Example

Programming Example

SERCOS drive with position control in the drive

# [10-3degrees/s] -> 1200000 10-3degrees/s = 200 rpm

antr.sai_op_mode_change.v_velocity_control_on 1200000

# [10-3degrees/s] -> 300000 10-3degrees/s = 50 rpm

antr.sai_op_mode_change.v_position_control_on 300000

# Consideration of speed feedforward control

antr.sai_op_mode_change.feed_forward_v_weighting 500

antr.nbr_delay_cycles 4

# CANopen Kv : 0x30C0:01 [1/s]

# CNC Kv : [0.01/s]

getriebe[0].kv 2000

#Path resolution of drive [incr./rev.]

#Path resolution CNC [incr./0.0001°]

getriebe[0].wegaufz 1048576

getriebe[0].wegaufn 3600000

#Normalisation of speed CNC [incr./0.001°]

antr.v_time_base 0 (0=min,1=sec,2=ta)

antr.v_reso_num 1

antr.v_reso_denom 36

SERCOS drive with position control in the drive

# 0-main mode, 1-1st auxiliary, 2-2nd auxiliary, 3-3rd auxiliary

antr.sai_op_mode_change.v_velocity_control_on 1

# [10-3degrees/s] -> 1200000 10-3degrees/s = 200 rpm

antr.sai_op_mode_change.v_position_control_on 1200000

# [10-3degrees/s] -> 300000 10-3degrees/s = 50 rpm

antr.velocity_position_control_off 300000

# default is 1

antr.nbr_delay_cycles 4

# CNC Kv : [0.01/s]

getriebe[0].kv 6666

SERCOS drive with position control in the CNC

# Position control mode in the CNC

antr.operation_mode CNC_POSITION_CONTROL

# [10-3degrees/s] -> 1200000 10-3degrees/s = 200 rpm

antr.sai_op_mode_change.v_velocity_control_on 1200000

# [10-3degrees/s] -> 300000 10-3degrees/s = 50 rpm

antr.sai_op_mode_change.v_position_control_on 300000

# CNC Kv : [0.01/s]

getriebe[0].kv 10000

# Manipulated variable scaling [°/min]:

# 1000°/min = 10000000°/360° * 10^-4 rpm

getriebe[0].multi_gain_z 10000000

getriebe[0].multi_gain_n 360