# Axis parameters

P-AXIS-00099 | Proportional factor kv for P-positional control
Description | The P-positional controller has the amplification factor kv. The parameter is only effective if the CNC internal position control is used. With drive amplifiers with integrated position control, the amplification must be defined in the drive.

The parameter P-AXIS-00320 determines the manner how an axis moves to its commanded position.

Parameter | getriebe[i].kv
Data type | UNS32
Data range | 0 < kv ≤ MAX(UNS32)
Axis types | T, R, S
Dimension | T: 0.01/s | R,S: 0.01/s
Default value | 1000
Drive types | ----
Remarks |

P-AXIS-00167 | Factor for dynamic position lag monitoring
Parameter | getriebe[i].slep_dyn
Description | For standard and non-linear position lag monitoring the following is valid: The factor determines the time constant of an estimation filter for the dynamic position lag monitoring in the position controller. This parameter must be determined empirically.
Data range | 700 ≤ slep_dyn ≤ 1024
Description | Linear position lag monitoring: The parameter defines the slope within the estimation of the dynamic position lag using the following equation: Non linear position lag monitoring: The factor determines the time constant of an estimation filter for the dynamic position lag monitoring in the position controller. This parameter must be determined empirically.
Data range | 0 ≤ slep_dyn ≤ 1024
Data type | SGN16
Axis types | T, R, S
Dimension | T: ---- | R,S: ----
Default value | 1000
Drive types | ----
Remarks | CAUTION: The position lag monitoring is disabled if the parameter has the value ≥ '1024'.

P-AXIS-00168 | Maximum position lag
Description | The parameter defines the maximum position lag.
Parameter | getriebe[i].slep_max
Data type | SGN32
Data range | MAX(SGN32) > slep_max > 10* position lag at P-AXIS-00212
Axis types | T, R, S
Dimension | T: 0.1 µm | R,S: 0.0001°
Default value | 100000
Drive types | ----
Remarks | Standard position lag monitoring: The parameter is made use of for limiting the estimated position lag in the position controller. Especially in the case of oscillating systems an internal range overshooting of the operating data in the position controller would be quite conceivable.

Linear position lag monitoring:

The parameter defines the maximum permissible position lag. This helps to avoid a reaction of the position lag monitoring (adhesive friction), for example, when the axis starts moving from standstill.

Non-linear position lag monitoring:

For this type of position lag monitoring the parameter is without significance.

Velocity-independent position lag monitoring:

This parameter sets the position lag limit when the axis is moving.

P-AXIS-00169 | Minimum position lag
Description | The parameter defines the minimum position lag.
Parameter | getriebe[i].slep_min
Data type | SGN32
Data range | 1 ≤ slep_min ≤ MAX(SGN32)
Axis types | T, R, S
Dimension | T: 0.1 µm | R,S: 0.0001°
Default value | 20000
Drive types | ----
Remarks | Standard position lag monitoring: The parameter is used for plausibility test for the dynamic position lag monitoring. Since large position lags can arise in the case of non-high dynamic systems and under certain circumstances and these position lags are recognized as position lag in rare cases, even in the case of P-AXIS-00167 = 1023 (dynamic position lag monitoring as if switched off), a useful value must be determined empirically in this case. The dynamic position lag monitoring uses a digital filter which estimates the position lag on the basis of the reference variable (command value). Usually, a value from some of a few 'mm' or ' ° ' can be used here.

Linear position lag monitoring:

The parameter defines the maximum permissible position lag on axis standstill.

Non linear position lag monitoring:

For this type of position lag monitoring the parameter is without significance.

Velocity independent position lag monitoring:

The parameter defines the maximum permissible position lag at axis standstill.

P-AXIS-00170 | Time constant for position lag monitoring
Description | This parameter defines the compensation of time delays during the feedback of the actual values. By this method, the monitoring curve is shifted in time so that the real position lag can be monitored. This time constant is used for all types of position lag monitoring.
Parameter | getriebe[i].slep_time_const
Data type | UNS32
Data range | 0 ≤ slep_time_const ≤ MAX(UNS32)
Axis types | T, R, S
Dimension | T: µs | R,S: µs
Default value | 0
Drive types | ----
Remarks | Recommended setting: slep_time_const = 0

P-AXIS-00172 | Type of position lag monitoring
Description | The parameter defines the type of position lag monitoring.
Parameter | getriebe[i].slep_ueberw_typ
Data type | UNS32
Data range | 0 ≤ slep_ueberw_typ ≤ MAX(UNS32) 1: Standard position lag monitoring 2: Linear position lag monitoring 3: Non linear position lag monitoring (no longer supported!) 4: Velocity independent position lag monitoring

For all other values the position lag monitoring is disabled.

Axis types | T, R, S
Dimension | T: ---- | R,S: ----
Default value | 0
Drive types | ----
Remarks |

P-AXIS-00176 | Suppression of position lag
Description | To adjust the position lag monitoring the creation of position lag errors can be suppressed. But the dynamical calculation continues. By this method it is possible to record position lag and position lag monitoring limits and set the corresponding parameters.
Parameter | lr_param.suppress_pos_lag_error
Data type | BOOLEAN
Data range | 0/1
Axis types | T, R, S
Dimension | T: ---- | R,S: ----
Default value | 0
Drive types | ----
Remarks | Recommended setting: suppress_pos_lag_error = 0 'suppress_pos_lag_error = 1' suppresses the monitoring and output of an error message if the permissible position lag is exceeded. May only be TRUE during commissioning.

P-AXIS-00191 | Delay between command value and actual value
Description | This parameter is only active for digital drives (e.g. SERCOS). It defines the number of cycles between the output of the command values and the read-in of the actual values. The parameter is only used to calculate the position lag.
Parameter | antr.nbr_delay_cycles
Data type | UNS16
Data range | 0 ≤ nbr_delay_cycles ≤ 10
Axis types | T, R, S
Dimension | T: Number of interpolation cycles | R,S: Number of interpolation cycles
Default value | 4
Drive types | SERCOS, CANopen, KUKA
Remarks |

P-AXIS-00488 | Delayed generation of position lag error message
Description | The parameter specifies a time delay for the position lag monitoring function from type 4 (velocity independent mode) used to delay the generation of the position lag error message, if the actual position lag exceeds the maximum permissible position lag. This permits a reduction in the maximum permissible position lag error limits (see P-AXIS-00168, P-AXIS-00169) since an exceedance in dynamical phases does not immediately lead to an error message..
Parameter | getriebe[i].pos_lag_mon_error_delay_time
Data type | UNS32
Data range | 0 ≤ pos_lag_mon_error_delay_time ≤ 250000
Axis types | T, R, S
Dimension | T: µs | R,S: µs
Default value | 0
Drive types | ----
Remarks | Specifying a time delay > 0 leads to a delayed error message generation and delayed stopping of the drives, when the permitted position lag is exceeded.