# Description

P-AXIS-00328 | Enabling of distance control (spindle with touch probe) |
Description | The distance control for a spindle with touch probe is enabled with this parameter. The activation is done by a special command in the NC program [PROG//section 'Distance controlled spindles']. |
Parameter | lr_param.distance_control_on
Data type | BOOLEAN
Data range | 0/1
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | 0
drive types. | SERCOS, Profidrive, CANopen
Remarks |

P-AXIS-00413 | Filtering of sensor values
Description | Sensor values may be noisy. To keep excitation of the machine low, the setpoints for distance control can be smoothed by a filter. The parameter specified the number of values that are used for filtering.
Parameter | kenngr.distc.n_cycles
Data type | SGN32
Data range | 0 ≤ n_cycles < 100
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | 4
drive types. | SERCOS, Profidrive, CANopen
Remarks |

P-AXIS-00414 | Maximum position offset
Description | The correction value of the axis that was calculated via distance control may not exceed this machine data item. An error message is issued if this value is exceeded. The correction value is limited.
Parameter | kenngr.distc.max_deviation
Data type | SGN32
Data range | 0 ≤ max_deviation < MAX(SGN32)
Axis types | T, R
Dimension | T: 0.1µm | R: 0.0001 °
Default value | 50000
drive types. | SERCOS, Profidrive, CANopen
Remarks |

P-AXIS-00415 | Maximum velocity
Description | The parameter defines the maximum speed at which a position offset is cleared. Distance compensation is dynamically limited to maximum speed to limit any resulting excitation.
Parameter | kenngr.distc.v_max
Data type | SGN32
Data range | 0 ≤ v_max < MAX(SGN32)
Axis types | T, R
Dimension | T: 0.001 mm/s | R: 0,001°/s
Default value | 5000
Drive types | SERCOS, Profidrive, CANopen
Remarks |

P-AXIS-00416 | Maximum acceleration
Description | The parameter defines the maximum acceleration with which a position offset is extended. Correction of the distance is limited dynamically with respect to the maximum acceleration to limit the resulting excitation. If no acceleration is specified, the maximum axis acceleration is used automatically (see P-AXIS-00008).
Parameter | kenngr.distc.a_max
Data type | SGN32
Data range | 0 ≤ a_max < MAX(SGN32)
Axis types | T, R
Dimension | T: 1 mm/s² | R: 1°/s²
Default value | 0
drive types. | SERCOS, Profidrive, CANopen
Remarks | Then this parameter is 0, the maximum axis acceleration P-AXIS-00008 is used.

P-AXIS-00417 | Maximum permissible change speed of measured distance
Description | The parameter defines the maximum permissible change in speed of the measured distance within one cycle. After activation of distance control, the sensor’s actual values are monitored for change. When the maximum permissible change speed is exceeded, the error message ID 70329 is output. This detects problems with actual value detection.
Parameter | kenngr.distc.max_act_value_change
Data type | SGN32
Data range | 0 ≤ max_act_value_change < MAX(SGN32)
Axis types | T, R
Dimension | T: µm/s | R: 0.0001°/s
Default value | 5000
drive types. | SERCOS, Profidrive, CANopen
Remarks |

P-AXIS-00418 | Reference point offset for measuring system
Description | The value range of the sensor measuring system can be moved by an offset via this machine data item. This is necessary in the case of absolute position sensors, for example, to define the reference point, i.e. the sensor position that is adjusted if the spindle touches the ideal workpiece surface.
Parameter | kenngr.distc.ref_offset
Data type | SGN32
Data range | MIN(SGN32) ≤ ref_offset < MAX(SGN32)
Axis types | T, R
Dimension | T: 0.1µm | R: 0.0001 °
Default value | 0 (No offset)
Drive types | SERCOS, Profidrive, CANopen
Remarks |

P-AXIS-00419 | Upper limit for measuring system
Description | The following parameter defines the upper limit of the sensor. An error message is generated if it is exceeded while distance control is active.
Parameter | kenngr.distc.max_pos
Data type | SGN32
Data range | 0 ≤ max_pos < MAX(SGN32)
Axis types | T, R
Dimension | T: 0.1µm | R: 0.0001 °
Default value | 50000
drive types. | SERCOS, Profidrive, CANopen
Remarks |

P-AXIS-00420 | Lower limit for measuring system
Description | The following value defines the lower limit of the sensor. An error message is generated if it is exceeded while distance control is active.
Parameter | kenngr.distc.min_pos
Data type | SGN32
Data range | 0 ≤ min_pos < MAX(SGN32)
Axis types | T, R
Dimension | T: 0.1µm | R: 0.0001 °
Default value | -50000
drive types. | SERCOS, Profidrive, CANopen
Remarks |

P-AXIS-00421 | Tolerance band for limits
Description | This parameter defines a minimum distance from the minimum and maximum sensor positions. If this distance is undershot, the CNC generates the error messages ID 70330 or ID 70576. If the tolerance band is specified by zero, the limits of the minimum and maximum sensor positions from the axis parameters P-AXIS-00419 and P-AXIS-00420 have a direct effect.
Parameter | kenngr.distc.tolerance
Data type | SGN32
Data range | 0 ≤ tolerance < MAX(SGN32)
Axis types | T, R
Dimension | T: 0.1µm | R: 0.0001 °
Default value | 0
drive types. | SERCOS, Profidrive, CANopen
Remarks |

P-AXIS-00428 | Consideration of distance control in software limit switch monitoring
Description | This parameter defines whether the calculated distance control offset is included in the software limit switch monitor (see [FCT-A2]).
Parameter | kenngr.distc.check_sw_limit_switch
Data type | BOOLEAN
Data range | 0: Offset of distance control is not considered in software limit switch monitoring (Standard). 1: Offset of distance control is considered in software limit switch monitoring.
Axis types | T, R, S
Dimension | T: ---- | R,S: ----
Default value | 0
drive types. | SERCOS, Profidrive, CANopen
Remarks |

P-AXIS-00500 | Option: Coupling of distance sensor and motor encoder
Description | As an extension, both the distance sensor and the Z actual value sensor can be used. The inverse coupling of the two sensors can reduce an oscillation tendency.
Parameter | kenngr.distc.mode_dist_use_both_encoder
Data type | BOOLEAN
Data range | 0: No coupling 1: Coupling of motor encoder and distance sensor active
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | 0
drive types. | SERCOS, Profidrive, CANopen
Remarks |

P-AXIS-00501 | Option: Adaptive weighting of acceleration
Description | To reduce a possible oscillation the acceleration can be reduced for small deviations.
Parameter | kenngr.distc.use_adaptive_acceleration
Data type | BOOLEAN
Data range | 0: No adaptive weighting of acceleration 1: Adaptive weighting of acceleration active
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | 0
drive types. | SERCOS, Profidrive, CANopen
Remarks | In addition the following limits for acceleration and distance error must be configured: P-AXIS-00502 or P-AXIS-00416 and P-AXIS-00504 or P-AXIS-00505

View Option: Adaptive acceleration weighting

P-AXIS-00502 | Minimum acceleration
Description | The parameter defines the minimal acceleration of distance control.
Parameter | kenngr.distc.a_min
Data type | UNS32
Data range | 1 ... MAX (UNS32)
Axis types | T, R
Dimension | T: mm/s² | R: mm/s²
Default value | 500
drive types. | SERCOS, Profidrive, CANopen
Remarks | .

P-AXIS-00504 | Minimum distance error
Description | The parameter defines the minimum distance error for distance control up to which minimum acceleration (P-AXIS-00502) is used.
Parameter | kenngr.distc.dist_error_a_min
Data type | UNS32
Data range | 0 ≤ P-AXIS-00504 < MAX(UNS32)
Axis types | T, R
Dimension | T: 0.1µm | R: 0.0001 °
Default value | 1000
Drive types | SERCOS, Profidrive, CANopen
Remarks |

P-AXIS-00505 | Maximum distance error
Description | The parameter defines the maximum distance error for distance control up to which maximum acceleration (P-AXIS-00416) is used.
Parameter | kenngr.distc.dist_error_a_max
Data type | UNS32
Data range | 0 ≤ P-AXIS-00505 < MAX(UNS32)
Axis types | T, R
Dimension | T: 0.1µm | R: 0.0001 °
Default value | 5000
Drive types | SERCOS, Profidrive, CANopen
Remarks |

P-AXIS-00507 | Order of the filter
Description | The filter's order describes its behaviour with regard to the drop in the frequency response. The following applies: Frequency drop = - P-AXIS-00507 * 20 dB/decade
Parameter | kenngr.distc.low_pass_filter_order
Data type | UNS32
Data range | 0 … 6
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | 4
drive types. | SERCOS, Profidrive, CANopen
Remarks |

P-AXIS-00508 | Characteristic frequency of a filter
Description | The parameter defines the value of a filter's characteristic frequency.
Parameter | kenngr.distc.low_pass_filter_fg_f0
Data type | REAL64
Data range | 0 ≤ low_pass_filter_fg_f0 < MAX(REAL64)
Axis types | T, R
Dimension | T: Hz | R: Hz
Default value | 25
drive types. | SERCOS, Profidrive, CANopen
Remarks |

P-AXIS-00509 | Option: Dead time reduction
Description | The dead time of distance control can be reduced by an optimized schedule of the CNC.
Parameter | kenngr.distc.optimized_scheduling
Data type | BOOLEAN
Data range | 0: Without optimized scheduling 1: Optimized scheduling active
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | 0
drive types. | SERCOS, Profidrive, CANopen
Remarks |

P-AXIS-00533 | Weighting factor for velocity of lowering movement
Description | This parameter weights the velocity (see P-AXIS-00415) of the lowering movement (towards the workpiece). This can be useful since the lifting movement is normally highly dynamic in order to avoid an obstacle or elevation quickly. With the weighting factor it is possible to use a reduced velocity for the lowering movement towards the workpiece.
Parameter | kenngr.distc.v_weight_down
Data type | UNS32
Data range | 0 ≤ v_weight_down < 2000
Axis types | T, R
Dimension | T: 0.1% | R: 0.1%
Default value | 0 *
Drive types | SERCOS, Profidrive, CANopen
Remarks | * The weighting is deactivated, lifting and lowering movement use the identical velocity P-AXIS-00415. This parameter is available from CNC version V2.11.2807.13 onwards.

P-AXIS-00534 | Weighting factor for acceleration of lowering movement
Description | This parameter weights the velocity (see P-AXIS-00416) of the lowering movement (towards the workpiece). This can be useful since the lifting movement is normally highly dynamic in order to avoid an obstacle or elevation quickly. With the weighting factor it is possible to use a reduced acceleration for the lowering movement towards the workpiece.
Parameter | kenngr.distc.a_weight_down
Data type | UNS32
Data range | 0 ≤ a_weight_down < 2000
Axis types | T, R
Dimension | T: 0.1% | R: 0.1%
Default value | 0 *
Drive types | SERCOS, Profidrive, CANopen
Remarks | * The weighting is deactivated, lifting and lowering movement use the identical acceleration P-AXIS-00416. This parameter is available from CNC version V2.11.2807.13 onwards.

P-AXIS-00422 | Numerator distance resolution of the additive sensor measuring system
Description | The distance resolution of the sensor measuring system is specified as the quotient P-AXIS-00423 in the dimension [increments/0.1 µm] for translatory axes or [increments/10^-4°] for rotary axes. The number of sensor increments must be specified in P-AXIS-00422.
Parameter | lr_hw[i].encoder_resolution_num
Data type | UNS32
Data range | 0 < encoder_resolution_num < MAX(UNS32)
Axis types | T, R, S
Dimension | T: increments | R,S: increments
Default value | 1
Drive types | ----
Remarks | This entry is valid for 'lr_hw[i].*' with i ≥ 1! The resolution of the motor sensor 'lr_hw[0].*' is defined by P-AXIS-00233 and P-AXIS-00234.

P-AXIS-00423 | Denominator distance resolution of the additive sensor measuring system
Description | The distance resolution of the sensor measuring system is specified as the quotient P-AXIS-00422 / P-AXIS-00423 in the dimension [increments/0.1 µm] for translatory axes or [increments/10^-4°] for rotary axes. The amount of the travel range must be specified in this parameter.
Parameter | lr_hw[i].encoder_resolution_denom
Data type | UNS32
Data range | 0 ≤ encoder_resolution_denom < MAX(UNS32)
Axis types | T, R, S
Dimension | T: 0.1 µm | R,S: 0.0001°
Default value | 1
Drive types | ----
Remarks | This entry is valid for 'lr_hw[i].*' with i ≥ 1! The resolution of the motor sensor 'lr_hw[0].*' is defined by P-AXIS-00233 and P-AXIS-00234.

P-AXIS-00230 | Sign reversal of actual value
Description | This parameter defines the sign reversal of the actual value.
Parameter | lr_hw[i].vz_istw
Data type | BOOLEAN
Data range | 0/1
Axis types | T, R, S
Dimension | T: ---- | R,S: ----
Default value | 0
Drive types | ----
Remarks | These entries are not taken over when the axis parameters list is updated. Updates only become effective when the controller is rebooted.

P-AXIS-00424 | Handling of the additive sensor values
Description | This parameter defines whether the sensor positions are to be considered as linear or modulo values. By default, it can be handled according to the axis type or an individual default can be defined. When sensor values are handled according to the set axis type (see P-AXIS-00018), values are considered linear for the TRANSLATOR axis type, while modulo handling applies to the ROTATOR axis type.
Parameter | lr_hw[i].mode_act_pos
Data type | UNS16
Data range | 0, 1, 2 where: 0: depending on axis type (default) 1 : linear 2 : modulo
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | 0
Drive types | ----
Remarks | This entry is valid for 'lr_hw[i].*' with i ≥ 1! The setting of the sensor value range for the motor sensor 'lr_hw[0].*' is defined by P-AXIS-00122.

P-AXIS-00759 | Weighting the distance control output values
Description | The parameter weights the cyclic output value of the distance control. This may affect the distance control dynamics. For kp values less than 1.0, the distance control dynamics are reduced; for kp value greater than 1.0, the dynamics are increased.
Parameter | kenngr.distc.kp
Data type | REAL64
Data range | 0.0 < kp <= 2.0
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | 1.0
drive types. | SERCOS, Profidrive, CANopen
Remarks | A kp factor less than 1.0 reduces a possible distance control oscillation and steadies the control in the event of minor distance errors. This parameter is available as of CNC Build V2.11.2809.06 or V3.1.3079.06.

P-AXIS-00764 | Integral (I) action time of the PID controller
Description | This parameter weights the I component of the PID controller. The integral action time defines the time after which the P and I components of the manipulated variable are equal. A large integral action time produces greater control stability. The shorter the integration action time, the greater the I component and the faster the control.

Disable the I component by i_tn = 0.

Parameter | kenngr.distc.i_tn
Data type | REAL64
Data range | 0.0 <= i_tn <= 50.0
Axis types | T, R
Dimension | T: s | R: s
Default value | 0.0
drive types. | SERCOS, Profidrive, CANopen
Remarks | To begin with, it is advisable to select a high initial value for the integral action time setting (e.g. 5) to avoid instability in the control loop. You can then reduce the integral action time step by step to obtain the effect you require. If there are no permanent control deviations, do not use the I component at first.

This parameter is available as from Build 2809.06 or 3079.06.

P-AXIS-00765 | Derivative (D) action time of the PID controller
Description | This parameter weights the D component of the PID controller. The derivative action time defines the time after which the P and D components of the manipulated variable are equal. The derivative action time stabilises controller behaviour and reduces oscillations. The larger the derivative action time, the stronger the D component. Disable the D component by d_tv=0.
Parameter | kenngr.distc.d_tv
Data type | REAL64
Data range | 0.0 <= d_tv <= 2.0
Axis types | T, R
Dimension | T: s | R: s
Default value | 0.0
drive types. | SERCOS, Profidrive, CANopen
Remarks | To begin with, it is advisable to select a low initial value for the derivative action time setting to avoid instability in the control loop (e.g.: 0.01). You can then reduce the derivative action time step by step to obtain the effect you require.

This parameter is available as from Build 2809.06 or 3079.06.

P-AXIS-00782 | Filter type for smoothing sensor values
Description | In some cases, the sensor values are noisy. The oscillation tendency can be possibly suppressed by using a suitable filter . The following filter types can be selected for distance control:

- DEFAULT: Moving average filter where P-AXIS-00413 = 4
- MOVING_AVERAGE: Moving average filter
- LOWPASS Low-pass filter
- KALMAN_MA: Kalman filter with prediction from average filter
- EXPO_MEAN: Exponential weighted average filter
- KALMAN_EXPO: Kalman filter with prediction from exponentially weighted average filter

Parameter | kenngr.distc.filter_type
Data type | STRING
Data range | DEFAULT MOVING_AVERAGE LOWPASS KALMAN_MA EXPO_MEAN

KALMAN_EXPO

Axis types | T, R
Dimension | T: ---- | R: ----
Default value | DEFAULT
Drive types | SERCOS, Profidrive, CANopen
Remarks | The following filter parameters are still required for each of the filter types::

- MOVING_AVERAGE: P-AXIS-00413
- LOWPASS: P-AXIS-00507, P-AXIS-00508 (As of v3.1.3079.21 this setting replace the parameter P-AXIS-00506)
- KALMAN_MA: P-AXIS-00413, P-AXIS-00783
- EXPO_MEAN: P-AXIS-00413, P-AXIS-00784
- KALMAN_EXPO: P-AXIS-00413, P-AXIS-00784, P-AXIS-00783

P-AXIS-00783 | Uncertainty of measurement values
Description | The parameter indicates the degree of deviation of measurement values from actual values. The higher this value, the better the filter effect. However, any overshoots are amplified.
Parameter | kenngr.distc.kalman_sigma
Data type | REAL64
Data range | 1.0 ≤ P-AXIS-00783 ≤ 10000.0
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | 4
Drive types | SERCOS, Profidrive, CANopen
Remarks |

P-AXIS-00784 | Smoothing factor
Description | The parameter indicates the weighting of the current measurement value. Example: At a smoothing factor of 0.5, 50% of the current value is included in the average value.
Parameter | kenngr.distc.smoothing_factor
Data type | REAL64
Data range | 0 < P-AXIS-00784 ≤ 1.0
Axis types | T, R
Dimension | T: ---- | R: ----
Default value | 0.7
Drive types | SERCOS, Profidrive, CANopen
Remarks |