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.dist_ctrl[i].n_cycles (where i=0)

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

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.n_cycles

continues to be available.

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.dist_ctrl[i].max_deviation (where i=0)

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

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.max_deviation

continues to be available.

P-AXIS-00415

Maximum velocity

Description

The parameter defines the maximum velocity at which a position offset is cleared.
Distance compensation is dynamically limited to maximum velocity to limit any resulting excitation.

Parameter

kenngr.dist_ctrl[i].v_max (where i=0)

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

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.v_max

continues to be available.

P-AXIS-00416

Maximum acceleration

Description

The parameter defines the maximum acceleration at which a position offset is executed. Correction of the distance is limited dynamically with respect to 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.dist_ctrl[i].a_max (where i=0)

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

When this parameter is 0, the maximum axis acceleration P-AXIS-00008 is used.

 

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.a_max

continues to be available.

P-AXIS-00417

Maximum permissible change speed of measured distance

Description

The parameter defines the maximum permissible change in velocity of the measured distance. When distance control is activated, the sensor actual values are monitored for their change velocity.
If the maximum permissible change in velocity is exceeded, the error message ID 70329 is output. This detects problems with actual value detection.

Parameter

kenngr.dist_ctrl[i].max_act_value_change (where i=0)

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

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.max_act_value_change

continues to be available.

P-AXIS-00418

Reference point offset for measuring system

Description

The value range of the sensor measuring system can be moved by an offset using this machine data item. This is necessary in the case of absolute 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.dist_ctrl[i].ref_offset (where i=0)

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

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.ref_offset

continues to be available.

P-AXIS-00419

Upper limit for measuring system

Description

The parameter defines the upper limit of the sensor. An error message is output if this limit is exceeded when distance control is active.

Parameter

kenngr.dist_ctrl[i].max_pos (where i=0)

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

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.max_pos

continues to be available.

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.dist_ctrl[i].min_pos (where i=0)

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

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.min_pos

continues to be available.

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.dist_ctrl[i].tolerance (where i=0)

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

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameters

kenngr.distc.tolerance and

kenngr.distc.toleranz

continue to be available.

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.dist_ctrl[i].check_sw_limit_switch (where i=0)

Data type

BOOLEAN

Data range

0: Offset of distance control is not considered in software limit switch monitoring (default).

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

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.check_sw_limit_switch

continues to be available.

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.dist_ctrl[i].mode_dist_use_both_encoder (where i=0)

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

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.mode_dist_use_both_encoder

continues to be available.

P-AXIS-00501

Option: Adaptive weighting of acceleration

Description

To reduce a possible oscillation the acceleration can be reduced for small deviations.

Parameter

kenngr.dist_ctrl[i].use_adaptive_acceleration (where i=0)

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

 

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.use_adaptive_acceleration

continues to be available.

View Option: Adaptive acceleration weighting
View Option: Adaptive acceleration weighting

P-AXIS-00502

Minimum acceleration

Description

The parameter defines the minimum acceleration of distance control.

Parameter

kenngr.dist_ctrl[i].a_min (where i=0)

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

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.a_min

continues to be available.

P-AXIS-00504

Minimum distance error

Description

The parameter defines the minimum distance error for distance control up to which the minimum acceleration (P-AXIS-00502) is used.

Parameter

kenngr.dist_ctrl[i].dist_error_a_min (where i=0)

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

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.dist_error_a_min

continues to be available.

P-AXIS-00505

Maximum distance error

Description

The parameter defines the maximum distance error for distance control from which the maximum acceleration (P-AXIS-00416) is used.

Parameter

kenngr.dist_ctrl[i].dist_error_a_max (where i=0)

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

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.dist_error_a_max

continues to be available.

P-AXIS-00507

Order of the filter

Description

The filter order describes its behaviour in the event of a drop in frequency response.

The following applies: Frequency drop = - P-AXIS-00507 * 20 dB/decade

Parameter

kenngr.dist_ctrl[i].low_pass_filter_order (where i=0)

Data type

UNS32

Data range

0 … 6

Axis types

T, R

Dimension

T: ----

R: ----

Default value

4

Drive types

SERCOS, Profidrive, CANopen

Remarks

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.low_pass_filter_order

continues to be available.

P-AXIS-00508

Filter cut-off frequency

Description

The parameter defines the value of a filter's characteristic frequency.

Parameter

kenngr.dist_ctrl[i].low_pass_filter_fg_f0 (where i=0)

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

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.low_pass_filter_fg_f0

continues to be available.

P-AXIS-00509

Option: Dead time reduction

Description

The dead time of distance control can be reduced by an optimised schedule of the CNC.

Parameter

kenngr.dist_ctrl[i].optimized_scheduling (where i=0)

Data type

BOOLEAN

Data range

0: Without optimised scheduling

1: Optimised scheduling active

Axis types

T, R

Dimension

T: ----

R: ----

Default value

0

Drive types

SERCOS, Profidrive, CANopen

Remarks

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.optimized_scheduling

continues to be available.

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. Due to the weighting factor, it is possible to use a reduced velocity for (re-)approaching the workpiece.

Parameter

kenngr.distc.dist_ctrl[i].v_weight_down (where i=0)

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 movements use the identical velocity P-AXIS-00415.

 

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.v_weight_down (available as of V2.11.2807.13)

continues to be available.

 

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. Due to the weighting factor, it is possible to use a reduced acceleration for (re-)approaching 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 movements use the identical acceleration P-AXIS-00416.

 

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.a_weight_down (as of V2.11.2807.13)

continues to be available.

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 distance control. This may affect distance control dynamics. For kp values less than 1.0, distance control dynamics are reduced; for kp value greater than 1.0, dynamics are increased.

Parameter

kenngr.dist_ctrl[i].kp (where i=0)

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 reduces a possible distance control oscillation and steadies the control in the event of minor distance errors.

 

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.kp (as of V2.11.2809.06 and V3.1.3079.06

continues to be available.

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.dist_ctrl[i].i_tn (where i=0)

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.

 

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.i_tn (as of V2.11.2809.06 and V3.1.3079.06)

continues to be available.

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.dist_ctrl[i].d_tv (where i=0)

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.

 

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.d_tv (as of V2.11.2809.06 and V3.1.3079.06)

continues to be available.

P-AXIS-00782

Filter type for smoothing sensor data

Description

Sensor values may be noisy. The oscillation tendency can better be suppressed by using a suitable filter . You can select the following filter types for distance control:

  • DEFAULT: Moving averaging filter with P-AXIS-00413 = 4
  • MOVING_AVERAGE: Moving averaging filter
  • LOWPASS: Low-pass filter
  • KALMAN_MA: Kalman filter with prediction from averaging filter
  • EXPO_MEAN: Exponentially weighted averaging filter
  • KALMAN_EXPO: Kalman filter with prediction from exponentially weighted averaging filter

Parameter

kenngr.dist_ctrl[i].filter_type (where i=0)

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

In addition, the following filter parameters are required for each of the filter types::

 

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.filter_type

continues to be available.

P-AXIS-00783

Uncertainty of measured values

Description

The parameter specifies the degree of deviation of the measured value from the actual values.

The higher this value, the better the filter effect. However, possible overshoots are amplified.

Parameter

kenngr.dist_ctrl[i].kalman_sigma (where i=0)

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

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.kalman_sigma

continues to be available.

P-AXIS-00784

Smoothing factor

Description

The parameter specifies the weighting of the current measured value.

Example:

With a smoothing factor of 0.5, the current value is applied to the average value at a rate of 50%.

Parameter

kenngr.dist_ctrl[i].smoothing_factor (where i=0)

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

Available as of Build V3.1.3080.12 or V3.1.3107.44

For compatibility reasons, the parameter

kenngr.distc.smoothing_factor

continues to be available.