# Example: Configuring a speed-controlled spindle with speed feedback

Configure a speed-controlled spindle whose speed acknowledgement is sent via the speed actual value. The spindle axis turns at the command speed of 1 revolution per minute when the value 1 is output.

The following steps are required to do this:

1. Configuring a spindle with output of a speed command value and feedback of an actual speed value.
2. Setting the operation mode to speed-controlled mode.
3. Parameterising speed scaling.

1. Step

Configuring a spindle

Normally, configuration is executed with a configuration tool. The basic configuration is executed as for an NC spindle (see section NC spindle

2. Step

Configuring speed-controlled mode for the axis

In the axis parameter list, set the parameter P-AXIS-00320 to the value “OPEN_POSITION_LOOP_MODE”.

antr.operation_mode OPEN_POSITION_LOOP_MODE

3. Step

Parametrising speed scaling

Set the parameters P-AXIS-00207, P-AXIS-00206 and P-AXIS-00205 in the axis parameter list:

The command speed to the drive is specified in rpm:

antr.v_time_base 0

At an output of 1 increment, the motor turns at 1 rpm. This corresponds to a speed of 1 * 360°/min = 360 °/min.

When converted to the internal format this results in:

360° * 1000 = 360000.

antr.v_reso_num 1

antr.v_reso_denom 360000

## Parameters for sensorless spindle

P-AXIS-00320 | Axis operation mode
P-AXIS-00207 | Timebase for speed scaling
P-AXIS-00206 | Speed scaling nominator
P-AXIS-00205 | Speed scaling denominator