# Description

P-AXIS-00003 | Deceleration for an emergency stop
Description | The parameter defines the used deceleration for an emergency stop. If errors of error reaction class 4 occur, the NC decelerates at the rate for specific axes. The path then leaves the trajectory.
Parameter | getriebe[i].dynamik.a_emergency
Data type | UNS32
Data range | 1 ≤ a_emergency ≤ 2*P-AXIS-00008
Axis types | T, R, S
Dimension | T: mm/s² | R,S: °/s²
Default value | 0
drive types. | ----
Remarks | When the parameter has the value 0, the value of P-AXIS-00008 (a_max) is used.

P-AXIS-00177 | Negative software limit switch
Description | The parameter defines the possible traverse range in the negative direction (negative software limit switch position). The programmed command positions are always checked on 'kenngr.swe_neg', the actual positions on 'kenngr.swe_neg - kenngr.swe_toleranz'.
Parameter | kenngr.swe_neg
Data type | SGN32
Data range | MIN(SGN32) < swe_neg < P-AXIS-00178
Axis types | T, R
Dimension | T: 0.1µm | R: 0.0001 °
Default value | -100000000
drive types. | ----
Remarks | The value of the parameter is adopted on reset, mode change and axis replacement from the axis record.

P-AXIS-00178 | Positive software limit switch
Description | The parameter defines the possible traverse range in the positive direction (positive software limit switch position). The programmed command positions are always checked on 'kenngr.swe_pos', the actual positions on 'kenngr.swe_pos + kenngr.swe_toleranz'.
Parameter | kenngr.swe_pos
Data type | SGN32
Data range | P-AXIS-00177 < swe_pos < MAX(SGN32)
Axis types | T, R
Dimension | T: 0.1µm | R,S: 0.0001 °
Default value | 100000000
drive types. | ----
Remarks | The value of the parameter is adopted on reset, mode change and axis replacement from the axis record.

P-AXIS-00436 | Forward mapping of drive position
Description | Corresponding to the coupling instructions at drive level, an active gear coupling leads to an offset of the axis positions compared to the programmed command positions in NC channel. The gear coupling can be activated either by configuration in the axis parameters (see multi_link[i]) or via the HLI interface of the axis (see [FCT-A9]).

In the event of a program restart or an explicitly programmed request of axis positions (#CHANNEL INIT [CMDPOS]), the axis positions and the channel program coordinates are re-initialised. The parameter must be set to 1 if the input coordinates of the gear coupling (e.g. absolute program coordinates) are to be recalculated by forward mapping. See also P-AXIS-00460.

Parameter | kenngr.recalc_link_main_input_position
Data type | BOOLEAN
Data range | 0: No forward mapping of drive position (default). 1: Forward mapping is executed.
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | 0
Drive types | ----
Remarks | Configuration example: Forward mapping is active during gear coupling kenngr.multi_link[0].lead_axis 4 kenngr.multi_link[0].factor_numerator 1 kenngr.multi_link[0].factor_denominator 2 kenngr.recalc_link_main_input_position 1

Configuration example: Forward mapping with active gear coupling via the HLI

kenngr.recalc_link_main_input_position 1

P-AXIS-00460 | Forward mapping of drive position with absolute coordinates
Description | If forward mapping of drive positions is activated with parameter P-AXIS-00436 , the mapping is calculated by default relative to the activation position of the axis coupling.. This means that if immediately after the activation of an axis coupling the command positions are requested, the command position according to the mechanical axis position is returned.

With parameter P-AXIS-00460 the axis positions are considered as absolute coordinates. This means the mapping is calculated as if the axes were coupled at position 0 for the master as well as for the slave axes.

Example:

At position X=40 mm and X1=50 mm the X1 axis is coupled each with a coupling factor of 1:1 to the X-axis and to itself.

When P-AXIS-00460 is not set, the returned position for axis X1 is X1 = 50 mm on receipt of a command position request directly after activation of a coupling

When P-AXIS-00460 is set, the returned axis position for the X1 axis is X1 = 10 mm.

Parameter | kenngr.recalc_input_position_absolute
Data type | BOOLEAN
Data range | 0: Forward mapping relative to activation position (default). 1: Forward mapping with absolute positions.
Axis types | T, R, S
Dimension | T: ---- | R,S: ----
Default value | 0
Drive types | ----
Remarks | This parameter is only effective for axis couplings that are activated via the HLI. This parameter is only practical for use with axes that deliver an absolute position.