Parameters

P-AXIS-00015

Operating mode of an axis

Parameter

kenngr.achs_mode

Description

Axes can be traversed in different operating modes.

Data type

UNS32

Data range

Parameters 1:

Remarks

* One of the following two axis modesmustalways be defined:

- ACHSMODE_LINEAR or
- ACHSMODE_MODULO

All other bits of the parameter achs_mode are supplementary specifications. E.g. the bit ACHSMODE_MODULO_LINEAR is only useful combined with bit ACHSMODE_MODULO.

** For TwinCAT-Systems this axis mode is not available.

P-AXIS-00014

Identifier for absolute distance measuring system

Parameter

kenngr.abs_pos_gueltig

Description

No homing is necessary when using an absolute measuring system. All further axis parameters regarding homing are inactive.

Data type

BOOLEAN

Data range

1: Absolute measuring system

0: No absolute measuring system

Dimension

-

Default

-

Remarks

-

P-AXIS-00036

Access to reference cam and zero pulse

Parameter

lr_hw[i].cam_direct_access

Description

Access to the reference cam and zero pulse signals can be selected with this parameter. The signals are accessed either directly from I/O hardware or indirectly from the PLC, which communicates with the control system via the HLI interface.

Data type

BOOLEAN

Data range

0: Indirect access via the HLI interface

1: Direct access from I/O hardware.

Dimension

-

Default

0

Remarks

This entry is not adopted when the axis parameter list is updated.

Restart of the control system is necessary for updating.

In the case of TwinCat, this parameter is always implicitly set to 0.

P-AXIS-00038

Signal level for the reference cam signal

Parameter

lr_hw[i].cam_level

Description

The switching level of the cam signal can be set with this parameter.

Data type

BOOLEAN

Data range

0: Cam signal is 0-active

1: Cam signal is 1-active

Dimension

-

Default

0

Remarks

-

P-AXIS-00064

Fast/slow returning to the reference cam

Parameter

kenngr.fast_from_cam

Description

The speed when reversing to the reference cam can be defined with this parameter.

Data type

BOOLEAN

Data range

0: Slow returning to the reference cam with P-AXIS-00218 (vb_reflow).

1: Fast returning to the reference cam withP-AXIS-00219 (vb_refmax).

Dimension

-

Default

1

Remarks

The spindle does not support this parameter.

P-AXIS-00074

Suppression of homing for gantry slave axes

Parameter

kenngr.gantry_slave_no_homing

Description

Homing for gantry slave axes can be suppressed with this parameter. After homing of the master axis, the reference positions entered in the axis parameter list of the slave axes are adopted and monitoring of the gantry difference between the master and slave axes is started.

Data type

BOOLEAN

Data range

0: Reference point travel for gantry slave axis is possible

1: Reference point travel for gantry slave axis is suppressed

Dimension

-

Default

0

Remarks

This parameter is not supported in the case of spindle axes.

P-AXIS-00084

Homing with or without zero pulse signal

Parameter

kenngr.homing_without_zero_pulse

Description

The reference position is determined by travel to the cam

Data type

BOOLEAN

Data range

0: Positioning of the axis on the switching cam considering the rotary encoder's zero pulse

1: Positioning of the axis on the switching cam without considering the rotary encoder's zero pulse (imprecise!)

Dimension

-

Default

0

Remarks

-

P-AXIS-00152

Position of the reference point

Parameter

getriebe[i].pos_refpkt

Description

After homing, the entered value is adopted as the absolute position for the axis.

Data type

SGN32

Data range

P-AXIS-00177 (swe_neg) < P-AXIS-00152 <P-AXIS-00178 (swe_pos)

Dimension

Translatory: 0.1μm

Rotatory: 0.0001°

Default

-

Remarks

The position of the reference point must lie within the range of the software limit switches.

P-AXIS-00156

Homing with or without reference cam

Parameter

kenngr.ref_ohne_nocken

Description

It is possible to switch over the homing strategy to perform referencing without a cam (e.g. only with a zero pulse), i.e. without reversing. In this case, the "kenngr.ref_ohne_nocken" parameter must be set to "TRUE".

Data type

BOOLEAN

Data range

0: With reference cam

1: Without reference cam

Dimension

-

Default

-

Remarks

Referencing only to zero pulse (NIP)

P-AXIS-00157

Homing with or without reversing >

Parameter

kenngr.ref_ohne_rev

Description

By means of this parameter, a restriction can be implemented during homing to forbid reversing.

Data type

BOOLEAN

Data range

0: With reversing

1: Without reversing

Dimension

-

Default

-

Remarks

The speed during reversing is set with the P-AXIS-00064 (fast_from_cam) parameter.

By reversing, it is possible to repeatedly move to the reference cam at slow speed.

P-AXIS-00158

Travel direction during homing

Parameter

kenngr.ref_richt

Description

This parameter describes the travel direction during homing, when the axis is not on a cam.

Data type

BOOLEAN

Data range

0: Negative direction

1: Positive direction

Dimension

-

Default

-

Remarks

Positive direction: the coordinate values increase

Negative direction: the coordinate values decrease

P-AXIS-00161

Distance up to arrival of the zero pulse during simulated homing

Parameter

antr.simu.rpf_weg_bis_nip

Description

-

Data type

SGN32

Data range

MIN(SGN32) < P-AXIS-00161 < MAX(SGN32)

Dimension

Translatory: 0.1μm

Rotatory: 0.0001°

Default

-

Remarks

-

P-AXIS-00218

Slow homing speed

Parameter

getriebe[i].vb_reflow

Description

-

Data type

UNS32

Data range

1 < P-AXIS-00218 <P-AXIS-00219 (vb_refmax)

Dimension

Translatory: μm/s

Rotatory: 0.001°/s

Default

-

Remarks

-

P-AXIS-00219

Fast homing speed

Parameter

getriebe[i].vb_refmax

Description

-

Data type

UNS32

Data range

1 < P-AXIS-00219 <P-AXIS-00213 (vb_max)

Dimension

Translatory: μm/s

Rotatory: 0.001°/s

Default

-

Remarks

-

P-AXIS-00299

Homing type

Parameter

kenngr.homing_type

Description

This parameter sets the homing type for the axis.

Data type

ISG_CHAR

Data range

CNC_CONTROLLED, DRIVE_CONTROLLED

Dimension

Translatory: -

Rotatory: -

Default

-

Remarks

-

 

 

P-AXIS-00321

Input of reference cam signal

Parameter

antr.sercos.reference_cam_signal

Description

This parameter defines the input of the reference cam signal for the NC-controlled RPT with SERCOS drives.

Data type

ISG_CHAR

Data range

PLC, RT_STATUS_BIT_1, RT_STATUS_BIT_2

Dimension

Translatory: -

Rotatory: -

Default

-

Remarks

-

P-AXIS-00386

Zero pulse latching in the drive with command S-0-146

Parameter

antr.sercos.drive_supports_cnc_homing

Description

By default, CNC controlled homing for SERCOS drive is done completely in the control, the drive internal positions are not altered.

If the drive supports SERCOS command S-0-146 (CNC controlled homing), by this parameter it can be activated that this command is used for CNC controlled homing. The advantage of this method is that after homing is finished the drive internal positions are referenced, too, so that for example drive internal software limit switches can be used.

The reference position used for homing is P-AXIS-00152, this value is transferred to the drive during homing.

Data type

BOOLEAN

Data range

[0, 1]

Dimension

Translatory: -

Rotatory: -

Default

0

Remarks

This parameter is not supported for spindles.

Additionally, to command S-0-146 the drive must support the following commands:

  • S-0-171 (Calculate displacement)
  • S-0-172 (Displacement to referenced system)
  • S-0-191 (Cancel reference point procedure)

For further information please refer to the drive manufacturers documentation.

P-AXIS-00387

Assignment of status- and control bits used for homing with command S-0-146

Parameter

antr.sercos.cnc_homing_rt_bit_layout

Description

To execute cnc controlled homing with drive support two control and status bits are necessary each. Its can be used the real time control and status bits in the drive control and status word or alternatively bits in the signal status and signal control word.

The follwing table shows the assignment from the values of P-AXIS-00387 to the possible bit combinations:

P-AXS-00387

Process data

Bit number

Meaning

Ident

1

Control word

Realtimebit 1 (S-0-301)

Homing enable

S-0-407

Realtimebit 2 (S-0-303)

Pos. command referenced

S-0-404

Status word

Realtimebit 1 (S-0-305)

 

S-0-408

Realtimebit 2 (S-0-307)

Actual position referenced

S-0-403

2

Signal control word

Bit 0 (S-0-27[0])

Homing enable

S-0-407

Bit 1 (S-0-27[1])

Pos. command referenced

S-0-404

Signal status word

Bit 0 (S-0-26[0])

Pos. marker pulse registered

S-0-408

Bit 1 (S-0-26[1])

Actual position referenced

S-0-403

3

Signal control word

Bit 1 (S-0-27[1])

Homing enable

S-0-407

Bit 2 (S-0-27[2])

Pos. command referenced

S-0-404

Signal status word

Bit 1 (S-0-26[1])

Pos. marker pulse registered

S-0-408

Bit 2 (S-0-26[2])

Actual position referenced

S-0-403

4

Signal control word

Bit 2 (S-0-27[2])

Homing enable

S-0-407

Bit 3 (S-0-27[3])

Pos. command referenced

S-0-404

Signal status word

Bit 2 (S-0-26[2])

Pos. marker pulse registered

S-0-408

Bit 3 (S-0-26[3])

Actual position referenced

S-0-403

5

Signal control word

Bit 3 (S-0-27[3])

Homing enable

S-0-407

Bit 4 (S-0-27[4])

Pos. command referenced

S-0-404

Signal status word

Bit 3 (S-0-26[3])

Pos. marker pulse registered

S-0-408

Bit 4 (S-0-26[4])

Actual position referenced

S-0-403

6

Signal control word

Bit 4 (S-0-27[4])

Homing enable

S-0-407

Bit 5 (S-0-27[5])

Pos. command referenced

S-0-404

Signal status word

Bit 4 (S-0-26[4])

Pos. marker pulse registered

S-0-408

Bit 5 (S-0-26[5])

Actual position referenced

S-0-403

7

Signal control word

Bit 5 (S-0-27[5])

Homing enable

S-0-407

Bit 6 (S-0-27[6])

Pos. command referenced

S-0-404

Signal status word

Bit 5 (S-0-26[5])

Pos. marker pulse registered

S-0-408

Bit 6 (S-0-26[6])

Actual position referenced

S-0-403

8

Signal control word

Bit 6 (S-0-27[6])

Homing enable

S-0-407

Bit 7 (S-0-27[7])

Pos. command referenced

S-0-404

Signal status word

Bit 6 (S-0-26[6])

Pos. marker pulse registered

S-0-408

Bit 7 (S-0-26[7])

Actual position referenced

S-0-403

9

Signal control word

Bit 7 (S-0-27[7])

Homing enable

S-0-407

Bit 8 (S-0-27[8])

Pos. command referenced

S-0-404

Signal status word

Bit 7 (S-0-26[7])

Pos. marker pulse registered

S-0-408

Bit 8 (S-0-26[8])

Actual position referenced

S-0-403

10

Signal control word

Bit 8 (S-0-27[8])

Homing enable

S-0-407

Bit 9 (S-0-27[9])

Pos. command referenced

S-0-404

Signal status word

Bit 8 (S-0-26[8])

Pos. marker pulse registered

S-0-408

Bit 9 (S-0-26[9])

Actual position referenced

S-0-403

11

Signal control word

Bit 9 (S-0-27[9])

Homing enable

S-0-407

Bit 10 (S-0-27[10])

Pos. command referenced

S-0-404

Signal status word

Bit 9 (S-0-26[9])

Pos. marker pulse registered

S-0-408

Bit 10 (S-0-26[10])

Actual position referenced

S-0-403

12

Signal control word

Bit 10 (S-0-27[10])

Homing enable

S-0-407

Bit 11 (S-0-27[11])

Pos. command referenced

S-0-404

Signal status word

Bit 10 (S-0-26[10])

Pos. marker pulse registered

S-0-408

Bit 11 (S-0-26[11])

Actual position referenced

S-0-403

13

Signal control word

Bit 11 (S-0-27[11])

Homing enable

S-0-407

Bit 12 (S-0-27[1]2)

Pos. command referenced

S-0-404

Signal status word

Bit 11 (S-0-26[11])

Pos. marker pulse registered

S-0-408

Bit 12 (S-0-26[1]2)

Actual position referenced

S-0-403

14

Signal control word

Bit 12 (S-0-27[12])

Homing enable

S-0-407

Bit 13 (S-0-27[13])

Pos. command referenced

S-0-404

Signal status word

Bit 12 (S-0-26[12])

Pos. marker pulse registered

S-0-408

Bit 13 (S-0-26[13])

Actual position referenced

S-0-403

15

Signal control word

Bit 13 (S-0-27[13])

Homing enable

S-0-407

Bit 14 (S-0-27[1]4)

Pos. command referenced

S-0-404

Signal status word

Bit 13 (S-0-26[13])

Pos. marker pulse registered

S-0-408

Bit 14 (S-0-26[14])

Actual position referenced

S-0-403

16

Signal control word

Bit 14 (S-0-27[14])

Homing enable

S-0-407

Bit 15 (S-0-27[15])

Pos. command referenced

S-0-404

Signal status word

Bit 14 (S-0-26[14])

Pos. marker pulse registered

S-0-408

Bit 15 (S-0-26[15])

Actual position referenced

S-0-403

Data type

UNS16

Data range

[1, 16]

Dimension

Translatory: -

Rotatory: -

Default

0

Remarks

When the status and control bits are transferred in the signal status and control words, these must be configured in the cyclic process data, otherwise an error message with error id. 70295 will be output.

P-AXIS-00388

Encoder used for homing.

Parameter

antr.cnc_homing_encoder

Description

Some drive types support the use of multiple encoders (motor encoder and external encoder). This parameter defines, which encoder shall be used for homing.

Value of P-AXIS-00388

Used encoder

1

The encoder used for homing is determined automatically, e. g. for SERCOS drives by reading parameter S-0-147.

2

Motorencoder

3

External encoder

Data type

UNS16

Data range

[1, 3]

Dimension

Translatory: -

Rotatory: -

Default

1

Remarks

Now this parameter is supported only for SERCOS.

P-AXIS-00412

Distance monitoring during homing

Parameter

kenngr.homing_max_movement_dist

Description

With this parameter a maximum movement distance during homing can be set up for spindles and rotatory axes. If the maximum permissible distance for homing is exceeded, homing is aborted and error message P-ERR-70394 is output.

By setting this parameter it can be achieved that homing is aborted if for example, the reference cam is not recognized due to a wiring error.

This parameter works only for spindles and rotatory axes, see P-AXIS-00018.

If this parameter is set for linear axes to a value other than zero error P-ERR-110545 is output and the parameter is set to zero.

A value of zero disables distance monitoring during homing.

Data type

UNS32

Data range

[0, MAX_UNS32]

Dimension

Translatory: 0,1 um

Rotatory: 10-4°-

Default

0 (Distance monitoring disabled)

Remarks

This parameter must be set to a value which is at least as big as the modulo range of the axis in order to complete homing successfully.

P-AXIS-00425

Bit number of bit used for reference monitoring

Parameter

antr.reference_check.bit_nr

Description

At active reference monitoring in this parameter the bit number of the bit used for transmission of the reference signal must be set up.

The least significant bit has bit number 0.

Depending on the length of the configured telegram element used for transmission of the reference signal the maximum value for this parameter is

Telegramelement length

Max. bit number

2

15

4

31

If an invalid bit number is set up error message P-ERR-110549 is output.

Data type

SGN16

Data range

< 0: Reference monitoring is disabled..

0 ... Max. bit number: Number of bit used for reference monitoring.

Dimension

-

Default

-1

Remarks

Now this parameter is only supported for drive type SERCOS.

P-AXIS-00426

Name of process data element used for transmission of the reference signal

Parameter

antr.reference_check.element_name

Description

In this parameter the name of the element of the cyclic input process data which is used for transmission of the reference signal from the drive must be entered.

Reference monitoring is activated if a value is assigned to this parameter.

If reference monitoring is activated, P-AXIS-00425 must also assigned a valued value.

When the SERCOS state word is used for transmission of the reference signal, this parameter must be set to “S-0-0135”, otherwise to the name of a telegram element configured in the cyclic input process data.

If the value set up in P-AXIS-00426 is not found in the process data error message P-ERR-70401 is output.

Data type

STRING

Data range

-

Dimension

-

Default

“” (empty string), reference monitoring is disabled.

Remarks

  • Now this parameter is only supported for drive type SERCOS.
  • Changing this parameter by a list update is not possible (P-ERR-110550).