Drive type specific differences

Depending on the drive type, the actual position controller for the axes is implemented in the CNC or in the drive.

With an intelligent drive, the drive assumes position control. The axis parameters for the position control loop are carried out by corresponding drive parameters. In this case, the CNC position control loop is disabled. The CNC assumes monitoring functions only (e.g. position lag monitoring or collision monitoring) and supplies command value cyclically to the drive.

On the other hand, if the CNC position controller is used (e.g. Terminal drive type), a manipulated variable is output cyclically to the drive. This manipulated variable contains the appropriate normalisations based on the set axis parameters.

The table below shows the effect of the above parameters with different drive types:

 

Position controller..

..in the drive

..in the controller

Drive type

SERCOS

SERCOS

ProfiDrive MC

Lightbus

Terminal (±10V)

Parameter

Measuring system resolution
wegauf_z,
wegauf_n

 

X

X

X

X

Gain factor of P position control loop Kv

 

X

X

X

X

Adaptation to D/A
multi_gain_z,
multi_gain_n

 

X

 

X

X

Sign
vz_stellgr,
vz_istw

 

X

X

X

X

Attention

attention

Before starting up the axes, check the electrical safety devices of the axes, especially the emergency stop devices and hardware limit switches. They must be operational.