Init Parameter

General

Feedback Velocity Source

Specifies the source of the actual velocity (AXIS_REF.McToPlc.Act.Velocity). The velocity can either be obtained from the hardware being used or calculated internally by differentiating the actual position value.

HardwareProvidedIfAvailable (Default value)

Uses the velocity provided by the hardware. If no entry for the actual velocity is mapped in the process data, it is automatically calculated internally.

InternallyCalculated

Velocity is always calculated from the derivative of the actual positions. Actual hardware velocities are ignored, even if they are available.

HardwareProvided

The velocity is always taken directly from the hardware feedback. This requires linking the actual velocity via process data (PDO mapping). If the mapping is missing, this will result in an error when the configuration is started.

The position scaling factor is divided into a numerator and a denominator. It is used to convert the path increments into axis positions or to calculate a user unit from encoder increments.

Position Scaling Numerator from Hardware

Position Scaling Numerator From Hardware is the feed rate that the application applies when the output shaft has completed one revolution.

Position Scaling Denominator from Hardware

Position Scaling Denominator From Hardware is the number of increments that the drive outputs when the motor shaft has completed one revolution.

Example 1 on position scaling:

Motor without gear unit with 100 mm pinion on AX5000 with default settings:

• Numerator: 100 mm
• Denominator: 1048576

Example 2 on position scaling:

Motor with gear unit with i=10 on turntable on AX5000 with default settings:

• Numerator: 360° / 10 = 36°
• Denominator: 1048576

Encoder Mounting Offset

An offset used to correct the position of an encoder system or align it within the machine coordinate system, thereby defining the machine-specific zero point. This offset is restored when the controller is restarted.

Direction Inverted

The Direction Inverted parameter can reverse the counting direction of the encoder or drive:

• FALSE: The polarity of the axis movement agrees with the counting direction of the acquisition hardware.
• TRUE: The polarity of the axis movement is in the opposite sense to that of the counting direction of the acquisition hardware.

Velocity Scaling Numerator from Hardware

Used to calculate the actual velocity value from the encoder pulses.

Velocity Scaling Denominator from Hardware

Used to calculate the actual velocity value from the encoder pulses.

Dead Time Compensation

A requirement for high-precision conversion of positions into times and vice versa is precise dead time compensation of the axes.

Dead Time Compensation

Specify how the compensated target value and actual value are to be calculated. The dead time is automatically determined during EtherCAT initialization.

Additional Time Shift from Hardware

Additional offset of the automatically calculated dead time to compensate for the current position.

Connection

AMS address

Information about the address of the assigned hardware drive (read-only); no manual configuration is required. It is used for communication purposes.

Channel Number

Information about the channel number of the assigned hardware drive (read-only); no manual configuration is required. It is used for communication purposes.

EtherCAT Slave Oid

Object ID of the EtherCAT slave.

Actual Position Filter

Filter Type

None

No filter is applied.

PT1-Filter

This is a first-order delay element (digital low-pass filter, proportional element with first-order delay) used to smooth out noisy signals (actual value). The PT1 filter is applied independently to the three actual values: position, velocity, and acceleration. Each variable has its own filter time constant. The filter time constants should be selected from the positive range of values. The value 0.0 disables filtering for the corresponding variable. The larger the filter time constant, the more the actual value is smoothed, and the greater the delay.
Because the variables are filtered separately, the output values are not necessarily consistent with each other.

MovingAverage-Filter

The moving-average filter calculates the arithmetic mean over a sliding time window of the last N input values and is thus a simple FIR low-pass filter (with a finite impulse response).
The moving-average filter is applied independently to the three actual values: position, velocity, and acceleration. Each variable has its own window length: N. The window length is calculated as the quotient of the parameterized filter time and the cycle time. The maximum window length is 1000 data points. The dead time is equal to half the window length.
Since the variables are filtered separately, the output values are not necessarily consistent with one another.
With a filter time of 0.0, the actual value is processed immediately and is not filtered. A long filter time results in significant smoothing and increases the dead time.

KalmanFilter3x1

The 3x1 Kalman filter estimates a set of position (s), velocity (v), and acceleration (a) values based on the continuous actual position values. On the one hand, this serves to reduce noise; on the other hand, the calculation of (s, v, a) is performed consistently, i.e., taking into account the interdependence of these variables. 3x1 indicates that the filter has three output variables (s, v, a) and one input variable (s).
It is often advantageous for (s, v, a) to be consistent with one another. In particular, the Kalman filter is recommended when coupling an axis to an encoder signal.
The 3x1 Kalman filter is configured using the “Filter Time” parameter, which defines the time scale used to calculate (s, v, a). The choice of this parameter represents a trade-off between noise reduction and dynamic response. A longer filter time results in greater noise reduction but a decrease in responsiveness, and vice versa (see the Filter Time parameter below).

Filter Time Position

This parameter is enabled when the Filter Type is set to PT1 or MovingAverage . The value 0.0 disables position filtering. The filter time constant must be selected from the positive range of values. The larger the filter time constant, the more the actual value is smoothed, and the greater the delay.

Filter Time Velocity

This parameter is enabled when the Filter Type is set to PT1 or MovingAverage . The value 0.0 disables velocity filtering. The filter time constant must be selected from the positive range of values. The larger the filter time constant, the more the actual value is smoothed, and the greater the delay.

Filter Time Acceleration

This parameter is enabled when the Filter Type is set to PT1 or MovingAverage . The value 0.0 disables acceleration filtering. The filter time constant must be selected from the positive range of values. The larger the filter time constant, the more the actual value is smoothed, and the greater the delay.

Filter Time

The parameter is active when the Filter Type is set to KalmanFilter3x1 . The Kalman filter is adapted to the application using a simplified parameterization with a single filter time constant. The larger the filter time constant, the greater the degree of smoothing.