S: °/s² |
Default value | 0 | |
Drive types | ---- | |
Remarks |
| |
P-AXIS-00010 | Minimum value of acceleration which may not be undershot. | |
Description | The parameter defines the minimum value of acceleration, which may not be undershot. | |
Parameter | getriebe[i].beschl_kennlinie.a_min | |
Data type | UNS32 | |
Data range | 0 ≤ a_min ≤ MAX(UNS32 | |
Axis types | S | |
Dimension |
| S: °/s² |
Default value | 0 | |
Drive types | ---- | |
Remarks |
| |
P-AXIS-00026 | Parameter of the a(n) Polynomial (B1) | |
Description | B1 parameter of the a(n) polynomial | |
Parameter | getriebe[i].beschl_kennlinie.b1 | |
Data type | REAL64 | |
Data range | REAL64 range | |
Axis types | S | |
Dimension |
| S: 1/s |
Default value | 0 | |
Drive types | ---- | |
P-AXIS-00027 | Parameter of the a(n) Polynomial (B2) | |
Description | B2 parameter of the a(n) polynomial | |
Parameter | getriebe[i].beschl_kennlinie.b2 | |
Data type | REAL64 | |
Data range | REAL64 range | |
Axis types | S | |
Dimension |
| S: 1/° |
Default value | 0 | |
Drive types | ---- | |
P-AXIS-00028 | Parameter of the a(n) Polynomial (B3) | |
Description | B3 parameter of the a(n) polynomial | |
Parameter | getriebe[i].beschl_kennlinie.b3 | |
Data type | REAL64 | |
Data range | REAL64 range | |
Axis types | S | |
Dimension |
| S: s/°² |
Default value | 0 | |
Drive types | ---- | |
P-AXIS-00240 | Maximum acceleration for acceleration curve of type 3 (P-AXIS-00202) | |
Description | This acceleration value is used in constant range with n < N1. | |
Parameter | getriebe[i].beschl_kennlinie.a_max | |
Data type | REAL64 | |
Data range | 0 ≤ a_max ≤ P-AXIS-00008 | |
Axis types | S | |
Dimension |
| S: °/s² |
Default value | 0 | |
Drive types | ---- | |
Remarks |
| |
P-AXIS-00241 | Speed limit 1 for acceleration curve of type 3 (P-AXIS-00202) | |
Description | Above this speed the transition to curve characteristic becomes proportional to 1/n. | |
Parameter | getriebe[i].beschl_kennlinie.n1 | |
Data type | REAL64 | |
Data range | 0 ≤ n1 ≤ P-AXIS-00242 | |
Axis types | S | |
Dimension |
| S: 10-³ °/s |
Default value | 0 | |
Drive types | ---- | |
Remarks |
| |
P-AXIS-00242 | Speed limit 2 for acceleration curve of type 3 (P-AXIS-00202) | |
Description | Above this speed the transition to curve characteristic becomes proportional to 1/n². | |
Parameter | getriebe[i].beschl_kennlinie.n2 | |
Data type | REAL64 | |
Data range | 0 ≤ n2 ≤ P-AXIS-00212 | |
Axis types | S | |
Dimension |
| S: 10-³ °/s |
Default value | 0 | |
Drive types | ---- | |
Remarks |
| |
Referencing
P-AXIS-00156 | Homing without cam | |
Description | A changeover of homing strategy can be carried out so that homing is done without cam (e.g. only with zero pulse), i.e. without reverting. In this case the parameter P-AXIS-00156 should be set to TRUE. | |
Parameter | kenngr.ref_ohne_nocken | |
Data type | BOOLEAN | |
Data range | 0/1 | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | 0 | |
drive types. | Conventional, Terminal, Lightbus, Profidrive | |
Remarks | To be assigned for analogue spindles only. If P-AXIS-00156 is assigned with 1 (TRUE), then it is imperative that P-AXIS-00157 is assigned with 1 (TRUE). | |
P-AXIS-00157 | Homing without reverting | |
Description | Via parameter P-AXIS-00157 a restriction of homing can occur that will prohibit any reverting. | |
Parameter | kenngr.ref_ohne_rev | |
Data type | BOOLEAN | |
Data range | 0/1 | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | 0 | |
drive types. | Conventional, Terminal, Lightbus, Profidrive | |
Remarks | The speed during reversing is set with the parameter P-AXIS-00064 (fast_from_cam). By reverting, it is possible to repeatedly move to the reference cam at slow speed. To be assigned for analogue spindles only. P-AXIS-00157 must be assigned with 1 (TRUE) if P-AXIS-00156 is assigned with 1 (TRUE). | |
Gear change
P-AXIS-00078 | Gear change position | |
Description | The gear change position is given by this parameter for every gear step. | |
Parameter | getriebe[i].getr_schalt_pos | |
Data type | SGN32 | |
Data range | P-AXIS-00177 < getr_schalt_pos < P-AXIS-00178 | |
Axis types | T, R, S | |
Dimension | T: 0.1 µm | R,S: 0.0001° |
Default value | 0 | |
Drive types | ---- | |
Remarks | The definition of this parameter becomes significant when several gear steps are present. | |
P-AXIS-00079 | Default gear step number | |
Description | This parameter defines the gear step number which is supposed to be active at the time of controller start-up. | |
Parameter | kenngr.getriebe_stufe | |
Data type | UNS16 | |
Data range | 1 ≤ getriebe_stufe < MAX(UNS16) | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | 1 | |
Drive types | ---- | |
Remarks |
| |
Direction of rotation of rotary axes
P-AXIS-00224 | Restriction of direction of spindle rotation | |
Description | If a spindle may only be operated in one direction, then the parameter should be set to 1. | |
Parameter | kenngr.vorz_richtung | |
Data type | BOOLEAN | |
Data range | 0/1 | |
Axis types | R, S | |
Dimension |
| R,S: ---- |
Default value | 0 | |
Drive types | ---- | |
Remarks |
| |
P-AXIS-00031 | Definition of preferred direction of spindle rotation | |
Description | If only one direction of rotation is permitted for spindles (P-AXIS-00224), this parameter defines the direction of rotation. | |
Parameter | kenngr.beweg_richt | |
Data type | BOOLEAN | |
Data range | 0: Negative direction of rotation 1: Positive direction of rotation | |
Axis types | R, S | |
Dimension |
| R,S: ---- |
Default value | 0 | |
Drive types | ---- | |
Remarks | Positive direction of rotation signifies that coordinate values increase. Negative direction of rotation signifies that coordinate values decrease. This parameter is used only if the parameter P-AXIS-00224 is assigned the value 1. | |
Sensorless spindles
P-AXIS-00206 | Normalisation of command velocity (numerator) | |
Description | The conversion factor of the command velocity to drive format is defined by specifying the value output to the drive and the related distance covered in the time specified in P-AXIS-00207 . This parameter specifies the conversion factor numerator. (P-AXIS-00205 is the denominator) | |
Parameter | antr.v_reso_num | |
Data type | UNS32 | |
Data range | 0 ≤ v_reso_num ≤ MAX(UNS32) | |
Axis types | T, R, S | |
Dimension | T: increments | R,S: increments |
Default value | 1 | |
Drive types | All drive types | |
Remarks |
| |
P-AXIS-00205 | Normalisation of the velocity (denominator) | |
Description | The conversion factor of the set velocity to drive format is obtained by specifying the value output to the drive and the related path distance covered in the time specified in P-AXIS-00207. This parameter specifies the conversion factor numerator. (P-AXIS-00206 is the numerator) This parameter indicates the path covered in the time specified in P-AXIS-00207, provided the value in P-AXIS-00206 is output to the drive. The path is specified in 1 µm or 0.001°. | |
Parameter | antr.v_reso_denom | |
Data type | UNS32 | |
Data range | 1 ≤ v_reso_denom ≤ MAX(UNS32) | |
Axis types | T, R, S | |
Dimension | T: 1µm | R,S: 0,001° |
Default value | 36 | |
Drive types | All drive types | |
Remarks |
| |
P-AXIS-00207 | Time base for normalisation of velocity | |
Description | The time base for adapting the velocity interface to the unit used in the drive can be specified as value per minute, second or sampling interval. If normalisation per sampling interval is selected, the output value changes proportionally depending on the CNC cycle time at constant velocity. This may be essential depending on the drive. | |
Parameter | antr.v_time_base | |
Data type | UNS16 | |
Data range | 0: per minute 1: per second 2: per sampling interval | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | 0 | |
Drive types | SERCOS | |
Remarks |
| |
P-AXIS-00265 | Velocity limit for switching to velocity controlled mode | |
Description | If any spindle revolution higher than the given limit is commanded, the operation mode is switched to velocity control automatically. | |
Parameter | antr.velocity_position_control_on | |
Data type | SGN32 | |
Data range | 0 ≤ velocity_position_control_on ≤ MAX(SGN32) | |
Axis types | S | |
Dimension |
| S: 0.001°/s |
Default value | 2000000000 | |
Drive types | SERCOS | |
Remarks | For a sensorless spindle only a velocity of 0 is useful. Therefore the command velocity of the interpolator is always output and not the setpoint velocity of the position controller. | |
P-AXIS-00266 | Velocity limit for switching back to position control | |
Description | If the actual revolution during any positioning via M19 is higher than the given limit, the spindle is first decelerated to the limit. Afterwards the operation mode is switched back to position control. | |
Parameter | antr.velocity_position_control_off | |
Data type | SGN32 | |
Data range | 0 ≤ velocity_position_control_off ≤ MAX(SGN32) | |
Axis types | S | |
Dimension |
| S: 0.001°/s |
Default value | 0 | |
Drive types | SERCOS | |
Remarks | For a sensorless spindle only a velocity of 0 is useful Therefore the command velocity of the interpolator is always output and not the setpoint velocity of the position controller. | |