Positioning operation mode of an axis (P-AXIS-00320)

P-AXIS-00320

Positioning operation mode of an axis

Description

This parameter determines the manner how an axis moves to its commanded position. The operation modes are described in greater detail in the following table.

Parameter

antr.operation_mode

Data type

STRING

Data range

DRIVE_DEFAULT

DRIVE_POSITION_CONTROL

CNC_POSITION_CONTROL

DSC_POSITION_CONTROL

The following operation modes are available from version V2.11.ff:

OPEN_POSITION_LOOP_MODE

OPEN_POSITION_LOOP_POS_FEEDBACK

OPEN_POSITION_LOOP_VEL_FEEDBACK

OPEN_POSITION_LOOP_NO_FEEDBACK

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

DRIVE_DEFAULT

Drive types

SERCOS, Profidrive, CANopen

Remarks

For the position control in the numerical control (Operation mode CNC_POSITION_CONTROL) the active operation mode in the SERCOS drive must be 'velocity control”. Furthermore command velocity and actual position must be configured and transmitted in the cyclic telegram.

In the operation mode CNC_POSITON_CONTROL only a NC-controlled homing without zero pulse search can be performed for SERCOS drives. The necessary parameter settings can be taken from @@[FCT-M1].

Additionally to setting the positioning method, the cyclic process data and the operation mode in the drive have to be set up accordingly.

String

Meaning

DRIVE_DEFAULT

Default setting for all drive types. The operation mode used (position control in the drive, position control in the controller, velocity control, etc.) is determined automatically. It depends e.g. on the drive type P-AXIS-00020 and on the configured telegram.

DRIVE_POSITION_CONTROL

Transmission of command position to the axis controller, position control takes place in the axis controller

CNC_POSITION_CONTROL

Position control takes place in the controller. The path resolution of the measuring system P-AXIS-00234/ P-AXIS-00233, the proportional factor kv of the P position control P-AXIS-00099 and the scaling factor of the manipulated variable P-AXIS-00129/ P-AXIS-00128 must also be set.

Transmission of a velocity command value to the axis controller, the velocity command value is calculated in CNC dependent on the position error of the axis.

DSC_POSITION_CONTROL

Drive type specific positioning method for PROFIDRIVE (DSC mode).

OPEN_POSITION_LOOP_MODE

Operation without position control (open loop mode). In this case only the programmed command velocity is transferred. This operation mode is possible only for spindles. A position or velocity eventually transferred from the drive controller is only used for the calculation of the 'revolution speed reached' signal.

The actual velocity value for velocity monitoring is chosen as follows:

If an actual position is configured, it is used for velocity monitoring.

If no actual position but an actual revolution is configured, this is used for velocity monitoring.

If neither an actual position nor an actual revolution is configured, the command velocity is used for velocity monitoring (sensorless spindle)

The command velocity output to the spindle is scaled by the parameters P-AXIS-00205, P-AXIS-00206 and P-AXIS-00207. Use the parameter P-AXIS-00379 for Profidrive drives.

OPEN_POSITION_LOOP_POS

_FEEDBACK

Operation without position control (open loop mode). The command velocity calculated by the interpolator is output. This operation mode is possible only for spindles.

The actual velocity is calculated from the actual position delivered from the spindle. If no actual position is configured an error message is output.

The command velocity output to the spindle is scaled by the parameters P-AXIS-00205, P-AXIS-00206 and P-AXIS-00207. Use the parameter P-AXIS-00379 for Profidrive drives.

OPEN_POSITION_LOOP_VEL

_FEEDBACK

Operation without position control (open loop mode). The command velocity calculated by the interpolator is output. This operation mode is possible only for spindles.

The actual velocity is calculated from the actual revolution supplied by the spindle. If no actual revolution is configured, an error message is output.

The command velocity output to the spindle is scaled by the parameters P-AXIS-00205, P-AXIS-00206 and P-AXIS-00207. Use the parameter P-AXIS-00379 for Profidrive drives.

OPEN_POSITION_LOOP_NO

_FEEDBACK

Operation without position control (open loop mode). The command velocity calculated by the interpolator is output. This operation mode is possible only for spindles.

The actual velocity for velocity monitoring is calculated from the internal command velocity. The command velocity output to the spindle is scaled by the parameters P-AXIS-00205, P-AXIS-00206 and P-AXIS-00207. Use the parameter P-AXIS-00379 for Profidrive drives.