Parameterization of a open position loop spindle with actual revolution feedback

Example

A spindle shall be set up where the acknowledge of velocity command is done via actual velocity value from the spindle.

The spindle moves with a velocity of 1 revolution per minute if a command velocity value of 1 is transferred to the spindle.

To set up a sensor less spindle the following steps are necessary:

1. Configuration of a spindle without position input but with a DA-converter output channel.
2. Setting axis mode to open position loop mode.
3. Setup of velocity scaling.

1. Step Configuration of a spindle with velocity feedback

A configuration tool is used to configure a spindle. The basic configuration is done like a NC-spindle (see also Chapter 1.2.2.1).

2. Step Activation of command velocity output

In the axis parameter list parameter P-AXIS-00320 must be set be set:

antr.operation_mode     OPEN_POSITION_LOOP_MODE

3. Step Parametrization of the velocity scaling

The axis parameters P-AXIS-00207, P-AXIS-00206 and P-AXIS-00205 must be set:

From the example above: The output of the command velocity to the drive is in revolutions per minute:

antr.v_time_base             0

An output of 1 digit the motor velocity is 1 revolution per minute, this correspondents to a velocity of 1 * 360°/min = 360°/min.

Conversion in the internal format leads to:

360° * 1000 = 360000.

Therefore:

antr.v_reso_nom    1
antr.v_reso_denom  360000

Parameters for the sensor less spindle