Description

P-AXIS-00003	Deceleration for an emergency stop
Description	The parameter defines the used deceleration for an emergency stop. If errors of error reaction class 4 occur, the NC decelerates at the rate for specific axes. The path then leaves the trajectory.
Parameter	getriebe[i].dynamik.a_emergency
Data type	UNS32
Data range	1 ≤ a_emergency ≤ 2*P-AXIS-00008
Axis types	T, R, S
Dimension	T: mm/s²	R,S: °/s²
Default value	0
drive types.	----
Remarks	When the parameter has the value 0, the value of P-AXIS-00008 (a_max) is used.

P-AXIS-00177	Negative software limit switch
Description	The parameter defines the possible traverse range in the negative direction (negative software limit switch position). The programmed command positions are always checked on 'kenngr.swe_neg', the actual positions on 'kenngr.swe_neg - kenngr.swe_toleranz'.
Parameter	kenngr.swe_neg
Data type	SGN32
Data range	MIN(SGN32) < swe_neg < P-AXIS-00178
Axis types	T, R
Dimension	T: 0.1µm	R: 0.0001 °
Default value	-100000000
drive types.	----
Remarks	The value of the parameter is adopted on reset, mode change and axis replacement from the axis record.

P-AXIS-00178	Positive software limit switch
Description	The parameter defines the possible traverse range in the positive direction (positive software limit switch position). The programmed command positions are always checked on 'kenngr.swe_pos', the actual positions on 'kenngr.swe_pos + kenngr.swe_toleranz'.
Parameter	kenngr.swe_pos
Data type	SGN32
Data range	P-AXIS-00177 < swe_pos < MAX(SGN32)
Axis types	T, R
Dimension	T: 0.1µm	R,S: 0.0001 °
Default value	100000000
drive types.	----
Remarks	The value of the parameter is adopted on reset, mode change and axis replacement from the axis record.

P-AXIS-00436	Forward mapping of drive position
Description	Corresponding to the coupling instructions at drive level, an active gear coupling leads to an offset of the axis positions compared to the programmed command positions in NC channel. The gear coupling can be activated either by configuration in the axis parameters (see multi_link[i]) or via the HLI interface of the axis (see [FCT-A9]). In the event of a program restart or an explicitly programmed request of axis positions (#CHANNEL INIT [CMDPOS]), the axis positions and the channel program coordinates are re-initialised. The parameter must be set to 1 if the input coordinates of the gear coupling (e.g. absolute program coordinates) are to be recalculated by forward mapping. See also P-AXIS-00460.
Parameter	kenngr.recalc_link_main_input_position
Data type	BOOLEAN
Data range	0: No forward mapping of drive position (default). 1: Forward mapping is executed.
Axis types	T, R
Dimension	T: ----	R: ----
Default value	0
Drive types	----
Remarks	Configuration example: Forward mapping is active during gear coupling kenngr.multi_link[0].lead_axis 4 kenngr.multi_link[0].factor_numerator 1 kenngr.multi_link[0].factor_denominator 2 kenngr.recalc_link_main_input_position 1 Configuration example: Forward mapping with active gear coupling via the HLI kenngr.recalc_link_main_input_position 1

P-AXIS-00460	Forward mapping of drive position with absolute coordinates
Description	If forward mapping of drive positions is activated with parameter P-AXIS-00436 , the mapping is calculated by default relative to the activation position of the axis coupling.. This means that if immediately after the activation of an axis coupling the command positions are requested, the command position according to the mechanical axis position is returned. With parameter P-AXIS-00460 the axis positions are considered as absolute coordinates. This means the mapping is calculated as if the axes were coupled at position 0 for the master as well as for the slave axes. Example: At position X=40 mm and X1=50 mm the X1 axis is coupled each with a coupling factor of 1:1 to the X-axis and to itself. When P-AXIS-00460 is not set, the returned position for axis X1 is X1 = 50 mm on receipt of a command position request directly after activation of a coupling When P-AXIS-00460 is set, the returned axis position for the X1 axis is X1 = 10 mm.
Parameter	kenngr.recalc_input_position_absolute
Data type	BOOLEAN
Data range	0: Forward mapping relative to activation position (default). 1: Forward mapping with absolute positions.
Axis types	T, R, S
Dimension	T: ----	R,S: ----
Default value	0
Drive types	----
Remarks	This parameter is only effective for axis couplings that are activated via the HLI. This parameter is only practical for use with axes that deliver an absolute position.