Example

Programing Example

SERCOS drive with position control in the drive

As of a speed of 200 rpm, the system should change over to speed control. Switch-back may occur as of 50 rpm. In position control, the drive should run at a speed feedforward control of 50%.

The drive has a Kv factor of 20/s and the path resolution is 220 incr./rev. In addition, the drive expects 10E-4 rpm at the speed interface.

The following settings are required in the axis list in addition to the drive telegram

# [10-3degrees/s] -> 1200000 10-3degrees/s = 200 rpm

antr.sai_op_mode_change.v_velocity_control_on     1200000

# [10-3degrees/s] ->  300000 10-3degrees/s =  50 rpm

antr.sai_op_mode_change.v_position_control_on     300000

# Consideration of speed feedforward control

antr.sai_op_mode_change.feed_forward_v_weighting  500

antr.nbr_delay_cycles              4

# CANopen Kv : 0x30C0:01 [1/s]

# CNC Kv : [0.01/s]

getriebe[0].kv                     2000

#Path resolution of drive [incr./rev.]

#Path resolution CNC [incr./0.0001°]

getriebe[0].wegaufz                1048576

getriebe[0].wegaufn                3600000

#Normalisation of speed CNC [incr./0.001°]

antr.v_time_base                   0   (0=min,1=sec,2=ta)

antr.v_reso_num                    1

antr.v_reso_denom                  36

Programing Example

SERCOS drive with position control in the drive

As of a speed of 200 rpm, the system should change over to speed control. Switch-back may occur as of 50 rpm. The drive has a Kv factor of 4000/min. The following settings are required in the axis list in addition to the drive telegram:

# 0-main mode, 1-1st auxiliary, 2-2nd auxiliary, 3-3rd auxiliary

antr.sai_op_mode_change.v_velocity_control_on    1

# [10-3degrees/s] -> 1200000 10-3degrees/s = 200 rpm

antr.sai_op_mode_change.v_position_control_on    1200000

# [10-3degrees/s] ->  300000 10-3degrees/s =  50 rpm

antr.velocity_position_control_off               300000

# default is 1

antr.nbr_delay_cycles                            4

# CNC Kv : [0.01/s]

getriebe[0].kv                                   6666

Programing Example

SERCOS drive with position control in the CNC

As of a speed of 200 rpm, the system should change over to speed control. Switch-back may occur as of 50 rpm. A Kc factor of 100/s is set in the CNC:

Scaling of the speed command value in the drive is 10^-4 rpm. The following settings are required in the axis list in addition to the drive telegram:

# Position control mode in the CNC

antr.operation_mode                    CNC_POSITION_CONTROL

# [10-3degrees/s] -> 1200000 10-3degrees/s = 200 rpm

antr.sai_op_mode_change.v_velocity_control_on      1200000

# [10-3degrees/s] ->  300000 10-3degrees/s =  50 rpm

antr.sai_op_mode_change.v_position_control_on      300000

# CNC Kv : [0.01/s]

getriebe[0].kv                                     10000

# Manipulated variable scaling [°/min]:

# 1000°/min = 10000000°/360° * 10^-4 rpm

getriebe[0].multi_gain_z                           10000000

getriebe[0].multi_gain_n                           360