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 |
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Remarks | * One of the following two axis modesmustalways be defined: - ACHSMODE_LINEAR or 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 with P-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 | - | |
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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:
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 |
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