Description

P-AXIS-00325

Numerator scaling factor for torque

Description

Numerator of the scaling factor for the commanded torque to the drive. The factor is specified as a quotient. This quotient is the value which has to be output to the motor for reaching the nominal torque.

Parameter

antr.torque_scale_num

Data type

UNS32

Data range

0 < torque_scale_num < MAX(UNS32)

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

1

Drive types

SERCOS, Lightbus,CANopen

Remarks

 

P-AXIS-00326

Denominator scaling factor for torque

Description

Denominator of the scaling factor for the commanded torque to the drive. The factor is specified as a quotient. This quotient is the value which has to be output to the motor for reaching the nominal torque.

Parameter

antr.torque_scale_denom

Data type

UNS32

Data range

1 < torque_scale_denom < MAX(UNS32)

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

1

Drive types

SERCOS, Lightbus,CANopen

Remarks

If the value 0 is set for P-AXIS-00326, an error message with the ID number P-ERR-110465 is output and the internal scaling factor is set on 0. In this case no output of the additive torque command value to the drive is done.

P-AXIS-00392

Reference value for converting torque values to the motor format.

Description

This parameter is used for the scaling of the additive torque command if acceleration feedforward with additive command values is used. It has to be entered the stall torque of the motor.

Parameter

antr.acc_reference_value

Data type

REAL64

Data range

0 ≤ acc_reference_value < MAX(REAL64)

Axis types

T, R, S

Dimension

T: N

R,S: Nm

Default value

1

Drive types

SERCOS, CANopen

Remarks

 

P-AXIS-00396

Name of drive functions in NC program

Description

This parameter defines the name by which the drive function is activated via the key word KEY in the #DRIVE command in NC program ([prog]).

Parameter

antr.function[i].id

Data type

STRING

Data range

Maximum of 29 characters

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

-

Drive types

SERCOS, Profidrive, CANopen

Remarks

Example:

For a drive function the ID 'TORQLIMIT' is defined.

antr.function[0].id        TORQLIMIT

In NC program this drive function then can be programmed in the way…

         #DRIVE WR SYN [AX=... KEY=TORQLIMIT VAL=… ]

... addressed.

P-AXIS-00397

Type of communication with drive controller

Description

This parameter defines the type of communication by which the function in the drive is addressed.

Parameter

antr.function[i].commu

Data type

STRING

Data range

CYCLIC: The drive function is switched by a telegram element that is configured in the cyclic drive telegram. The name of the telegram element is defined in P-AXIS-00398.

ACYCLIC: The drive function is addressed by writing a drive parameter through the parameter channel. The name of the telegram element is defined in P-AXIS-00398.

IGNORE: No value is transmitted to the drive.

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

CYCLIC

Drive types

SERCOS, Profidrive, CANopen

Remarks

 

P-AXIS-00398

Name of the parameter or telegram element

Description

This parameter defines which drive parameter respectively which telegram element of the cyclic telegram is to be used for the activation of the drive function.

Parameter

antr.function[i].wr_ident[j]

Data type

STRING

Data range

Maximum of 29 characters

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

-

Drive types

SERCOS, Profidrive, CANopen

Remarks

Dependent on the drive function to be activated, maximum 2 idents (j=0/1) can be set.

Configuration example: For a SERCOS drive the torque limit is defined by writing the parameter S-0-92:

antr.function[0].wr_ident[0] S-0-92

P-AXIS-00399

Data type of the data to be transmitted

Description

This parameter defines the data type of the drive parameter or of the telegram element of the cyclic telegram which is used for the activation of the drive function.

Parameter

antr.function[i].data_type

Data type

STRING

Data range

SGN16: Signed 16 bit integer.

SGN32: Signed 32 bit integer.

BITARRAY_16: Bit array 16 bit.

BITARRAY_32: Bit array 32 bit.

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

SGN16

Drive types

SERCOS, Profidrive, CANopen

Remarks

 

P-AXIS-00400

Value of data element after start-up of control

Description

This parameter defines the value of the cyclic telegram element after start-up of the control.

Parameter

antr.function[i].startup_value

Data type

REAL64

Data range

If P-AXIS-00399 = 'SGN16':

MIN(SGN16) ≤ startup_value ≤ MAX(SGN16)

 

If P-AXIS-00399 = 'SGN32':

MIN(SGN32) ≤ startup_value ≤ MAX(SGN32)

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

0

Drive types

SERCOS, Profidrive, CANopen

Remarks

This parameter is only used if P-AXIS-00397 has the value 'CYCLIC'.

P-AXIS-00401

Scaling of the data to be transmitted

Description

This parameter defines the scaling of the value that has to be transmitted to the drive.

Parameter

antr.function[i].scaling_type

Data type

STRING

Data range

UNSCALED:

Unscaled output of the value programmed in the NC program; scaling factor = 1 (Default).

TORQUE_DRIVE_SIDE:

The programmed value is a torque value related to the motor shaft and is scaled to the drives torque format with the parameters P-AXIS-00325, P-AXIS-00326 and P-AXIS-00392.

The scaling factor does not change during gear change.

Scaling factor f is:

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

UNSCALED

Drive types

SERCOS, Profidrive, CANopen

Remarks

 

P-AXIS-00408

Minimum permissible output value

Description

By this parameter the minimum permissible output value can be defined. If the programmed value of the #DRIVE command goes below the minimum value, the drive output value is set automatically to the minimum value. Thereby no error message is created.

If parameter is greater than the greatest possible output value of the data type, defined by P-AXIS-00399, the error message P-ERR-70384 is output and the value of the parameter is corrected

If P-AXIS-00409 is configured, P-AXIS-00409 must be greater than the value of P-AXIS-00408. If this is not the case, the warning P-ERR-70385 is output and the values are exchanged.

If this parameter is not configured, no limitation is active.

Parameter

antr.function[i].min_limit

Data type

REAL64

Data range

This is dependent on P-AXIS-00399 and P-AXIS-00401

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

1.000000e+199

Drive types

SERCOS, Profidrive, CANopen

Remarks

 

P-AXIS-00409

Maximum permissible output value

Description

By this parameter the maximum permissible output value can be defined. If the programmed value of the #DRIVE command exceeds the maximum value, the drive output value is set automatically on the maximum value. Thereby no error message is created.

If the parameter is greater than the greatest possible output value of the data type, defined by P-AXIS-00399 the error message P-ERR-70383 is output and the value of the parameter is corrected.

If P-AXIS-00408 is configured, P-AXIS-00408 must be smaller than this parameter. If this is not the case, the warning P-ERR-70385 is output and the minimum and maximum values are exchanged.

If this parameter is not configured, no limitation is active.

Parameter

antr.function[i].max_limit

Data type

REAL64

Data range

This is dependent on P-AXIS-00399 and P-AXIS-00401

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

1.000000e+199

Drive types

SERCOS, Profidrive, CANopen

Remarks

 

P-AXIS-00429

Writing of drive values by bit mask

Description

With this parameter the bit mask that has to be used if bitwise writing is defined.

If the value programmed in the #DRIVE-command is greater than zero, the bits defined in the bit mask are set and for a programmed value of zero the bits are reset.

This parameter is used it the data type set up only if P-AXIS-00399 has either the value 'BITARRAY_16' or 'BITARRAY_32'.

The value of this parameter must be smaller than or equal to the maximum value defined by setting P-AXIS-00399, otherwise error message P-ERR-70403 is output.

Parameter

antr.function[i].mask

Data type

STRING

Data range

This is dependent on P-AXIS-00399:

BITARRAY_16: Bit mask 16 Bit - 0 ... MAX(UNS16)

BITARRAY_32: Bit mask 32 Bit - 0 ... MAX(UNS32)

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

NOT_USED

Drive types

SERCOS, Profidrive, CANopen

Remarks