# Axis parameters

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-00015 | Axis mode
Description | Axes can be traversed in different operating modes.
Parameter | kenngr.achs_mode
Data type | UNS32
Data range | 0x00000001 - 0x10000000
Axis types | T, R, S
Dimension | T: ---- | R,S: ----
Default value | 0x00000001
Drive types | ----
Remarks |

P-AXIS-00070 | Axis number of master axis
Description | In the axis parameter list of the slave axis the logical number of its master axis is entered. If this parameter is assigned, the master and slave axes are assigned to one another during start-up. This so-called static gantry coupling exists at the position controller level. The slave axis is not known in the channel. A movement is only executed by programming their master axis.
Parameter | kenngr.gantry_ax_nr
Data type | UNS16
Data range | 1 ≤ gantry_ax_nr ≤ MAX (UNS16)
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | 0
Drive types | ----
Remarks | This entry is not adopted when the axis parameter list is updated. Updates only become effective when the controller is rebooted.

P-AXIS-00071 | Non resettable path distance between master and slave axes
Description | Maximum permissible path distance between master and slave gantry axes. Error that cannot be remedied by NC reset.
Parameter | kenngr.gantry_max_diff_reset_locked
Data type | UNS32
Data range | 0 < gantry_max_diff_resetable < gantry_ max_diff_reset_locked < MAX(UNS32)
Axis types | T, R
Dimension | T: 0.1 µm | R: 0.0001°
Default value | 0
Drive types | ----
Remarks |

P-AXIS-00072 | Resettable path distance
Description | Maximum permissible path distance between master and slave gantry axes. Error that can be remedied by NC reset.
Parameter | kenngr.gantry_max_diff_resetable
Data type | UNS32
Data range | 0 < gantry_max_diff_resetable < MAX(UNS32)
Axis types | T, R
Dimension | T: 0.1 µm | R,S: 0.0001°
Default value | 0
Drive types | ----
Remarks |

P-AXIS-00073 | Static offset between master and slave axes
Description | Static difference between the master and slave axes in the event of differences between the master and slave axes. The offset sign results from the calculation instruction: OFFSET = SLAVE - MASTER
Parameter | kenngr.gantry_offset
Data type | SGN32
Data range | MIN(SGN32) < gantry_offset < MAX(UNS3
Axis types | T, R
Dimension | T: 0.1 µm | R: 0.0001°
Default value | 0
Drive types | ----
Remarks |

P-AXIS-00074 | Suppress homing for gantry slave axis
Description | This parameter can suppress the homing of gantry slave axes. When homing of the master axis is completed, the reference positions entered in the axis parameter lists of the slave axes are also adopted and monitoring of the gantry difference is started.
Parameter | kenngr.gantry_slave_no_homing
Data type | BOOLEAN
Data range | 0/1
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | 0
drive types. | ----
Remarks | This parameter is not supported in the case of spindle axes.

P-AXIS-00075 | Velocity of correction for compensation of gantry difference
Description | The parameter defines the velocity at which the axis position of the slave axis is corrected until the distance between master and slave is less than P-AXIS-00073 .
Parameter | kenngr.gantry_vb_korr
Data type | UNS32
Data range | 0 < gantry_vb_korr < P-AXIS-00212
Axis types | T, R
Dimension | T: 1µm/s | R: 0.001°/s
Default value | 0
Drive types | ----
Remarks |

P-AXIS-00249 | Gantry difference monitoring before homing
Description | By default, the position difference between the gantry master and the slave axis is not monitored until both the master and the slave axes have been homed. This parameter activates gantry difference monitoring before homing (gantry_diff_check_without_homing = 1). The parameters P-AXIS-00072 and P-AXIS-00071 are used as limits during monitoring. The offset between master and slave axis at the time of controller start-up is used for position offset instead of P-AXIS-00073 . On completion of homing, the parameter P-AXIS-00073 is used as position offset.
Parameter | kenngr.gantry_diff_check_without_homing
Data type | BOOLEAN
Data range | 0/1
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | 0
Drive types | ----
Remarks |

P-AXIS-00253 | Drive-controlled homing of gantry axis (SERCOS)
Description | With drive-controlled homing (digital drives, SERCOS) the homing procedure is started synchronously for all gantry axes. The user must also ensure that the homing parameter settings are the same for all drives.
Parameter | kenngr.gantry_synchronous_slave_homing
Data type | BOOLEAN
Data range | 0/1
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | 0
Drive types | SERCOS
Remarks | Drive-controlled homing must run identically for both drives (e.g. without cam and distance-coded measurement system). This must be initiated by corresponding parameters. For safety reasons, torque can be reduced during the homing procedure.

P-AXIS-00254 | CNC-controlled error reaction for gantry axes
Description | In case of an error, an intelligent drive executes an error reaction independently in most cases and reports this to the CNC. The CNC can then stop other axes in the gantry system running with an incorrect axis. With gantry axes it is not allowed for one axis in the gantry system to stop independently. For this reason the CNC can execute a controlled stop of the complete gantry system in the event of an axis error. The function must be set for the master and the slave axes. A check is made whether the settings for master and slave axes are identical and as required, they are corrected in the slave axes.
Parameter | kenngr.cnc_controlled_stop_after_error
Data type | BOOLEAN
Data range | 0: Drive-internal error reaction 1: CNC-controlled error reaction
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | 0
Drive types | SERCOS, CANopen
Remarks | In the case of a CNC-controlled error response, the axis is stopped at the specified emergency stop acceleration P-AXIS-00003 (a_emergency). This parameter can be used with SERCOS and CANopen drives. In addition a SERCOS drive must be parameterised so that it does not execute any independent (or only delayed) error response (see EcoDrive P-0-0117).

P-AXIS-00297 | Default name of an axis
Description | The parameter defines the default name of the axis in the system and should therefore be unique system-wide in the same way as the logical axis number. It is used for:

- Name conflicts in connection with extended axis exchange operations [PROG//Section - Axis exchange commands].
- In robotics in connection with the programming of axis-specific movements (P-CHAN-00253).

Besides this, the default name has no meaning because the axis name is defined in the channel configuration (P-CHAN-00006).

Parameter | kopf.log_achs_name
Data type | STRING
Data range | Maximum 16 characters (length of axis designation, application-specific)
Axis types | T, R, S
Dimension | T: ---- | R,S: ----
Default value | X_Achse
Drive types | ----
Remarks | The axis designations must begin with the letters A, B, C, U, V, W, X, Y, Z or Q. After that, all letters and digits are possible. Caution: If the parameter P-CHAN-00253 is set, only the names ‘A1’ and ‘A32’ may be used.

P-AXIS-00704 | Conditions for clearing the gantry difference
Description | This parameter determines the conditions for the clearance of the gantry difference.
Parameter | kenngr.gantry_on_mode
Data type | STRING
Data range | Mode | Meaning
DEFAULT | The gantry difference is cleared at reset or when the control unit 'gantry_on' ([HLI]) is set.
ONLY_CONTROL_UNIT | The gantry difference is only cleared when the drive enables are set, the drive status is 'ready' and the control unit 'gantry_on' is set.
EDGE_TRIGGERED | The gantry difference is cleared on a rising edge of the control unit 'gantry_on'. The behaviour of this setting is equivalent to the behaviour of a set axis parameter P-AXIS-00261.
CONFIG : | Deactivates gantry control and prevents the clearing of a gantry difference.
Axis types | T, R, S
Dimension | T: ---- | R,S: ----
Default value | DEFAULT
Drive types | ----
Remarks | When the axis parameter P-AXIS-00261 is set, only DEFAULT or EDGE_TRIGGERED are used for P-AXIS-00704, otherwise the error message P-ERR-110606 is output. The parameter is available as of V2.11.2034.02.