Description
P-AXIS-00750 | Order of band-pass filter | |
Description | This parameter defines the order of the band-pass filter for all modes (P-AXIS-00753). In addition, this parameter is a value which expresses the fall of frequency response (fall = -order x 20 dB/decade). | |
Parameter | lr_param.improved_position_control.stage[i].filter.order | |
Data type | UNS32 | |
Data range | 1 <= order <= 3 | |
Axis types | T, R, S | |
Dimension | T: —- | R, S: —- |
Default value | 0 | |
Drive types | SERCOS, Profidrive, CANopen | |
Remarks |
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P-AXIS-00751 | Damped frequency | |
Description | The parameter defines the frequency that is to be actively damped by the "Improved Position Control" function. The middle frequency is specified for all modes P-AXIS-00753 for the band-pass frequency. For the “INDIRECT” and SET_POINT modes, the simulation of the mechanical vibration is based on the same frequency. | |
Parameter | lr_param.improved_position_control.stage[i].filter.fg_f0 | |
Data type | REAL64 | |
Data range | 0.0 < fg_f0 <= 500.0 | |
Axis types | T, R, S | |
Dimension | T: Hz | R, S: Hz |
Default value | -1 | |
Drive types | SERCOS, Profidrive, CANopen | |
Remarks | The "Improved Position Control" function achieves the best results when the dominant frequency of the mechanical vibration is precisely met. The measured frequency may deviate from the actual frequency due to measurement inaccuracies. In many cases, the performance of the function can be enhanced by varying the parameter fg_f0 within a narrow range. Parameter available as of CNC Build V3.1.3077.08 and higher | |
P-AXIS-00752 | Quality factor of the band-pass filter | |
Description | Specifies the inverse value of the bandwidth for the band-pass filter for all modes (P-AXIS-00753). P-AXIS-00752 = P-AXIS-00751 / bandwidth | |
Parameter | lr_param.improved_position_control.stage[i].filter.q_factor | |
Data type | REAL64 | |
Data range | 1.0 <= q_factor <= 10.0 | |
Axis types | T, R, S | |
Dimension | T: —- | R, S: —- |
Default value | -1 | |
Drive types | SERCOS, Profidrive, CANopen | |
Remarks | A high filter quality limits the bandwidth of the filtering frequencies. To avoid cutting off any relevant frequencies, it is advisable to raise the filter quality step by step. The filter quality is limited by changing the frequency dependent on machine position and mass inertia. Among other things, a higher filter quality leads to improved damping of the required frequency, whereas a lower quality results in a more robust behaviour of frequency damping. Parameter available as of CNC Build V3.1.3077.08 and higher | |
P-AXIS-00753 | Mode for the "Improved Position Control" function | |
Description | The following modes are provided for the "Improved Position Control" function and they are applicable simultaneously to various stages.
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Parameter | lr_param.improved_position_control.stage[i].mode | |
Data type | UNS32 | |
Data range | 0 - NOT_ACTIVE 1 - DIRECT 2 - INDIRECT 3 - SET_POINT | |
Axis types | T, R, S | |
Dimension | T: —- | R, S: —- |
Default value | 0 | |
Drive types | SERCOS, Profidrive, CANopen | |
Remarks | Parameter available as of CNC Build V3.1.3077.08 and higher | |
P-AXIS-00754 | Weighting factor numerator | |
Description | Weighting factor numerator. The weighting is calculated from P-AXIS-00754 and P-AXIS-00755: Weighting factor = P-AXIS-00754 / P-AXIS-00755 The weighting factor affects the output additive velocity per stage. The weighting factor is limited to a maximum value of 7.0. A weighting factor of <1 reduces the output additive velocity. A weighting factor of >1 increases the output additive velocity. | |
Parameter | lr_param.improved_position_control.stage[i].weight_fact_num | |
Data type | UNS32 | |
Data range | 0 < weight_fact_num < MAX(UNS32) | |
Axis types | T, R, S | |
Dimension | T: —- | R, S: —- |
Default value | 1 | |
Drive types | SERCOS, Profidrive, CANopen | |
Remarks | To ensure the reliable activation of the "Improved Position Control" function, it is advisable to raise the additive velocity slowly via the weighting factor. Parameter available as of CNC Build V3.1.3077.08 and higher | |
P-AXIS-00755 | Weighting factor denominator | |
Description | Weighting factor denominator. The weighting factor is calculated from P-AXIS-00754 and P-AXIS-00755. Weighting factor = P-AXIS-00754 / P-AXIS-00755 The weighting factor affects the output additive velocity per stage. The weighting factor is limited to a maximum value of 7.0. A weighting factor of <1 reduces the output additive velocity; a weighting factor of >1 increases the output additive velocity. | |
Parameter | lr_param.improved_position_control.stage[i].weight_fact_denom | |
Data type | UNS32 | |
Data range | 0 < weight_fact_denom < MAX(UNS32) | |
Axis types | T, R, S | |
Dimension | T: —- | R, S: —- |
Default value | 1 | |
Drive types | SERCOS, Profidrive, CANopen | |
Remarks | To ensure the reliable activation of the Improved Position Control function, it is advisable to raise the additive velocity slowly via the weighting factor. | |
P-AXIS-00756 | Damping the simulated mechanical vibration | |
Description | The parameter specifies the damping of the simulated mechanical vibration for the modes (P-AXIS-00753) INDIRECT and SET_POINT. The parameter has no influence on the DIRECT mode. | |
Parameter | lr_param.improved_position_control.stage[i].filter.damping | |
Data type | REAL64 | |
Data range | 0.0 < damping < 1.0 | |
Axis types | T, R, S | |
Dimension | T: —- | R, S: —- |
Default value | -1 | |
Drive types | SERCOS, Profidrive, CANopen | |
Remarks | The lower the damping, the more the simulation of the mechanical vibration and the higher the specified additive velocity. To ensure the reliable start of the "Improved Position Control" function, it is advisable to decrease damping slowly. Parameter available as of CNC Build V3.1.3077.08 and higher | |
P-AXIS-00757 | Factor for the maximum permissible additive velocity | |
Description | This parameter limits the maximum permissible additive velocity of the "Improved Position Control" function. The additive velocity is limited in proportion to the maximum axis velocity. max. additive velocity = P-AXIS-00757 / 1000 x P-AXIS-00212 If the additive velocity exceeds the calculated value, the limit value continues to be output as the additive velocity. | |
Parameter | lr_param.improved_position_control.v_add_max_fact | |
Data type | UNS16 | |
Data range | 0 <= v_add_max_fact <= 2000 | |
Axis types | T, R, S | |
Dimension | T: 0.1% | R, S: 0.1% |
Default value | 0 | |
Drive types | SERCOS, Profidrive, CANopen | |
Remarks | No warning is output if the maximum velocity is exceeded. Parameter available as of CNC Build V3.1.3077.08 and higher | |
P-AXIS-00758 | Enabling the "Improved Position Control" function | |
Description | This parameter enables or disables the "Improved Position Control" function. | |
Parameter | lr_param.improved_position_control.enable | |
Data type | BOOLEAN | |
Data range | 0: Improved Position Control is not active 1: Improved Position Control is active | |
Axis types | T, R, S | |
Dimension | T: ---- | R, S: ---- |
Default value | 0 | |
Drive types | SERCOS, Profidrive, CANopen | |
Remarks | Parameter available as of CNC Build V3.1.3077.08 and higher | |
P-AXIS-00128 | Adapting the drive command value to the drive format (denominator) | |
Description | The speed setpoint calculated in the position controller must be adapted to the D/A format of the D/A converter. The digital value at the D/A converter input (getriebe[i].multi_gain_z/getriebe[i].mulit_gain_n) must be specified at which the axis travels at the velocity of [1m/min] or at the speed [1000°/min]. Numerator: P-AXIS-00129 | |
Parameter | getriebe[i].multi_gain_n | |
Data type | UNS32 | |
Data range | 1 ≤ multi_gain_n ≤ MAX(UNS32) | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | 1 | |
Drive types | Simulation, Conventional, Terminal, Lightbus, Profidrive | |
Remarks |
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P-AXIS-00129 | Adaptation of command value of drive to the drive format (numerator) | |
Description | The speed setpoint calculated in the position controller must be adapted to the D/A format of the D/A converter. The digital value at the D/A converter input (getriebe[i].multi_gain_z/getriebe[i].mulit_gain_n) must be specified at which the axis travels at the velocity of [1m/min] or at the speed [1000°/min]. Denominator : P-AXIS-00128 | |
Parameter | getriebe[i].multi_gain_z | |
Data type | UNS32 | |
Data range | 1 ≤ multi_gain_z ≤ MAX(UNS32) | |
Axis types | T, R, S | |
Dimension | T: Bit | R,S: Bit |
Default value | 2000 | |
Drive types | Simulation, Conventional, Terminal, Lightbus, Profidrive | |
Remarks |
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P-AXIS-00205 | Normalisation of the velocity (denominator) | |
Description | The conversion factor of the set velocity to drive format is obtained by specifying the value output to the drive and the related path distance covered in the time specified in P-AXIS-00207. This parameter specifies the conversion factor numerator. (P-AXIS-00206 is the numerator) This parameter indicates the path covered in the time specified in P-AXIS-00207, provided the value in P-AXIS-00206 is output to the drive. The path is specified in 1 µm or 0.001°. | |
Parameter | antr.v_reso_denom | |
Data type | UNS32 | |
Data range | 1 ≤ v_reso_denom ≤ MAX(UNS32) | |
Axis types | T, R, S | |
Dimension | T: 1µm | R,S: 0,001° |
Default value | 36 | |
Drive types | All drive types | |
Remarks |
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P-AXIS-00206 | Normalisation of command velocity (numerator) | |
Description | The conversion factor of the command velocity to drive format is defined by specifying the value output to the drive and the related distance covered in the time specified in P-AXIS-00207 . This parameter specifies the conversion factor numerator. (P-AXIS-00205 is the denominator) | |
Parameter | antr.v_reso_num | |
Data type | UNS32 | |
Data range | 0 ≤ v_reso_num ≤ MAX(UNS32) | |
Axis types | T, R, S | |
Dimension | T: increments | R,S: increments |
Default value | 1 | |
Drive types | All drive types | |
Remarks |
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P-AXIS-00207 | Time base for normalisation of velocity | |
Description | The time base for adapting the velocity interface to the unit used in the drive can be specified as value per minute, second or sampling interval. If normalisation per sampling interval is selected, the output value changes proportionally depending on the CNC cycle time at constant velocity. This may be essential depending on the drive. | |
Parameter | antr.v_time_base | |
Data type | UNS16 | |
Data range | 0: per minute 1: per second 2: per sampling interval | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | 0 | |
Drive types | SERCOS | |
Remarks |
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