Axis parameters
Only the specific parameters for spindle axes are described here. Refer to the documentation [AXIS] for details of further parameters available for setting axes.
P-AXIS-00015 | Axis mode | |
Parameter | kenngr.achs_mode | |
Description | Mode of the axis, especially of a spindle here | |
Data type | UNS32 | |
Data range | 1<P-AXIS-00015<0x40000 0x00004:A modulo calculation always takes place after the destination position has been reached. Regardless of the mode selected for rotary axes, a modulo calculation always takes place in the position controller. Thus, if necessary, modulo circle compensation can take place. 0x00100:In the case of a spindle, automatic referencing before spindle setup can be prevented. This is, of course, relevant only if the axis is not referenced. The function depends on the drive. 0x00200:Axis for kinematic "C axis" transformation 0x40000:Identifier for a controlled spindle | |
Dimension | Translatory: - | Rotary: - |
Default | - | |
Remarks | Only the axis modes relevant to the spindle are listed. For further information, refer to the documentation of the axis parameters [AXIS]. | |
P-AXIS-00016 | Axis number | |
Parameter | kopf.achs_nr | |
Description | For identification, each axis is assigned a logical axis number that is unique throughout the system. | |
Data type | UNS16 | |
Data range | 1 < P-AXIS-00016 < MAX(UNS16) | |
Dimension | Translatory: - | Rotary: - |
Default | - | |
Remarks | - | |
P-AXIS-00018 | Axis type | |
Parameter | kenngr.achs_typ | |
Description | The type of an axis is specified with this parameter. There is a fundamental distinction between rotary and translatory axes. In the case of rotary axes, a distinction is made between the rotary axis and the spindle. For translatory axes, only the linear axis type exists. Special functionality is addressed in the NC kernel with the axis type. Examples of this are modulo calculation or speed monitoring in the case of spindles. | |
Data type | UNS16 | |
Data range | 0x0001<P-AXIS-00018 <0x0004 0x0001Linear axis 0x0002Rotary axis 0x0004 Spindle | |
Dimension | Translatory: - | Rotary: - |
Default | For spindles always the axis type 0x0004 must be selected. | |
Remarks | - | |
P-AXIS-00020 | Drive type | |
Parameter | kenngr.antr_typ | |
Description | Drive type of the axis | |
Data type | UNS16 | |
Data range | 1 < P-AXIS-00020 < 0x20 0x0001:Conventional drive interface 0x0002:SERCOS drive interface 0x0004:Drive simulation 0x0010:Virtual axis 0x0020:CAN bus | |
Dimension | Translatory: - | Rotary: - |
Default | - | |
Remarks | - | |
P-AXIS-00159 | Direction of rotation | |
Parameter | getriebe[i].reverse | |
Description | Serves to reverse the sign of the input and output data. This is an option to make it possible to retain modified signs of the manipulated variable and actual values. | |
Data type | BOOLEAN | |
Data range | 0: Signs of input and output data are not reversed. 1: Signs of input and output data are reversed. | |
Dimension | Translatory: - | Rotary: |
Default | 0 | |
Remarks | - | |
P-AXIS-00234 | Distance resolution of measurement system | |
Parameter | getriebe[i].wegaufz | |
Description | The distance resolution of the measurement system is entered in the dimension [increments/0.1µm] for translatory axes or [increments/0.0001°] for rotary axes. The number of increments must be entered in P-AXIS-00234 (numerator), the amount of the travel distance [0.1µm] for translatory axes or in [0.0001°] for rotary axes in P-AXIS-00233 (denominator). | |
Data type | SGN32 | |
Data range | 1<P-AXIS-00234<MAX(SGN32) | |
Dimension | Translatory: see above | Rotary: see above |
Default |
| |
Remarks | These entries are not adopted when updating the axis parameter list. For updating to take effect, the control system must be restarted. Due to internal format conversion, the distance resolution of the measurement system must be set to less than or equal to one: P-AXIS-00234/P-AXIS-00233 = 1. | |
P-AXIS-00129 | Adjustment of the drive manipulated variable to the D/A converter | |
Parameter | getriebe[i].multi_gain_z | |
Description | The speed setpoint calculated in the position controller must be adapted to the D/A format of the D/A converter. Specify the digital value at the D/A converter input (P-AXIS-00129/P-AXIS-00128) at which the axis travels at a speed of [1m/min] or [1000°/min]. | |
Data type | UNS32 | |
Data range | 1<P-AXIS-00129<MAX(UNS32) | |
Dimension | Translatory: - | Rotary: - |
Default | - | |
Remarks | - | |
P-AXIS-00099 | Proportional factor kv for P position control | |
Parameter | getriebe[i].kv | |
Description | The P position controller has the gain factor kv | |
Data type | UNS32 | |
Data range | 0 <P-AXIS-00099 <MAX(UNS32) | |
Dimension | Translatory:0.01/s | Rotary:0.01/s |
Default | - | |
Remarks | - | |
Settings for modulo calculation
P-AXIS-00126 | High modulo limit | |
Parameter | getriebe[i].moduloo | |
Description | A high modulo limit (e.g. 360°) must be entered for modulo calculation in the case of rotary axes. | |
Data type | SGN32 | |
Data range | P-AXIS-00127< P-AXIS-00126 < MAX(SGN32) | |
Dimension | Translatory: - | Rotary: - |
Default | 360 | |
Remarks | Modulo calculation is activated automatically for the circular axes and spindles (axis types 0x2 and 0x4). | |
P-AXIS-00127 | Low modulo limit | |
Parameter | getriebe[i].modulou | |
Description | A low modulo limit (e.g. 360°) must be entered for modulo calculation in the case of rotary axes. | |
Data type | SGN32 | |
Data range | MIN(SGN32) < P-AXIS-00127 < P-AXIS-00126 | |
Dimension | Translatory: - | Rotary: - |
Default | 0 | |
Remarks | Modulo calculation is activated automatically for the circular axes and spindles (axis types 0x2 and 0x4). | |
P-AXIS-00125 | Revolutions in the event of modulo errors | |
Parameter | getriebe[i].modulo_umdreh | |
Description | During operation of a rotary axes, in certain circumstances the modulo circle of the command variables cannot be converted to the modulo circle of the increments without errors. The modulo circle of the increments is less by the rounding error. This is compensated with modulo compensation so that the missing increments per modulo revolution P-AXIS-00125 can be specified as integers in the machine data item P-AXIS-00124. | |
Data type | SGN16 | |
Data range | 0 < P-AXIS-00125 < MAX(SGN16) | |
Dimension | Translatory: - | Rotary: - |
Default | 0 | |
Remarks | This function is activated via the parameter P-AXIS-00120. | |
P-AXIS-00124 | Modulo error | |
Parameter | getriebe[i].modulo_fehler | |
Description | Modulo circle error specified in the case of P-AXIS-00125 number of revolutions | |
Data type | SGN16 | |
Data range | MIN(SGN16) < P-AXIS-00124 < MAX(SGN16) | |
Dimension | Translatory: increments | Rotary: increments |
Default | 0 | |
Remarks | This function is activated via the parameter P-AXIS-00120. | |
P-AXIS-00120 | Modulo compensation | |
Parameter | getriebe[i].mod_komp | |
Description | Activation of modulo compensation | |
Data type | BOOLEAN | |
Data range | 0: Modulo compensation deactivated in the position controller 1: Modulo compensation activated in the position controller | |
Dimension | Translatory: increments | Rotary: increments |
Default | 0 | |
Remarks |
| |
Speeds
P-AXIS-00220 | Limit speed | |
Parameter | getriebe[i].vb_regelgrenze | |
Description | In the case of spindles, at a higher speed the limit as from when the measurement system no longer supplies any valid signals can be exceeded. The limit speed for the actual position value sensor specifies as from which speed the position controller has to switch to the controlled mode. | |
Data type | UNS32 | |
Data range | 0 < P-AXIS-00220 <MAX(UNS32) | |
Dimension | Translatory:µm/s | Rotary: 0.001°/s |
Default | 0 | |
Remarks | - | |
P-AXIS-00216 | Minimum axis speed | |
Parameter | getriebe[i].vb_min_null | |
Description | Only especially in the case of spindle does speed monitoring in the position controller return the "speed 0" identifier below the limit P-AXIS-000216. | |
Data type | UNS32 | |
Data range | 0 < P-AXIS-00216 < MAX(UNS32) | |
Dimension | Translatory: - | Rotary: 0.001°/s |
Default | 0 | |
Remarks | - | |
P-AXIS-00217 | rpm factor | |
Parameter | kenngr.vb_prozent | |
Description | This parameter defines as from which actual speed the nominal speed is deemed to have been reached. | |
Data type | UNS32 | |
Data range | 0 < P-AXIS-00217 < 1000 | |
Dimension | Translatory: - | Rotary: - |
Default | 1000 | |
Remarks | - | |
P-AXIS-00209 | Rapid traversing speed | |
Parameter | getriebe[i].vb_eilgang | |
Description | The rapid traversing speed is specified for positioning with rapid traversing (G00). | |
Data type | UNS32 | |
Data range | 1<P--AXIS-00209 < P-AXIS-00212 (vb_max) | |
Dimension | Translatory: µm/s | Rotary: 0.001°/s |
Default | - | |
Remarks | - | |
Characteristic-controlled acceleration of spindles
A gear-specific acceleration characteristic is defined with the aid of the following parameters. This functionality is currently only possible for axes of the spindle with endless rotation type.
P-AXIS-00202 | Type of acceleration characteristic | |
Parameter | getriebe[i].beschl_kennlinie.typ | |
Description | - | |
Data type | UNS32 | |
Data range | 0: Constant acceleration 1: Hyperbole 2: Polynomial 3: Asynchronous drive | |
Dimension | Translatory: - | Rotary: - |
Default | - | |
Remarks | - | |
P-AXIS-00130 | Limit speed of the type 1 or 2 acceleration characteristic (see P-AXIS-00202) | |
Parameter | getriebe[i].beschl_kennlinie. n_grenz | |
Description | Limit speed as from which acceleration is in the form of a polynomial or hyperbole | |
Data type | UNS32 | |
Data range | 0<P-AXIS-00130 <MAX(UNS32) | |
Dimension | Translatory: - | Rotary: 10-3 °/s |
Default | - | |
Remarks | - | |
P-AXIS-00007 | Acceleration in the constant range of the type 1 or 2 acceleration characteristic (see P-AXIS-00202) | |
Parameter | getriebe[i].beschl_kennlinie.a_konst | |
Description | Constant acceleration in the range n<nlimit | |
Data type | UNS32 | |
Data range | 0<P-AXIS-00007<MAX(UNS32) | |
Dimension | Translatory: - | Rotary: °/s² |
Default | - | |
Remarks | - | |
P-AXIS-00010 | Minimum acceleration of the type 1 or 2 acceleration characteristic (see P-AXIS-00202) | |
Parameter | getriebe[i].beschl_kennlinie.a_min | |
Description | Minimum value below which the acceleration must not drop | |
Data type | UNS32 | |
Data range | 0<P-AXIS-00010<MAX(UNS32) | |
Dimension | Translatory: - | Rotary: °/s² |
Default | - | |
Remarks | - | |
P-AXIS-00026 | Coefficients of the type 1 or 2 acceleration characteristic (see P-AXIS-00202) |
Parameter | getriebe[i].beschl_kennlinie.b1 |
Description | - |
Data type | REAL64 |
Data range | 0<P-AXIS-00026<MAX(REAL64) |
Dimension | Type 1: o/s2 Type 2: 1/s |
Data range | 0<P-AXIS-00027<MAX(REAL64) |
Dimension | Type 1: - Type 2:1/o |
Data range | 0<P-AXIS-00028<MAX(REAL64) |
Dimension | Type 1:- Type 2: |
Default | - |
Remarks | - |
P-AXIS-00240 | Acceleration characteristic type 3 (see P-AXIS-00202): maximum acceleration | |
Parameter | getriebe[i].beschl_kennlinie.a_max | |
Description | This acceleration quantity is used in the constant range n < N1. | |
Data type | UNS32 | |
Data range | 0<P-AXIS-00240<MAX(UNS32) | |
Dimension | Translatory: - | Rotary: °/s² |
Default | - | |
Remarks | - | |
P-AXIS-00241 | Acceleration characteristic type 3 (see P-AXIS-00202): speed limit 1 | |
Parameter | getriebe[i].beschl_kennlinie.n1 | |
Description | The transition to the characteristic proportional to 1/n takes place as from this speed. | |
Data type | UNS32 | |
Data range | 0<P-AXIS-00241<MAX(UNS32) | |
Dimension | Translatory: - | Rotary: 10-3 °/s |
Default | - | |
Remarks | - | |
P-AXIS-00242 | Acceleration characteristic type 3 (see P-AXIS-00202): speed limit 2 | |
Parameter | getriebe[i].beschl_kennlinie.n2 | |
Description | The transition to the characteristic proportional to 1/n2 takes place as from this speed. | |
Data type | UNS32 | |
Data range | 0<P-AXIS-00241<MAX(UNS32) | |
Dimension | Translatory: - | Rotary: 10-3 °/s |
Default | - | |
Remarks | - | |
Referencing
P-AXIS-00156 | Referencing: reference point travel without cams | |
Parameter | kenngr.ref_ohne_nocken | |
Description | Parameter results in a change of the reference point travel strategy. | |
Data type | BOOLEAN | |
Data range | 0: Referencing with cam 1: Referencing without cam (e.g. only with zero pulse), i.e. without reversal. | |
Dimension | Translatory: - | Rotary: - |
Default | - | |
Remarks | To be assigned for analog spindles only. If P-AXIS-00156 is assigned 1 (TRUE), P-AXIS-00157 must also be assigned 1 (TRUE). | |
P-AXIS-00157 | Referencing: reference point travel without reversal | |
Parameter | kenngr.ref_ohne_rev | |
Description | Parameter limits reference point travel with regard to reversal. | |
Data type | BOOLEAN | |
Data range | 0: Reference point travel with reversal 1: reference point travel without reversal | |
Dimension | Translatory: - | Rotary: - |
Default | - | |
Remarks | To be assigned for analog spindles only. P-AXIS-00157 must be assigned 1 (TRUE) if P-AXIS-00156 is assigned 1 (TRUE). | |
Gear change
P-AXIS-00078 | Gear change position | |
Parameter | getriebe[i].getr_schalt_pos | |
Description | The gear shift position is specified for each gear. | |
Data type | SGN32 | |
Data range | P-AXIS-00177 (swe_neg) < P-AXIS-00078 < P-AXIS-00178 (swe_pos) | |
Dimension | Translatory: 0.1µm | Rotary: 0.0001° |
Default | - | |
Remarks | Definition of this parameter is essential whenever there are several gear. | |
P-AXIS-00079 | Number of the default gear | |
Parameter | getriebe[i].getriebe_stufe | |
Description | This parameter defines the gear number that is to be active after startup of the control system. | |
Data type | UNS16 | |
Data range | 1<P-AXIS-00079 < MAX(UNS16) | |
Dimension | Translatory: - | Rotary: - |
Default | - | |
Remarks | - | |
Direction of rotation of rotary axes
P-AXIS-00224 | Restriction of direction of rotation for rotary axes | |
Parameter | kenngr.vorz_richtung | |
Description | This parameter is necessary whenever a rotary axis is only to be operated in one direction. | |
Data type | BOOLEAN | |
Data range | 0: Rotary axis may be operated in both directions. 1: Rotary axis may be operated in only one direction. | |
Dimension | Translatory: - | Rotary: - |
Default | 0 | |
Remarks | - | |
P-AXIS-00031 | Definition of the direction of rotation for rotary axes | |
Parameter | kenngr.beweg_richt | |
Description | If only one direction of rotation is allowed in the case of rotary axes, the direction of rotation is defined with P-AXIS-00031. | |
Data type | BOOLEAN | |
Data range | 0: Negative direction of rotation 1: Positive direction of rotation | |
Dimension | Translatory: - | Rotary: - |
Default | 0 | |
Remarks | Positive direction of rotation means that the coordinate values increase. Negative direction of rotation means that the coordinate values decrease. This parameter is used only if | |
Sensorless spindles
P-AXIS-00205 | Velocity scaling denominator | |
Parameter | antr.v_reso_denom | |
Description | Denominator of the velocity scaling. | |
Data type | UNS32 | |
Data range | 0 < v_reso_nom < MAX(UNS32) | |
Dimension | Translatory: µm | Rotary: 0,001° |
Default | 36 | |
Remarks |
| |
P-AXIS-00206 | Velocity scaling nominator | |
Parameter | antr.v_reso_nom | |
Description | Nominator of the velocity scaling. | |
Data type | UNS32 | |
Data range | 0 < v_reso_nom < MAX(UNS32) | |
Dimension | Translatory: Increments | Rotary: Increments |
Default | 1 | |
Remarks |
| |
P-AXIS-00207 | Timebase for velocity scaling | |
Parameter | antr.v_time_base | |
Description | This parameter influences the timebase for the velocity scaling. Possible values are: 0 : per minute | |
Data type | UNS16 | |
Data range | 0 .. 2 | |
Dimension | Translatory: - | Rotary: - |
Default | 0 (per minute) | |
Remarks |
| |
P-AXIS-00265 | Switching velocity to open loop operation | |
Parameter | antr.velocity_position_control_on | |
Description | If a spindle velocity greater than P-AXIS-00265 is programmed the spindle switches to open position loop operation. | |
Data type | SGN32 | |
Data range | 0 ≤ P-AXIS-00265 ≤ 1000000000 | |
Dimension | Translatory: | Rotary: [10-3 degrees/s] |
Default | 1000000000 (SLOPE_VB_MAX , function deactivated) | |
Remarks | For a sensor less spindle only a velocity of zero is useful Therefore, always the command velocity of the interpolator is output and not the setpoint velocity of the position controller. | |
P-AXIS-00266 | Switching velocity to closed loop operation | |
Parameter | antr.velocity_position_control_off | |
Description | If the actual velocity at a positioning command with M19 is greater than the switching velocity to closed loop operation velocity is first decelerated to that velocity before position control is turned on. | |
Data type | SGN32 | |
Data range | 0 ≤ P-AXIS-00266 ≤ 1000000000 | |
Dimension | Translatory: | Rotary: [10-3 degree/s] |
Default | 0 | |
Remarks | For a sensorless spindle only a velocity of zero is useful ! Therefore always the command velocity of the interpolator is output and not the setpoint velocity of the position controller. | |