Axis parameters
P-AXIS-00014 | Identification code for absolute path measurement system | |
Description | If an absolute path measurement system is used, then the parameter must be set to 1. So no homing is necessary. | |
Parameter | kenngr.abs_pos_gueltig | |
Data type | BOOLEAN | |
Data range | 0/1 | |
Axis types | T, R, S | |
Dimension | T: ---- | R,S: ---- |
Default value | 0 | |
Drive types | Simulation, SERCOS, CANopen | |
Remarks |
| |
P-AXIS-00137 | Relative negative offset limit in manual mode | |
Description | This parameter defines the relative negative offset limit. The relative positive offset limit is defined in P-AXIS-00138. | |
Parameter | handbetrieb.offsetgrenze_neg | |
Data type | SGN32 | |
Data range | MIN(SGN32) ≤ offsetgrenze_neg ≤ 0 | |
Axis types | T, R | |
Dimension | T: 0.1µm | R: 0.0001 ° |
Default value | -1000000 | |
Drive types | ---- | |
Remarks | If the two relative offset limits
are assigned the value 0, offset monitoring is disabled. | |
P-AXIS-00138 | Relative positive offset limit in manual mode | |
Description | This parameter defines the relative positive offset limit. The relative negative offset limit is defined in P-AXIS-00137. | |
Parameter | handbetrieb.offsetgrenze_pos | |
Data type | SGN32 | |
Data range | 0 ≤ offsetgrenze_pos ≤ MAX(SGN32) | |
Axis types | T, R | |
Dimension | T: 0.1µm | R: 0.0001 ° |
Default value | 1000000 | |
Drive types | ---- | |
Remarks | If the two relative offset limits
are assigned the value 0, offset monitoring is disabled. | |
P-AXIS-00177 | Negative software limit switch | |
Description | The parameter defines the possible traverse range in the negative direction (negative software limit switch position). The programmed command positions are always checked on 'kenngr.swe_neg', the actual positions on 'kenngr.swe_neg - kenngr.swe_toleranz'. | |
Parameter | kenngr.swe_neg | |
Data type | SGN32 | |
Data range | MIN(SGN32) < swe_neg < P-AXIS-00178 | |
Axis types | T, R | |
Dimension | T: 0.1µm | R: 0.0001 ° |
Default value | -100000000 | |
drive types. | ---- | |
Remarks | The value of the parameter is adopted on reset, mode change and axis replacement from the axis record. | |
P-AXIS-00178 | Positive software limit switch | |
Description | The parameter defines the possible traverse range in the positive direction (positive software limit switch position). The programmed command positions are always checked on 'kenngr.swe_pos', the actual positions on 'kenngr.swe_pos + kenngr.swe_toleranz'. | |
Parameter | kenngr.swe_pos | |
Data type | SGN32 | |
Data range | P-AXIS-00177 < swe_pos < MAX(SGN32) | |
Axis types | T, R | |
Dimension | T: 0.1µm | R,S: 0.0001 ° |
Default value | 100000000 | |
drive types. | ---- | |
Remarks | The value of the parameter is adopted on reset, mode change and axis replacement from the axis record. | |
P-AXIS-00179 | Tolerance range for software limit switch | |
Description | In order to prevent the actual value software limit switch monitoring in the position controller from responding when there is a slight oscillation of an axis (e.g. programmed command position = position of positive software limit switch, actual position > position of positive software limit switch), the software limit switch range in the positive and the negative directions is extended respectively by the parameter. The actual positions must lie within this extended range. | |
Parameter | kenngr.swe_toleranz | |
Data type | UNS32 | |
Data range | 0 ≤ P-AXIS-00179 ≤ MAX(UNS32) | |
Axis types | T, R | |
Dimension | T: 0.1µm | R: 0.0001 ° |
Default value | 1000 | |
Drive types | Simulation, Conventional, Terminal, Lightbus, Profidrive | |
Remarks |
| |
P-AXIS-00520 | Activation of limit switch monitoring of the positive limit switch. | |
Description | Command position related software limit switch monitoring is executed during path preparation. This ensures that a programmed movement that crosses a software limit switch is not executed. In certain situations the command position is influenced by circumstances that are not known in the path preparation process and can thus not be detected in the software limit switch operation of the path planning process. Examples for this are the use of the external command position interface on the HLI or axis couplings via the HLI (see HLI or [FCT-A9]). With both these parameters (P-AXIS-00520 and P-AXIS-00521), the position command values of the axis can be monitored in the position controller. When monitoring is active, a check is made in every interpolation cycle that the axis can stop from their current velocity before the software limit switch when it is decelerated with P-AXIS-00003. The software limits used are the actual values of the software limit switches without considering the software limit switch tolerance (P-AXIS-00179). If the software limit switch is crossed, error message ID 70195 is output and the axis is stopped. | |
Parameter | lr_param.check_pos_command_limit | |
Data type | BOOLEAN | |
Data range | 0/1 | |
Axis types | T | |
Dimension | T: ---- |
|
Default value | 0 | |
Drive types | ---- | |
Remarks |
| |
P-AXIS-00521 | Activation of limit switch monitoring of the negative limit switch. | |
Description | Command position related software limit switch monitoring is executed during path preparation. This ensures that a programmed movement that crosses a software limit switch is not executed. In certain situations the command position is influenced by circumstances that are not known in the path preparation process and can thus not be detected in the software limit switch operation of the path planning process. Examples of this are the use of the external command position interface on the HLI or axis couplings via the HLI (see HLI or [FCT-A9]). With both these parameters (P-AXIS-00520 and P-AXIS-00521), the position command values of the axis can be monitored in the position controller. When monitoring is active, a check is made in every interpolation cycle that the axis can stop from their current velocity before the software limit switch when it is decelerated with P-AXIS-00003. The software limits used are the actual values of the software limit switches without considering the software limit switch tolerance (P-AXIS-00179). If the software limit switch is crossed, error message ID 70195 is output and the axis is stopped. | |
Parameter | lr_param.check_neg_command_limit | |
Data type | BOOLEAN | |
Data range | 0/1 | |
Axis types | T | |
Dimension | T: ---- |
|
Default value | 0 | |
Drive types | ---- | |
Remarks |
| |
P-AXIS-00554 | Behaviour of software limit switches | ||
Description | The axis parameter P-AXIS-00554 can influence the error response of the NC kernel if software limit switches are crossed. The software limit switch monitor can output only warnings instead of errors. | ||
Parameter | kenngr.swe_behaviour | ||
Data type | STRING | ||
Data range | ERROR | Crossing software limit switches results in an error already in path preparation. | |
ERROR_LR | Crossing software limit switches results in a warning during path preparation. An error is output in the position controller when software limit switches are crossed and this triggers the associated error response. | ||
WARNING | When software limit switches are crossed, only warnings are output in path preparation and in the position controller. | ||
Axis types | T, R | ||
Dimension | T: ---- | R: ---- | |
Default value | ERROR | ||
drive types. | ---- | ||
Remarks | Parameter available as of V3.01.3066 | ||
P-AXIS-00705 | Switching software limit monitoring off / on | |
Description | By default, software limit monitoring is active for translatory axes after completion of homing. The same applies to a rotary axis if the bit ACHSMODE_MODULO is not set in the parameter axis mode (P-AXIS-00015) . This parameter switches the software limit switch monitor on or off independent of the axis type (P-AXIS-00018) and axis mode . The software limit switches are defined by the parameters P-AXIS-00177 and P-AXIS-00178 . | |
Parameter | kenngr.swe_check | |
Data type | SGN08 | |
Data range | -1: The effectiveness of the software limit switch monitor is dependent on the axis type and axis mode (default) 0 : Switch off software limit monitoring 1 : Switch on software limit monitoring | |
Axis types | T, R | |
Dimension | T: ---- | R: ---- |
Default value | -1 | |
Drive types | ---- | |
Remarks | Parameter available as of V3.1.3066 | |