Parameter
The Processing Unit object is used to control and execute the Mover ID detection for each mover axis. You have the possibility to adjust the sequence of the search, by setting some parameters as well as configuring the detection procedure via the mover axis. However, usually the default parameters match your XTS system.
The following tables show the default parameters for the Beckhoff movers:
Parameter | Default | Min | Max | Unit | Tab |
|---|---|---|---|---|---|
DetectionMinMovement | 0.1 | 0.01 | 2.0 | mm | Init |
DetectionFilter | 250 | 0 | 5000 | Hz | Init |
DetectionCurrentRamp | 25 | 10 | 1000 | mA/s | Init |
DetectionMaxCurrent | 12 | 0.5 | 13 | A | Init |
 | Adjustment of the default parameters with customer-specific movers With customer-specific movers that differ from the Beckhoff movers in terms of rigidity, mass or some other deviating mechanical behavior, it may be necessary to adjust the default parameters in order to optimize the Mover ID detection. |
DetectionMinMovement
Minimum position change that the mover must experience during Mover ID detection for detection to be successful.
DetectionFilter
Filter for current change.
DetectionCurrentRamp
Ramp of the current of the Mover ID detection.
DetectionMaxCurrent
Maximum value of the current of the Mover ID detection.
DetectionStatus
Status of Mover ID detection.
- ►Expand Solution Explorer > TwinCAT Project > MOTION > NC SAF > Axes > Mover Axis > SoftDrive > Data Pointer
- ►Double click on FeedForward_Obj6 (CTcSdFeedForward)