Overview

Task

When a spindle drive is operated at current limit, it may result in an excessive position lag at high speeds, causing error messages in the drive and/or the CNC. To avoid this, it is necessary at high speeds to change to controlled operation (no position control) and to only operate the spindles position-controlled for positioning movements.

Properties

Automatic changeover by the CNC with position control in the drive is only available for SERCOS and CANopen drives.

A change between the two operation modes can take place automatically during the movement.

Release Note

This function is available for CANopen drives as of CNC Build v3.1.3079.13.

Parameter definition

Automatic changeover and switch-back can be specified by using the appropriate parameters. They are:

• P-AXIS-00264: antr.sercos.op_mode_for_velocity_control
• P-AXIS-00267: antr.sai_op_mode_change.v_velocity_control_on
• P-AXIS-00268: antr.sai_op_mode_change.v_position_control_on

The section Parameters contains a detailed description of the commands.