Overview
Task
When a spindle drive is operated at current limit, it may result in an excessive position lag at high speeds, causing error messages in the drive and/or the CNC. To avoid this, it is necessary at high speeds to change to controlled operation (no position control) and to only operate the spindles position-controlled for positioning movements.
Properties
Automatic changeover by the CNC with position control in the drive is only available for SERCOS and CANopen drives.
A change between the two operation modes can take place automatically during the movement.
 | This function is available for CANopen drives as of CNC Build v3.1.3079.13. |
Parameter definition
Automatic changeover and switch-back can be specified by using the appropriate parameters. They are:
- P-AXIS-00264: antr.sercos.op_mode_for_velocity_control
- P-AXIS-00267: antr.sai_op_mode_change.v_velocity_control_on
- P-AXIS-00268: antr.sai_op_mode_change.v_position_control_on
The section Parameters contains a detailed description of the commands.
Mandatory note on references to other documents
For the sake of clarity, links to other documents and parameters are abbreviated, e.g. [PROG] for the Programming Manual or P-AXIS-00001 for an axis parameter.
For technical reasons, these links only function in the Online Help (HTML5, CHM) but not in pdf files since pdfs do not support cross-linking.