Axis parameters
P-AXIS-00854 | Name of the telegram element to be written | |
Description | This parameter defines which telegram element in the cyclic telegram is to be treated as control unit on the HLI. The index i + 1 corresponds to the relevant control unit. This is the assignment (0 ≤ i ≤ 3): antr.plc_to_drive[0].wr_ident -> gpAx[axis_idx]^.lr_mc_control.uns32_1 antr.plc_to_drive[1].wr_ident -> gpAx[axis_idx]^.lr_mc_control.uns32_2 antr.plc_to_drive[2].wr_ident -> gpAx[axis_idx]^.lr_mc_control.uns32_3 antr.plc_to_drive[3].wr_ident -> gpAx[axis_idx]^.lr_mc_control.uns32_4
The name of the ID must be identical with the drive reference configured in the axis parameter list. | |
Parameter | antr.plc_to_drive[i].wr_ident (0 ≤ i ≤ 3) | |
Data type | STRING | |
Data range | Maximum of 29 characters | |
Axis types | T, R, S | |
Dimension | T: ---- | R, S: ---- |
Default value | * | |
Drive types | SERCOS, Profidrive, CANopen, Terminal | |
Remarks | * Note: The default value of variables is a blank string. Available as of Build V3.1.3081.21 or V3.1.3135.0
Parameterisation example: The torque limit value for a SERCOS drive should be linked to the control unit in the HLI. antr.plc_to_drive[0].wr_ident S_0_0092 | |
P-AXIS-00855 | Data type of the data to be transferred | |
Description | This parameter defines the data type of the telegram element in the cyclic telegram that is to be treated as control unit on the HLI. | |
Parameter | antr.plc_to_drive[i].data_type | |
Data type | STRING | |
Data range | SGN08: Signed 8 bit integer. UNS08: Unsigned 8 bit integer. SGN16: Signed 16 bit integer. UNS16: Unsigned 16 bit integer. SGN32: Signed 32 bit integer. UNS32: Unsigned 32 bit integer. BITARRAY_08: Bit array 8 bits. BITARRAY_16: Bit array 16 bits. BITARRAY_32: Bit array 32 bits. | |
Axis types | T, R, S | |
Dimension | T: ---- | R, S: ---- |
Default value | SGN16 | |
Drive types | SERCOS, Profidrive, CANopen, Terminal | |
Remarks | Available as of Build V3.1.3081.21 or V3.1.3135.0 The data item is transferred by a UNS32 value to the HLI; if it is an SGN data type, the sign is at bit 31 (0-based). | |
P-AXIS-00856 | Writing of drive values by bit mask | |
Description | This parameter specifies the bit mask that must be used if bitwise writing is defined. If the value specified in the control unit is greater than zero, the bit mask are set. With a programmed value of zero, the bits in the bit mask are deleted from the value transferred to the drive. This value is only used if the data type configured in P-AXIS-00855 has either the value 'BITARRAY_08', 'BITARRAY_16' or 'BITARRAY_32'. The value of this parameter must be less than or equal to the maximum values defined by the parameter in P-AXIS-00855, otherwise error message ID 70403 is output. | |
Parameter | antr.plc_to_drive[i].mask | |
Data type | STRING | |
Data range | Dependent on P-AXIS-00855: BITARRAY_08: Bit array 08 bit - 0 ... MAX(UNS08) BITARRAY_16: Bit array 16 bit - 0 ... MAX(UNS16) BITARRAY_32: Bit array 32 bit - 0 ... MAX(UNS32) | |
Axis types | T, R, S | |
Dimension | T: ---- | R, S: ---- |
Default value | NOT USED | |
Drive types | SERCOS, Profidrive, CANopen, Terminal | |
Remarks | Available as of Build V3.1.3081.21 or V3.1.3135.0 | |
P-AXIS-00857 | Scaling of the data item to be transferred | ||
Description | This parameter defines the scaling of the value that is transferred to the drive. | ||
Parameter | antr.plc_to_drive[i].scaling_type | ||
Data type | STRING | ||
Data range | UNSCALED | Unscaled output of the value programmed in the NC program; scaling factor = 1 (default). | |
LINEAR | The value is weighted by a scaling factor (see P-AXIS-00858) | ||
TORQUE_DRIVE_SIDE | The programmed value is a torque value related to the motor shaft and is scaled to the drive torque format by the parameters P-AXIS-00325, P-AXIS-00326 and P-AXIS-00392. The scaling factor does not change during gear change. The scaling factor is: | ||
Axis types | T, R, S | ||
Dimension | T: ---- | R, S: ---- | |
Default value | UNSCALED | ||
Drive types | SERCOS, Profidrive, CANopen, Terminal | ||
Remarks | Available as of Build V3.1.3081.21 or V3.1.3135.0 Example: The torque limit in the SERCOS drive is specified in per mil units of the maximum motor torque. However, on the HLI, the torque should be specified in per cent: antr.plc_to_drive[0].wr_ident S_0_0092 antr.plc_to_drive[0].scaling_type LINEAR antr.plc_to_drive[0].scaling_factor 10 | ||
P-AXIS-00858 | Scaling of the output value | |
Description | This parameter executes a scaling for reading and writing the drive object. This parameter is only effective if the scaling type is specified with P-AXIS-00857. The parameters for the start value P-AXIS-00861 and for the minimum and maximum permissible output values (P-AXIS-00860 and P-AXIS-00859) are also scaled. | |
Parameter | antr.plc_to_drive[i].scaling_factor | |
Data type | REAL64 | |
Data range | REAL range, except value 0 | |
Axis types | T, R, S | |
Dimension | T: ---- | R, S: ---- |
Default value | 1 | |
Drive types | SERCOS, Profidrive, CANopen, Terminal | |
Remarks | Available as of Build V3.1.3081.21 or V3.1.3135.0 | |
P-AXIS-00859 | Maximum permissible output value | |
Description | This parameter defines the maximum permissible output value. If the value specified by the control unit exceeds the maximum value, the drive output value is corrected automatically to the maximum value. No error message is then output. If the parameter is greater than the maximum value of the specified data type defined in P-AXIS-00855, the warning ID 70383 is output and the value of the parameter is corrected. If P-AXIS-00860 is configured, P-AXIS-00860 must be smaller than this parameter. If this is not the case, the warning ID 70385 is output and the minimum and maximum values are exchanged. If this parameter is not configured, no limitation is executed. | |
Parameter | antr.plc_to_drive[i].max_limit | |
Data type | REAL64 | |
Data range | Dependent on P-AXIS-00855 and P-AXIS-00858 | |
Axis types | T, R, S | |
Dimension | T: ---- | R, S: ---- |
Default value | 1.000000e+199 | |
Drive types | SERCOS, Profidrive, CANopen, Terminal | |
Remarks | Available as of Build V3.1.3081.21 or V3.1.3135.0 | |
P-AXIS-000860 | Minimum permissible output value | |
Description | This parameter defines the minimum permissible output value. If the value specified by the control unit exceeds the minimum value, the drive output value is corrected automatically to the minimum value. No error message is then output. If the parameter is smaller than the minimum value of the set data type defined by P-AXIS-00855, the warning ID 70384 is output and the value of the parameter is corrected. If P-AXIS-00859 is configured, P-AXIS-00859 must be greater than the value of P-AXIS-00860. If this is not the case, the warning ID 70385 is output and the values are exchanged. If these parameters are not configured, no limitation is executed. | |
Parameter | antr.plc_to_drive[i].min_limit | |
Data type | REAL64 | |
Data range | Dependent on P-AXIS-00855 and P-AXIS-00858 | |
Axis types | T, R, S | |
Dimension | T: ---- | R, S: ---- |
Default value | 1.000000e+199 [Kommentar: Stimmt der Wert!??] | |
Drive types | SERCOS, Profidrive, CANopen, Terminal | |
Remarks | Available as of Build V3.1.3081.21 or V3.1.3135.0 | |
P-AXIS-00861 | Value of data element after controller start-up | |
Description | This parameter defines the value of the cyclic telegram element after controller start-up. The scaling factor P-AXIS-00858 is calculated using this value and written to the drive. | |
Parameter | antr.plc_to_drive[i].startup_value | |
Data type | REAL64 | |
Data range | When P-AXIS-00855 = 'SGN16': MIN(SGN16) ≤ startup_value * scaling_factor ≤ MAX(SGN16)
When P-AXIS-00855 = 'SGN32': MIN(SGN32) ≤ startup_value * scaling_factor ≤ MAX(SGN32) | |
Axis types | T, R, S | |
Dimension | T: ---- | R, S: ---- |
Default value | 0 | |
Drive types | SERCOS, Profidrive, CANopen, Terminal | |
Remarks | Available as of Build V3.1.3081.21 or V3.1.3135.0 | |
P-AXIS-00862 | Name of the telegram element to be read | |
Description | This parameter defines which telegram element in the cyclic telegram is to be treated as control unit on the HLI. The index i + 1 corresponds to the relevant control unit. This is the assignment (0 ≤ i ≤ 3): antr.drive_to_plc[0].wr_ident -> gpAx[axis_idx]^.lr_mc_control.uns32_1 antr.drive_to_plc[1].wr_ident -> gpAx[axis_idx]^.lr_mc_control.uns32_2 antr.drive_to_plc[2].wr_ident -> gpAx[axis_idx]^.lr_mc_control.uns32_3 antr.drive_to_plc[3].wr_ident -> gpAx[axis_idx]^.lr_mc_control.uns32_4
The name of the ID must be identical with the drive reference configured in the axis parameter list. | |
Parameter | antr.drive_to_plc[i].wr_ident (0 ≤ i ≤ 3) | |
Data type | STRING | |
Data range | Maximum of 29 characters | |
Axis types | T, R, S | |
Dimension | T: ---- | R, S: ---- |
Default value | * | |
Drive types | SERCOS, Profidrive, CANopen, Terminal | |
Remarks | * Note: The default value of variables is a blank string. Available as of Build V3.1.3081.21 or V3.1.3135.0
Parameterisation example: The torque limit value for a SERCOS drive should be linked to the control unit in the HLI. antr.drive_to_plc[0].wr_ident S_0_0092 | |
P-AXIS-00863 | Data type of the data to be transferred | |
Description | This parameter defines the data type of the telegram element in the cyclic telegram that is to be treated as control unit on the HLI. | |
Parameter | antr.drive_to_plc[i].data_type | |
Data type | STRING | |
Data range | SGN08: Signed 8 bit integer. UNS08: Unsigned 8 bit integer. SGN16: Signed 16 bit integer. UNS16: Unsigned 16 bit integer. SGN32: Signed 32 bit integer. UNS32: Unsigned 32 bit integer. BITARRAY_08: Bit array 8 bits. BITARRAY_16: Bit array 16 bits. BITARRAY_32: Bit array 32 bits. | |
Axis types | T, R, S | |
Dimension | T: ---- | R, S: ---- |
Default value | SGN16 | |
Drive types | SERCOS, Profidrive, CANopen, Terminal | |
Remarks | Available as of Build V3.1.3081.21 or V3.1.3135.0 The data item is transferred by a UNS32 value to the HLI; if it is an SGN data type, the sign is at bit 31 (0-based). | |
P-AXIS-00856 | Writing of drive values by bit mask | |
Description | This parameter specifies the bit mask that must be used if bitwise writing is defined. If the value specified by the control unit is greater than zero, the bit mask is set. With a programmed value of zero, the bits in the bit mask are deleted from the value to be transmitted to the drive. This value is only used if the data type configured in P-AXIS-00855 has either the value 'BITARRAY_08', 'BITARRAY_16' or 'BITARRAY_32'. The value of this parameter must be less than or equal to the maximum values defined by the parameter in P-AXIS-00855, otherwise error message ID 70403 is output. | |
Parameter | antr.drive_to_plc[i].mask | |
Data type | STRING | |
Data range | Dependent on P-AXIS-00855: BITARRAY_08: Bit array 08 bit - 0 ... MAX(UNS08) BITARRAY_16: Bit array 16 bit - 0 ... MAX(UNS16) BITARRAY_32: Bit array 32 bit - 0 ... MAX(UNS32) | |
Axis types | T, R, S | |
Dimension | T: ---- | R, S: ---- |
Default value | NOT USED | |
Drive types | SERCOS, Profidrive, CANopen, Terminal | |
Remarks | Available as of Build V3.1.3081.21 or V3.1.3135.0 | |
P-AXIS-00865 | Scaling of the data to be transferred | ||
Description | This parameter defines the scaling of the value before transfer to the drive. | ||
Parameter | antr.drive_to_plc[i].scaling_type | ||
Data type | STRING | ||
Data range | UNSCALED | Unscaled output of the value programmed in the NC program; scaling factor = 1 (default). | |
LINEAR | The value is weighted by a linear scaling factor (see P-AXIS-00866) | ||
TORQUE_DRIVE_SIDE | The programmed value is a torque value related to the motor shaft and is scaled to the drive torque format by the parameters P-AXIS-00325, P-AXIS-00326 and P-AXIS-00392. The scaling factor does not change during gear change. The scaling factor is: | ||
Axis types | T, R, S | ||
Dimension | T: ---- | R, S: ---- | |
Default value | UNSCALED | ||
Drive types | SERCOS, Profidrive, CANopen, Terminal | ||
Remarks | Available as of Build V3.1.3081.21 or V3.1.3135.0 Example: The torque limit in the SERCOS drive is specified in per mil units of the maximum motor torque. However, on the HLI, the torque should be specified in per cent: antr.drive_to_plc[0].wr_ident S_0_0092 antr.drive_to_plc[0].scaling_type LINEAR antr.drive_to_plc[0].scaling_factor 10 | ||
P-AXIS-00866 | Scaling of the output value | |
Description | This parameter executes a scaling for reading and writing the drive object. This parameter is only effective if the scaling type is specified in P-AXIS-00865. | |
Parameter | antr.drive_to_plc[i].scaling_factor | |
Data type | REAL64 | |
Data range | REAL range, except value 0 | |
Axis types | T, R, S | |
Dimension | T: ---- | R, S: ---- |
Default value | 1 | |
Drive types | SERCOS, Profidrive, CANopen, Terminal | |
Remarks | Available as of Build V3.1.3081.21 or V3.1.3135.0 | |