Description
P-AXIS-00264 | Operation mode for velocity control (SERCOS) | |||
Description | This parameter defines the required operation mode during switching to velocity control. | |||
Parameter | antr.sercos.op_mode_for_velocity_control | |||
Data type | UNS16 | |||
Data range | 0 ≤ op_mode_for_velocity_control ≤ 3 where: 0: Main operation mode S-0-0032 1: Auxiliary operation mode 1, S-0-0033 2: Auxiliary operation mode 2, S-0-0034 3: Auxiliary operation mode 3, S-0-0035 | |||
Axis types | S | |||
Dimension |
| S: ---- | ||
Default value | 0 | |||
drive types. | SERCOS | |||
Remarks | The main mode can also be used for speed control. | |||
P-AXIS-00463 | Operation mode for drive position control (CANopen) | |
Description | Parameter is used if the transmission of the drive operation mode (CANopen object 0x6060) is configured in the cyclic process data. Enter the value to be transferred after controller and fieldbus start-up for the operation mode ‘cyclic synchronous position mode’. | |
Parameter | antr.canopen.cyclic_position_op_mode | |
Data type | SGN16 | |
Data range | MIN(SGN16) … MAX(SGN16) | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | 8 | |
drive types. | CANopen | |
Remarks |
| |
P-AXIS-00464 | Operation mode for drive velocity control (CANopen) | |
Description | Parameter is used if the transmission of the drive operation mode (CANopen object 0x6060) is configured in the cyclic process data. Enter the value to be transferred after controller and fieldbus start-up for the operation mode ‘cyclic synchronous position mode’. | |
Parameter | antr.canopen.cyclic_velocity_op_mode | |
Data type | SGN16 | |
Data range | MIN(SGN16) … MAX(SGN16) | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | 9 | |
drive types. | CANopen | |
Remarks |
| |
P-AXIS-00766 | Weighting of velocity feedforward control | |
Description | To allow smooth switching between position- and speed-controlled mode, the weighting of the velocity feedforward control set in the drive must be considered. This weighting can be set with this parameter. | |
Parameter | antr.sai_op_mode_change.feed_forward_v_weighting | |
Data type | UNS16 | |
Data range | 0 <= P-AXIS-00766 <= 1200 | |
Axis types | S | |
Dimension |
| S:0.1% |
Default value | 0 | |
drive types. | SERCOS, CANopen | |
Remarks | The weighting of velocity feedforward control is configured for CANopen drives by the object 3062h. | |
P-AXIS-00767 | Velocity limit for switching to velocity controlled mode | |||
Description | This parameter specifies a limit speed. The limit speed only acts if a speed greater than the changeover speed is specified. It is then switched over to speed-controlled mode. | |||
Parameter | antr.sai_op_mode_change.v_velocity_control_on | |||
Data type | SGN32 | |||
Data range | 0 ≤ P-AXIS-00767 ≤ MAX(SGN32) | |||
Axis types | S | |||
Dimension |
| S: 0.001°/s | ||
Default value | 2000000000 | |||
drive types. | SERCOS, CANopen | |||
Remarks | Only a speed of 0 is practical for a sensorless spindle. Therefore the command velocity of the interpolator is always output and not the setpoint velocity of the position controller. P-AXIS-00767 replaces the parameter P-AXIS-00265 as of v3.1.3079.13. However, the latter retains its functionality. | |||
P-AXIS-00768 | Velocity limit for switching back to position control | ||
Description | This parameter specifies the limit speed for switching back to position control.
The limit speed P-AXIS-00768 only acts if the current speed is greater than P-AXIS-00768 for positioning with M19. | ||
Parameter | antr.sai_op_mode_change.v_position_control_on | ||
Data type | SGN32 | ||
Data range | 0 ≤ P-AXIS-00768 ≤ MAX(SGN32) | ||
Axis types | S | ||
Dimension |
| S: 0.001°/s | |
Default value | 0 | ||
drive types. | SERCOS, CANopen | ||
Remarks | Only a speed of 0 is practical for a sensorless spindle. Therefore the command velocity of the interpolator is always output and not the setpoint velocity of the position controller. P-AXIS-00768 replaces the parameter P-AXIS-00265 as of v3.1.3079.13. However, the latter retains its functionality. | ||