Description

P-AXIS-00003

Deceleration for an emergency stop

Description

The parameter defines the used deceleration for an emergency stop. If errors of error reaction class 4 occur, the NC decelerates at the rate for specific axes. The path then leaves the path.

Parameter

getriebe[i].dynamik.a_emergency

Data type

UNS32

Data range

1 ≤ a_emergency ≤ 2*P-AXIS-00008

Axis types

T, R, S

Dimension

T: mm/s²

R,S: °/s²

Default value

0

Drive types

----

Remarks

When the parameter has the value 0, the value of P-AXIS-00008 (a_max) is used.

P-AXIS-00177

Negative software limit switch

Description

This 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

This 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-00436

Forward mapping of drive position

Description

Corresponding to the coupling instructions on drive level, an active gear coupling leads to an offset of the axis positions to the programmed command positions in NC channel.

Gear coupling can be activated either by configuration in axis parameters (see multi_link[i]) or via the HLI (see @@[FCT-A9]).

The axis positions and program coordinates are newly initialised at restart of program or by an explicitly programmed position request (#CHANNEL INIT [CMDPOS]). The parameter must be set to 1, if the input coordinates of the gear coupling (e.g. absolute program coordinates) should be recalculated by forward mapping. See also P-AXIS-00460.

Parameter

kenngr.recalc_link_main_input_position

Data type

BOOLEAN

Data range

0: No forward mapping of drive position (default).

1: Forward mapping is executed.

Axis types

T, R

Dimension

T: ----

R: ----

Default value

0

Drive types

----

Remarks

Configuration example: Forward mapping is active during gear coupling

kenngr.multi_link[0].lead_axis                    4

kenngr.multi_link[0].factor_numerator             1

kenngr.multi_link[0].factor_denominator           2

kenngr.recalc_link_main_input_position            1

Configuration example: Forward mapping with active gear coupling via the HLI

kenngr.recalc_link_main_input_position            1

P-AXIS-00460

Forward mapping of drive position with absolute coordinates

Description

If forward mapping of drive positions is activated with parameter P-AXIS-00436 the mapping is calculated by default relative to the activation position of the axis coupling..

This means that if immediately after the activation of an axis coupling the command positions are requested, the command position according to the mechanical axis position is returned.

With parameter P-AXIS-00460 the axis positions are considered as absolute coordinates. This means the mapping is calculated as if the axes were coupled at position 0 for the master as well as for the slave axes.

Example:

At position X=40 mm and X1=50 mm the X1 axis is coupled each with a coupling factor of 1:1 to the X-axis and to itself.

With P-AXIS-00460 not set the returned position for axis X1 on a command position request directly after activation of a coupling is X1 = 50 mm.

With P-AXIS-00460 set the returned axis position fort he X1 axis is X1 = 10 mm.

Parameter

kenngr.recalc_input_position_absolute

Data type

BOOLEAN

Data range

0: Forward mapping relative to activation position (default).

1: Forward mapping with absolute positions.

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

0

Drive types

----

Remarks

This parameter is only effective for axis couplings that are activated via the HLI.

This parameter is only reasonable for axes that deliver an absolute position.