Select specific device-specific procedures for drive controllers (P-AXIS-00536)

P-AXIS-00536

Select specific device-specific procedures for drive controllers

Description

Many drive controllers do not always conform completely to the interface specifications. This parameter in conjunction with P-AXIS-00535 enables manufacturer and device-specific special procedures to operate the drive controller on the CNC. The special procedures to be applied are specified by a bit field.

Parameter

kenngr.device_id

Data type

UNS32

Data range

Bit:

Function

0x4:

Drive type CANopen: According to CiA DS402 the size of CANopen objects 0x6060 (Modes of operation) and 0x6061 (Modes of operation display) is 1 byte. This bit setting indicates that these objects are handled as 2-byte values.

0x8:

Drive type CANopen: In its basic setting, the CNC checks whether bit 0x400 (Target reached) is set in the drive status word when a drive-controlled homing is started. If drives do not supply this status bit, the check can be suppressed by setting bit 0x8.

0x20:

Drive type CANopen: If a drive error occurs during the drive-controlled homing, the CNC checks at reset in its basic setting whether bit 0x0400 (Target reached) is set in the drive status word. If the drive does not supply this bit, the check can be suppressed by setting bit 0x20.

0x40:

Drive type CANopen: If a drive error occurs during the drive-controlled homing, the operation mode active in the drive before the start of homing is restored at a CNC reset. A drive reset can be triggered before resetting the operation mode by setting bit 0x40. This is necessary if the drive does not permit an operation mode change in error state.

0x400:

Drive type CANopen: When the controller is started, a check is made in the basic setting whether CANopen drives have reached the “Switch on disabled” state before values from the fieldbus are read. This check can be disabled by setting bit 0x400 so that an evaluation of the actual values can be started in the initial state “Not ready to switch on”. It must be ensured that the drive supplies valid actual values in this state.

0x800:

Drive type CANopen: In the basic setting, the actual drive position must be known before switching to the “Ready to switch on” state. If the drive fails to supply any valid actual position values in the “Switch on disabled” basic setting, this check can be disabled by setting bit 0x800.

0x1000:

All drives: If no valid actual values were transferred after a fieldbus start (e.g. WcState = 0) and drive initialisation (valid status word), the evaluation of the actual drive position in the CNC can be delayed by setting bit 0x1000.
The number of delay cycles is specified in the parameter P-AXIS-00567 lr_hw[<i>].delay_tracking.

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

0

drive types.

See bit description

Remarks