Parameterisation example

This section lists the key parameters in the axis and channel lists for the application example.

The required parameters of the axes concerned are listed below: The only thing you should make sure about is that the axes X, Y, Z and C are identical to the robot axes. In this example, the linear conveyor is controlled and the current workpiece is measured directly via the drive interface. This means that no PLC code is required in this example.

Axis 1

kopf.log_achs_name                   X

kopf.achs_nr                         1

Axis 2

kopf.log_achs_name                   Y

kopf.achs_nr                         2

Axis 3

kopf.log_achs_name                   Z

kopf.achs_nr                         3

Axis 4

kopf.log_achs_name                   C

kopf.achs_nr                         4

Spindle

kopf.log_achs_name                   S1

kenngr.achs_typ                      4 ( type == 4 spindle

kenngr.messachse                     1

kenngr.measure.signal                DRIVE_TYPE_DEFAULT

conv_sync.is_master                  1

conv_sync.enable_filter              1

conv_sync.type_pos_filter            1

conv_sync.order_pos_filter           4

conv_sync.order_v_filter             10

conv_sync.order_post_v_filter        6

conv_sync.order_v_filter_dyn         10

conv_sync.delay_time                 17455

The required entries in the channel parameter list are as follows:

configuration.interpolator.function  FCT_DLM ( P-CHAN-00650

spdl_anzahl                          1

#

main_spindle_ax_nr                   5

main_spindle_name                    S1

#

trafo[0].id                          37

trafo[0].param[0]                    0

trafo[0].param[1]                    0

trafo[0].param[2]                    0

trafo[0].param[4]                    2000000

trafo[0].param[3]                    480000

trafo[0].param[5]                    10500000

trafo[0].param[6]                    4655440

trafo[0].param[7]                    0

trafo[0].param[8]                    0

trafo[0].param[9]                    0

trafo[0].param[10]                   -1800000

trafo[0].param[11]                   1800000

trafo[0].param[12]                   0

#

conveyor_sync.log_number_master      5

conveyor_sync.move_direction         0

conveyor_sync.x_virtual              0

conveyor_sync.sync_in_tolerance      1.0e+02

conveyor_sync.hold_limit_vel_factor  950

conveyor_sync.hold_limit_tolerance   5.0e+04

conveyor_sync.cart_t0_shift_x        0

conveyor_sync.cart_t0_shift_y        0

conveyor_sync.cart_t0_shift_z        0

conveyor_sync.cart_t0_rot_a          0.0

conveyor_sync.cart_t0_rot_b          0.0

conveyor_sync.cart_t0_rot_c          0.0

conveyor_sync.pos_limit              0

conveyor_sync.cart_swe_pos_x         5000000

conveyor_sync.cart_swe_pos_y         5000000

conveyor_sync.cart_swe_pos_z         5000000

conveyor_sync.cart_swe_neg_x         -5000000

conveyor_sync.cart_swe_neg_y         -5000000

conveyor_sync.cart_swe_neg_z         -5000000