Parameters
Constant | Description |
|---|---|
V_SATZ_ANZ | Maximum number of buffered blocks |
P-AXIS-00092 | Position sensor increments per motor revolution |
Parameter | getriebe[i].incr_per_rev |
Description | The number of position sensor increments per motor revolution is specified with this parameter. The value used internally in the NC kernel (after evaluation of the value transferred in the bus telegram with this parameter) must be specified. |
Data type | UNS32 |
Data range | 0 = P-AXIS-00092 = MAX(UNS32) |
Dimension | - |
Default | - |
Remarks | This parameter applies to PROFIDRIVE drives only |
P-AXIS-00165 | Time offset of feedforward control setpoints |
Parameter | vorsteuer.shift_time |
Description | With this parameter you can set a time offset in NC cycles between output of the setpoints and output of the calculated feedforward control quantities. In the case of a value above zero, the feedforward control values are output before the associated setpoint. In this way, you can optimise the behaviour of the axis when using feedforward control. |
Data type | UNS16 |
Data range | 0 = P-AXIS-00165 = V_SATZ_ANZ -1 |
Dimension | Cycles |
Default | - |
Remarks | This parameter applies to PROFIdrive only |
P-AXIS-00205 | Normalization of the velocity denominator | |
Parameter | antr.v_reso_denom | |
Description | Normalization of the velocity denominator. | |
Data type | UNS32 | |
Data range | 0 < v_reso_nom < MAX(UNS32) | |
Dimension | translatory: um | rotatory: 0,001° |
Default | 36 | |
Remarks |
| |
P-AXIS-00206 | Numerator scaling factor for torque | |
Parameter | antr.v_reso_num | |
Description | Numerator scaling factor for torque. | |
Data type | UNS32 | |
Data range | 0 < v_reso_nom < MAX(UNS32) | |
Dimension | translatory: Increments | rotatory: Increments |
Default | 1 | |
Remarks |
| |
P-AXIS-00207 | Time base for normalization of velocity | |
Parameter | antr.v_time_base | |
Description | With this parameter the time base for velocity normalization is set. Possible values are: 0 : per minute | |
Data type | UNS16 | |
Data range | 0 .. 2 | |
Dimension | translatory: - | rotatory: - |
Default | 0 (per minute) | |
Remarks |
| |
P-AXIS-00223 | Feedforward control mode | |
Parameter | vorsteuer.vorsteuerung | |
Description | With this parameter, various modes can be set for feedforward control. | |
Data type | UNS16 | |
Data range | 0x0000 | No feedforward control |
| 0x0001 | Velocity feedforward control |
| 0x0002 | Acceleration feedforward control |
| 0x0100 | PROFIdrive: in the Profidrive telegram 5, the calculated feedforward control value is included as the velocity in the velocity setpoint (NSOLL_B signal No. 7). The feedforward control value is calculated into the control deviation (XERR signal No. 25) as a following error if this flag is not activated. |
Dimension | - | |
Default | - | |
Remarks | - | |
P-AXIS-00225 | Substitute time constant for acceleration feedforward control, numerator |
Parameter | vorsteuer.vs_a_faktor |
Description | This parameter describes the numerator of the mechanical time constant TA of the drive, which is modelled as a delay element of the first order. The drive has the following transfer function in the Laplace range:
In the case of the acceleration feedforward control, the acceleration command variable is weighted with this mechanical substitute time constant..
..of the drive. |
Data type | SGN32 |
Data range | 0 = P-AXIS-00225 = MAX(SGN32) |
Dimension | μs |
Default | - |
Remarks | - |
P-AXIS-00226 | Substitute time constant for acceleration feedforward control, denominator |
Parameter | vorsteuer.vs_a_nenner |
Description | This parameter describes the denominator of the mechanical time constant TA of the drive, which is modelled as a delay element of the first order. The drive has the following transfer function in the Laplace range:
In the case of the acceleration feedforward control, the acceleration command variable is weighted with this mechanical substitute time constant..
..of the drive. |
Data type | SGN32 |
Data range | 0 = P-AXIS-00226 = MAX(SGN32) |
Dimension | 1 |
Default | - |
Remarks | - |
P-AXIS-00228 | Weighting factor for feedforward control, numerator |
Parameter | vorsteuer.vs_v_faktor |
Description | This parameter describes the numerator of the velocity and acceleration feedforward weighting factor.
|
Data type | SGN32 |
Data range | 0 = P-AXIS-00228 = MAX(SGN32) |
Dimension | - |
Default | - |
Remarks | According to experience, the weighting factor should be set within the range of 0.7 1. At values more than 1, the axis leads and has a detrimental influence on contouring accuracy. |
P-AXIS-00229 | Weighting factor for feedforward control, denominator |
Parameter | vorsteuer.vs_v_nenner |
Description | This parameter describes the numerator of the velocity and acceleration feedforward weighting factor.
|
Data type | SGN32 |
Data range | 0 = P-AXIS-00229 = MAX(SGN32) |
Dimension | - |
Default | - |
Remarks | According to experience, the weighting factor should be set within the range of 0.7 1. At values more than 1, the axis leads and has a detrimental influence on contouring accuracy. |
P-AXIS-00325 | Numerator scaling factor for torque | |
Parameter | antr. torque_scale_num | |
Description | Numerator of the torque scaling factor for the additional torque command value to the drive. The factor is set up as a rational factor. This factor is the value that has to be output to the drive in order to deliver its nominal torque. | |
Data type | UNS32 | |
Data range | 0 < v_reso_nom < MAX(UNS32) | |
Dimension | translatory: Increments | rotatory: Increments |
Default | 1 | |
Remarks |
| |
P-AXIS-00326 | Denominator scaling factor for torque | |
Parameter | antr.torque_scale_denom | |
Description | Denominator of the torque scaling factor for the additional torque command value to the drive. The factor is set up as a rational factor. This factor is the value that has to be output to the drive in order to deliver its nominal torque. | |
Data type | UNS32 | |
Data range | 0 < torque_scale_denom MAX < (UNS32) | |
Dimension | translatory: - | rotatory: - |
Default | 1 | |
Remarks |
| |
P-AXIS-00337 | Weighting factor for jerk feedforward control, numerator |
Parameter | vorsteuer.jerk_fact_nom |
Description | With this parameter the numerator of the scaling factor for jerk feedforward is set. The scaling factor for jerk feedforward is defined as:
|
Data type | UNS32 |
Data range | 0 ≤ P-AXIS-00337 ≤ MAX(UNS32) |
Dimension | - |
Default | - |
Remarks | - |
P-AXIS-00338 | Weighting factor for jerk feedforward control, denominator |
Parameter | vorsteuer.jerk_fact_denom |
Description | With this parameter the denominator of the scaling factor for jerk feedforward is set. The scaling factor for jerk feedforward is defined as:
|
Data type | UNS32 |
Data range | 0 ≤ P-AXIS-00338 ≤ MAX(UNS32) |
Dimension | - |
Default | - |
Remarks | - |
P-AXIS-00389 | Delaytime for velocity feedforward |
Parameter | vorsteuer.velocity_delay_time |
Description | If velocity feedforward via an additive velocity command value is activated, with this parameter the output of the velocity feedforward value can be delayed with respect to the command position. The dimension of the delay time is in us, the maximum delay is one interpolator cycle.. The optimal value for this parameter depends on the used drive controller, it must be questioned from the drive controller manufacturer. |
Data type | UNS16 |
Data range | 0 < Interpolator cycle time |
Dimension | us |
Default | 0 |
Remarks | The maximum delay time that can be set up is one interpolator cycle. If a bigger delay time is set up an error message 70349 (see P-ERR-70349) is output and the delay time is set to zero. |
P-AXIS-00390 | Delaytime for acceleration feedforward |
Parameter | vorsteuer.acceleration_delay_time |
Description | If acceleration feedforward via an additive torque command value is activated, with this parameter the output of the acceleration feedforward value can be delayed with respect to the command position. The dimension of the delay time is in us, the maximum delay is one interpolator cycle. The optimal value for this parameter depends on the used drive controller, it must be questioned from the drive controller manufacturer. |
Data type | UNS16 |
Data range | 0 < Interpolator cycle time |
Dimension | us |
Default | 0 |
Remarks | The maximum delay time that can be set up is one interpolator cycle. If a bigger delay time is set up an error message 70348 (see P-ERR-70348) is output and the delay time is set to zero. |
P-AXIS-00391 | load inerta |
Parameter | getriebe[].load |
Description | To set up acceleration feedforward with additive torque command value the total load inerta of the motor has to be configured here. The total load inerta is the inerta of the motor itself and the inerta of the load related to the motor shaft. In case of a translatory moved axis the moved masses have to be converted in an equivalent inerta related to the motor shaft. |
Data type | REAL64 |
Data range | 0 < P-AXIS-00391 <= MAX_REAL64 |
Dimension | kg (Linear motor), kg * m2 (rotatory Motor) |
Default | 1e-6 |
Remarks | - |
P-AXIS-00392 | Scaling factor for acceleration feedforward |
Parameter | antr.acc_reference_value |
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 nominal torque of the motor. |
Data type | REAL64 |
Data range | 0 .. MAX_REAL64 |
Dimension | Nm (N for linear motor) |
Default | 1 |
Remarks | - |