Axis parameters

P-AXIS-00099

Proportional factor kv for P-positional control

Description

The P position controller has a gain factor kv. . The parameter is only active when the CNC-internal position controller is used. For drive amplifiers with integrated position control the amplification has to be defined inside the drive.

Parameter

getriebe[i].kv

Data type

UNS32

Data range

0 < kv ≤ MAX(UNS32)

Axis types

T, R, S

Dimension

T: 0.01/s

R,S: 0.01/s

Default value

1000

Drive types

Simulation, Conventional, Terminal, Lightbus, Profidrive

Remarks

 

P-AXIS-00167

Factor for dynamic position lag monitoring

Parameter

getriebe[i].slep_dyn

Description

For standard/ and non-linear position lag monitoring the following is valid:

The factor determines the time constant of an estimation filter for the dynamic position lag monitoring in the position controller. This parameter must be determined empirically.

Data range

700 ≤ slep_dyn ≤ 1024

Description

Linear position lag monitoring:

The parameter defines the slope within the estimation of the dynamic position lag using the following equation:

 

Non linear position lag monitoring:

The factor determines the time constant of an estimation filter for the dynamic position lag monitoring in the position controller. This parameter must be determined empirically.

Data range

0 ≤ slep_dyn ≤ 1024

Data type

SGN16

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

1000

Drive types

Simulation, Conventional, Terminal, Lightbus, Profidrive, CANopen

Remarks

ATTENTION:

The position lag monitoring is disabled if the parameter has the value ≥ '1024'.

P-AXIS-00168

Maximum position lag

Description

The parameter defines the maximum position lag.

Parameter

getriebe[i].slep_max

Data type

SGN32

Data range

MAX(SGN32) > slep_max > 10* position lag at P-AXIS-00212

Axis types

T, R, S

Dimension

T: 0.1µm

R,S: 0.0001°

Default value

100000

Drive types

Simulation, Conventional, Terminal, Lightbus, Profidrive, CANopen

Remarks

Standard position lag monitoring:

The parameter is made use of for limiting the estimated position lag in the position controller. Especially in the case of oscillating systems an internal range overshooting of the operating data in the position controller would be quite conceivable.

Linear position lag monitoring:

The parameter defines the maximum permissible position lag. By this a reaction of the position lag monitoring (adhesive friction) can be avoided, for example, when the axis starts moving from standstill.

Non-linear position lag monitoring:

For this type of position lag monitoring the parameter is without significance.

Velocity-independent position lag monitoring:

This parameter sets the position lag limit when the axis is moving.

P-AXIS-00169

Minimum position lag

Description

The parameter defines the minimum position lag.

Parameter

getriebe[i].slep_min

Data type

SGN32

Data range

1 ≤ slep_min ≤ MAX(SGN32)

Axis types

T, R, S

Dimension

T: 0.1µm

R,S: 0.0001°

Default value

20000

Drive types

Simulation, Conventional, Terminal, Lightbus, Profidrive, CANopen

Remarks

Standard position lag monitoring:

The parameter is used for plausibility test for the dynamic position lag monitoring.

Since in the case of non-high dynamic systems, under certain circumstances, large position lags can arise which, in rare cases, are recognized as position lag even in the case of P-AXIS-00167 = 1023 (dynamic position lag monitoring being as if switched off), a helpful value must be empirically determined in this case. The dynamic position lag monitoring uses a digital filter which estimates the position lag on the basis of the reference variable (command value). Usually, here, a value from some of a few 'mm' or '°' can be used.

Linear position lag monitoring:

The parameter defines the maximum permissible position lag on axis standstill.

Non linear position lag monitoring:

For this type of position lag monitoring the parameter is without significance.

Velocity independent position lag monitoring:

The parameter defines the maximum permissible position lag on axis standstill.

P-AXIS-00170

Time constant for position lag monitoring

Description

This parameter defines the compensation of time delays during the feedback of the actual values. By this way the monitoring curve is shifted in time and so the real position lag can be monitored. This time constant is used for all types of position lag monitoring.

Parameter

getriebe[i].slep_time_const

Data type

UNS32

Data range

0 ≤ slep_time_const ≤ MAX(UNS32)

Axis types

T, R, S

Dimension

T: µs

R,S: µs

Default value

0

Drive types

Simulation, Conventional, Terminal, Lightbus, Profidrive, CANopen

Remarks

Recommended setting: slep_time_const = 0

P-AXIS-00172

Type of position lag monitoring

Description

The parameter defines the type of position lag monitoring.

Parameter

getriebe[i].slep_ueberw_typ

Data type

UNS32

Data range

0 ≤ slep_ueberw_typ ≤ MAX(UNS32)

 

1: Standard position lag monitoring

2: Linear position lag monitoring

3: Non linear position lag monitoring (no longer supported!)

4: Velocity independent position lag monitoring

 

For all other values the position lag monitoring is disabled.

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

0

Drive types

Simulation, Conventional, Terminal, Lightbus, Profidrive, CANopen

Remarks

 

P-AXIS-00176

Suppression of position lag

Description

To adjust the position lag monitoring the creation of position lag errors can be suppressed. But the dynamical calculation continues. By this method it is possible to record position lag and position lag monitoring limits and to set the corresponding parameters.

Parameter

lr_param.suppress_pos_lag_error

Data type

BOOLEAN

Data range

0/1

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

0

Drive types

Simulation, Conventional, Terminal, Lightbus, Profidrive, CANopen

Remarks

Recommended setting: suppress_pos_lag_error = 0

'suppress_pos_lag_error = 1' suppresses the monitoring and output of an error message if the permissible position lag is exceeded. May only be TRUE during commissioning.

P-AXIS-00191

Delay between command value and actual value

Description

This parameter is only active for digital drives (e.g. SERCOS). It defines the number of cycles between the output of the command values and the read-in of the actual values. The parameter is only used to calculate the position lag.

Parameter

antr.nbr_delay_cycles

Data type

UNS16

Data range

0 ≤ nbr_delay_cycles ≤ 10

Axis types

T, R, S

Dimension

T: Number of interpolation cycles

R,S: Number of interpolation cycles

Default value

4

Drive types

SERCOS, CANopen, KUKA

Remarks

 

P-AXIS-00488

Delayed generation of position lag error message

Description

The parameter specifies a time delay for the position lag monitoring function from type 4 (velocity independent mode) used to delay the generation of the position lag error message, if the actual position lag exceeds the maximum permissible position lag. This permits to reduce the maximum permissible position lag error limits (see P-AXIS-00168, P-AXIS-00169) since an exceedance in dynamical phases does not immediately lead to an error message.

Parameter

getriebe[i].pos_lag_mon_error_delay_time

Data type

UNS32

Data range

0 ≤ pos_lag_mon_error_delay_time ≤ 250000

Axis types

T, R, S

Dimension

T: µs

R,S: µs

Default value

0

Drive types

----

Remarks

Specifying a time delay > 0 leads to a delayed error message generation and delayed stopping of the drives, when the permitted position lag is exceeded.