Description

P-AXIS-00750

Order of band-pass filter

Description

This parameter defines the order of the band-pass filter for all modes (P-AXIS-00753).

In addition, this parameter is a value which expresses the fall of frequency response (fall = -order x 20 dB/decade).

Parameter

lr_param.improved_position_control.stage[i].filter.order

Data type

UNS32

Data range

1 <= order <= 3

Axis types

T, R, S

Dimension

T: —-

R, S: —-

Default value

0

Drive types

SERCOS, Profidrive, CANopen

Remarks

P-AXIS-00751

Frequency

Description

This parameter defines a frequency that has a different impact on filter response depending on the filter type setting (P-AXIS-00849).

Filter type - Band-pass filter:

The parameter defines the frequency that is to be actively damped by the "Improved Position Control" function. The middle frequency is specified for all modes P-AXIS-00753. For the “INDIRECT” and SET_POINT modes, the simulation of the mechanical vibration is based on the same frequency.

Filter type - All-pass filter:

This parameter defines the frequency at which the greatest phase rotation occurs. In the case of the all-pass filter, the frequency can be varied slightly from the set frequency of the band-pass filter in order to adjust the phase of the additive speed.

Parameter

lr_param.improved_position_control.stage[i].filter[k].fg_f0

Data type

REAL64

Data range

0.0 < fg_f0 <= 500.0

Axis types

T, R, S

Dimension

T: Hz

R, S: Hz

Default value

-1

Drive types

SERCOS, Profidrive, CANopen

Remarks

The "Improved Position Control" function achieves the best results when the dominant frequency of the mechanical vibration is precisely met. The measured frequency may deviate from the actual frequency due to measurement inaccuracies. In many cases, the performance of the function can be enhanced by varying the parameter fg_f0 within a narrow range.

Parameter available as of CNC Build V3.1.3077.08

P-AXIS-00752

Quality factor of the filter

Description

Depending on the filter type selected (P-AXIS-00849), the quality factor has a different impact on filter response.

Filter type - Band-pass filter:

Specifies the inverse value of the bandwidth for the band-pass filter for all modes (P-AXIS-00753).

P-AXIS-00752 = P-AXIS-00751 / bandwidth

Filter type - All-pass filter:

In the case of an all-pass filter, the quality factor determines the magnitude and narrowband nature of the phase shift about the centre frequency fg_f0. The higher the quality factor, the steeper and more concentrated the phase rotation.

Parameter

lr_param.improved_position_control.stage[i].filter[k].q_factor

Data type

REAL64

Data range

1.0 <= q_factor <= 10.0

Axis types

T, R, S

Dimension

T: —-

R, S: —-

Default value

-1

Drive types

SERCOS, Profidrive, CANopen

Remarks

A high filter quality limits the bandwidth of the filtering frequencies. To avoid cutting off any relevant frequencies, it is advisable to raise the filter quality step by step. The filter quality is limited by changing the frequency dependent on machine position and mass inertia. Among other things, a higher filter quality leads to improved damping of the required frequency, whereas a lower quality results in a more robust behaviour of frequency damping.

Parameter available as of CNC Build V3.1.3077.08

P-AXIS-00753

Mode for the "Improved Position Control" function

Description

The following modes are provided for the "Improved Position Control" function and they are applicable simultaneously to various stages.

• NOT_ACTIVE: IPC is not active.
• DIRECT: IPC uses direct measured values. Direct measured values can either come from a direct measuring system or originate from a motor encoder as the actual velocity.
• INDIRECT: IPC uses values that are based on the simulation of the mechanical vibration by the measured actual motor velocity.
• SET_POINT: IPC uses values that are based on the simulation of the mechanical vibration by the command velocity.

Parameter

lr_param.improved_position_control.stage[i].mode

Data type

UNS32

Data range

0 - NOT_ACTIVE

1 - DIRECT

2 - INDIRECT

3 - SET_POINT

Axis types

T, R, S

Dimension

T: —-

R, S: —-

Default value

0

Drive types

SERCOS, Profidrive, CANopen

Remarks

Parameter available as of CNC Build V3.1.3077.08 and higher

P-AXIS-00754

Weighting factor numerator

Description

Weighting factor numerator. The weighting is calculated from P-AXIS-00754 and P-AXIS-00755:

Weighting factor = P-AXIS-00754 / P-AXIS-00755

The weighting factor affects the output additive velocity per stage. The weighting factor is limited to a maximum value of 7.0.

A weighting factor of <1 reduces the output additive velocity. A weighting factor of >1 increases the output additive velocity.

Parameter

lr_param.improved_position_control.stage[i].weight_fact_num

Data type

UNS32

Data range

0 < weight_fact_num < MAX(UNS32)

Axis types

T, R, S

Dimension

T: —-

R, S: —-

Default value

1

Drive types

SERCOS, Profidrive, CANopen

Remarks

To ensure the reliable activation of the "Improved Position Control" function, it is advisable to raise the additive velocity slowly via the weighting factor.

Parameter available as of CNC Build V3.1.3077.08 and higher

P-AXIS-00755

Weighting factor denominator

Description

Weighting factor denominator. The weighting factor is calculated from P-AXIS-00754 and P-AXIS-00755.

Weighting factor = P-AXIS-00754 / P-AXIS-00755

The weighting factor affects the output additive velocity per stage. The weighting factor is limited to a maximum value of 7.0.

A weighting factor of <1 reduces the output additive velocity; a weighting factor of >1 increases the output additive velocity.

Parameter

lr_param.improved_position_control.stage[i].weight_fact_denom

Data type

UNS32

Data range

0 < weight_fact_denom < MAX(UNS32)

Axis types

T, R, S

Dimension

T: —-

R, S: —-

Default value

1

Drive types

SERCOS, Profidrive, CANopen

Remarks

To ensure the reliable activation of the Improved Position Control function, it is advisable to raise the additive velocity slowly via the weighting factor.

P-AXIS-00756

Damping the simulated mechanical vibration

Description

The parameter specifies the damping of the simulated mechanical vibration for the modes (P-AXIS-00753) INDIRECT and SET_POINT.

The parameter has no influence on the DIRECT mode.

Parameter

lr_param.improved_position_control.stage[i].filter.damping

Data type

REAL64

Data range

0.0 < damping < 1.0

Axis types

T, R, S

Dimension

T: —-

R, S: —-

Default value

-1

Drive types

SERCOS, Profidrive, CANopen

Remarks

The lower the damping, the more the simulation of the mechanical vibration and the higher the specified additive velocity. To ensure the reliable start of the "Improved Position Control" function, it is advisable to decrease damping slowly.

Parameter available as of CNC Build V3.1.3077.08 and higher

P-AXIS-00757

Factor for the maximum permissible additive velocity

Description

This parameter limits the maximum permissible additive velocity of the "Improved Position Control" function.

The additive velocity is limited in proportion to the maximum axis velocity.

max. additive velocity = P-AXIS-00757 / 1000 x P-AXIS-00212

If the additive velocity exceeds the calculated value, the limit value continues to be output as the additive velocity.

Parameter

lr_param.improved_position_control.v_add_max_fact

Data type

UNS16

Data range

0 <= v_add_max_fact <= 2000

Axis types

T, R, S

Dimension

T: 0.1%

R, S: 0.1%

Default value

0

Drive types

SERCOS, Profidrive, CANopen

Remarks

No warning is output if the maximum velocity is exceeded.

Parameter available as of CNC Build V3.1.3077.08 and higher

P-AXIS-00758

Enabling the Improved Position Control function

Description

This parameter sets the mode of the “Improved Position Control” function.

Parameter

lr_param.improved_position_control.enable

Data type

STRING

Data range

OFF: “Improved Position Control” function is not enabled

ON: “Improved Position Control” function is enabled

DRYRUN: The “Improved Position Control” function is enabled, however, the additive speed is not output to the drive.

Axis types

T, R, S

Dimension

T: ----

R, S: ----

Default value

OFF

Drive types

SERCOS, Profidrive, CANopen

Remarks

Parameter available as of CNC Build V3.1.3077.08

As of V3.1.3132.0, the following CNC objects can be used for start-up:

• ipc_output_velocity as output of the “Improved Position Control” function
• „dig act vel“: Drive actual speed

P-AXIS-00128

Adapting the drive command value to the drive format (denominator)

Description

The speed setpoint calculated in the position controller must be adapted to the D/A format of the D/A converter. The digital value at the D/A converter input (getriebe[i].multi_gain_z/getriebe[i].mulit_gain_n) must be specified at which the axis travels at the velocity of [1m/min] or at the speed [1000°/min].

Numerator: P-AXIS-00129

Parameter

getriebe[i].multi_gain_n

Data type

UNS32

Data range

1 ≤ multi_gain_n ≤ MAX(UNS32)

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

1

Drive types

Simulation, Conventional, Terminal, Lightbus, Profidrive

Remarks

P-AXIS-00129

Adaptation of command value of drive to the drive format (numerator)

Description

The speed setpoint calculated in the position controller must be adapted to the D/A format of the D/A converter. The digital value at the D/A converter input (getriebe[i].multi_gain_z/getriebe[i].mulit_gain_n) must be specified at which the axis travels at the velocity of [1m/min] or at the speed [1000°/min].

Denominator : P-AXIS-00128

Parameter

getriebe[i].multi_gain_z

Data type

UNS32

Data range

1 ≤ multi_gain_z ≤ MAX(UNS32)

Axis types

T, R, S

Dimension

T: Bit

R,S: Bit

Default value

2000

Drive types

Simulation, Conventional, Terminal, Lightbus, Profidrive

Remarks

P-AXIS-00205

Normalisation of the velocity (denominator)

Description

The conversion factor of the set velocity to drive format is obtained by specifying the value output to the drive and the related path distance covered in the time specified in P-AXIS-00207.

This parameter specifies the conversion factor numerator. (P-AXIS-00206 is the numerator)

This parameter indicates the path covered in the time specified in P-AXIS-00207, provided the value in P-AXIS-00206 is output to the drive. The path is specified in 1 µm or 0.001°.

Parameter

antr.v_reso_denom

Data type

UNS32

Data range

1 ≤ v_reso_denom ≤ MAX(UNS32)

Axis types

T, R, S

Dimension

T: 1µm

R,S: 0,001°

Default value

36

Drive types

All drive types

Remarks

P-AXIS-00206

Normalisation of command velocity (numerator)

Description

The conversion factor of the command velocity to drive format is defined by specifying the value output to the drive and the related distance covered in the time specified in P-AXIS-00207 .

This parameter specifies the conversion factor numerator. (P-AXIS-00205 is the denominator)
The factor indicates the number of velocity increments output.

Parameter

antr.v_reso_num

Data type

UNS32

Data range

0 ≤ v_reso_num ≤ MAX(UNS32)

Axis types

T, R, S

Dimension

T: increments

R,S: increments

Default value

1

Drive types

All drive types

Remarks

P-AXIS-00207

Time base for normalisation of velocity

Description

The time base for adapting the velocity interface to the unit used in the drive can be specified as value per minute, second or sampling interval. If normalisation per sampling interval is selected, the output value changes proportionally depending on the CNC cycle time at constant velocity. This may be essential depending on the drive.

Parameter

antr.v_time_base

Data type

UNS16

Data range

0: per minute

1: per second

2: per sampling interval

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

0

Drive types

SERCOS

Remarks

P-AXIS-00848

Prototypes for the band-pass filter

Description

This parameter can affect the basic form and response of a band-pass filter The following prototypes are available:

• Critically damped
• Advantages: Highly stable broadband response with minimum oscillations.
• Disadvantages: Low selectivity of centre frequency
• Butterworth
• Advantages: Excellent selectivity and steep edges
• Disadvantages: Greater phase delay
• Bessel
• Advantages: Best phase accuracy and good time response
• Disadvantages: Low selectivity of centre frequency

Parameter

lr_param.improved_position_control.stage[i].filter[k].prototype

Data type

STRING

Data range

CRIT_DAMPING: Critically damped prototype

BUTTERWORTH: Butterworth prototype

BESSEL: Bessel prototype

Axis types

T, R, S

Dimension

T: ----

R, S: ----

Default value

CRIT_DAMPING

Drive types

SERCOS, Profidrive, CANopen

Remarks

Available as of V3.1.3132.0

If a band-pass filter is parameterised in a filter stage >Y0, a prototype must be specified without fail.

P-AXIS-00849

Filter type used for each filter stage

Description

Specifies the filter type used for each filter stage (filter[k]).

Parameter

lr_param.improved_position_control.stage[i].filter[k].type

Data type

STRING

Data range

NO_FILTER: No filter on this stage

BANDPASS: Band-pass filter

ALLPASS: All-pass filter

Axis types

T, R, S

Dimension

T: ----

R, S: ----

Default value

filter[0].type = BANDPASS, filter[1].type = NO_FILTER

Drive types

SERCOS, Profidrive, CANopen

Remarks

Available as of V3.1.3132.0

If no filter type is specified, the band-pass filter at filter stage 0 is assumed. Filter stage 1 is disabled by default.

At least one band-pass filter per stage must be configured for the “Improved Position Control” function.

The order of the band-pass and all-pass filters does not matter.

P-AXIS-00850

Damping the simulated mechanical vibration

Description

The parameter specifies the damping of the simulated mechanical vibration for the modes (P-AXIS-00753) INDIRECT and SET_POINT.

The parameter has no influence on the DIRECT mode.

Parameter

lr_param.improved_position_control.stage[i]osc_damping

Data type

REAL64

Data range

0.0 < damping < 1.0

Axis types

T, R, S

Dimension

T: ----

R, S: ----

Default value

-1

Drive types

SERCOS, Profidrive, CANopen

Remarks

Available as of V3.1.3132.0

The lower the damping, the more the simulation of the mechanical vibration and the higher the specified additive velocity. To ensure the reliable start of the "Improved Position Control" function, it is advisable to decrease damping slowly.

Note:

This parameter replaces the parameter P-AXIS-00756 as of V3.1.3132.0. The parameter continues to be valid, but should not be combined with the new parameterisation.