Parameterisation example

This section lists the key parameters in the axis and channel lists for the application example.

The required parameters of the axes concerned are listed below: The only thing you should make sure about is that the axes X, Y, Z and C are identical to the robot axes. In this example, the linear conveyor is controlled and the current workpiece is measured directly via the drive interface. This means that no PLC code is required in this example.

Axis 1

kopf.log_achs_name                   X
kopf.achs_nr                         1

Axis 2

kopf.log_achs_name                   Y
kopf.achs_nr                         2

Axis 3

kopf.log_achs_name                   Z
kopf.achs_nr                         3

Axis 4

kopf.log_achs_name                   C
kopf.achs_nr                         4

Spindle

kopf.log_achs_name                   S1
kenngr.achs_typ                      4 ( type == 4 spindle
kenngr.messachse                     1
kenngr.measure.signal                DRIVE_TYPE_DEFAULT
conv_sync.is_master                  1
conv_sync.enable_filter              1
conv_sync.type_pos_filter            1
conv_sync.order_pos_filter           4
conv_sync.order_v_filter             10
conv_sync.order_post_v_filter        6
conv_sync.order_v_filter_dyn         10
conv_sync.delay_time                 17455

The required entries in the channel parameter list are as follows:

configuration.interpolator.function  FCT_DLM ( P-CHAN-00650
spdl_anzahl                          1
#
main_spindle_ax_nr                   5
main_spindle_name                    S1
#
trafo[0].id                          37
trafo[0].param[0]                    0
trafo[0].param[1]                    0
trafo[0].param[2]                    0
trafo[0].param[4]                    2000000
trafo[0].param[3]                    480000
trafo[0].param[5]                    10500000
trafo[0].param[6]                    4655440
trafo[0].param[7]                    0
trafo[0].param[8]                    0
trafo[0].param[9]                    0
trafo[0].param[10]                   -1800000
trafo[0].param[11]                   1800000
trafo[0].param[12]                   0
#
conveyor_sync.log_number_master      5
conveyor_sync.move_direction         0
conveyor_sync.x_virtual              0
conveyor_sync.sync_in_tolerance      1.0e+02
conveyor_sync.hold_limit_vel_factor  950
conveyor_sync.hold_limit_tolerance   5.0e+04
conveyor_sync.cart_t0_shift_x        0
conveyor_sync.cart_t0_shift_y        0
conveyor_sync.cart_t0_shift_z        0
conveyor_sync.cart_t0_rot_a          0.0
conveyor_sync.cart_t0_rot_b          0.0
conveyor_sync.cart_t0_rot_c          0.0
conveyor_sync.pos_limit              0
conveyor_sync.cart_swe_pos_x         5000000
conveyor_sync.cart_swe_pos_y         5000000
conveyor_sync.cart_swe_pos_z         5000000
conveyor_sync.cart_swe_neg_x         -5000000
conveyor_sync.cart_swe_neg_y         -5000000
conveyor_sync.cart_swe_neg_z         -5000000