Axis type
ASCII: POSCNFG
Default: 0 valid for OPMODE 8
Here you select whether the axis is to be operated as a linear or a rotary axis.
ID Function Comments
0 linear
A linear axis is an axis with a limited range of travel. A linear axis moves within the
traversing limits that are given by the software limit-switches, both absolutely and
relatively. A reference point must be set.
The maximum range of movement is limited to +/- 2047 turns of the motor. If a
larger number (+/- 32767) is needed, please consult our applications department.
1 rotary
A rotary axis is an axis with unlimited travel. The software limit-switches have no
significance in this case. A rotary axis always makes a relative movement, even
if the tasks are entered as absolute ones. The actual position is set to zero with
every start. A reference point is not required.
2 modulo
The position of the position controller is limited to the range given by
(Modulo-Start-Pos … Modulo-End-Pos.). As soon as the end of this range
(Modulo-End-Pos.-1) is reached, the position begins again at (Modulo-Start-Pos).
So the absolute target positions for the motion tasks must lie within the valid range.
Any attempt to start an absolute motion task with a target position outside this range
will generate the warning n08 (motion task error). With relative motion tasks, the
target position will be corrected so that it always lies within the valid range. Since a
target position can be approached from two directions when positioning within the
modulo range, the "direction" parameter on the "Homing" screen page can be used
to define the preferred direction.
The same restrictions apply for the reference point as for axis type=linear, i.e. the
completion of a homing movement is a precondition for all positioning actions.
The limitation to the modulo range does not apply during the homing movement, in
other words, during the homing movement the position for the position controller is
treated the same as for axis type=linear.
The limitation to the modulo range is only activated after the homing movement has
been completed.
v_max
ASCII: PVMAX
Default: 100 valid for OPMODE 8
This parameter is used to adjust the maximum speed of movement to suit the limits of the operative machinery.
The calculation of the upper setting limit depends on the final limit speed of the drive. The value that is entered
is used as a limit for the "v_setp" entry in the motion tasks. During commissioning, you can limit the speed by
using v_max (without changing the setting for the motion blocks). A lower value of v_max overrides the v_setp
of the motion tasks.
t_acc/dec_min / a max
ASCII: PTMIN
Default: 1 ms valid for OPMODE 8
A drive is always so dimensioned that it can provide more power than the application requires. This parameter
determines the limit for the maximum mechanical acceleration time to v_max, that must not be exceeded by the
drive. This time is simultaneously valid as the minimum limit for the entry "t_accel_tot" (acceleration time from 0
to v_setp) and "t_brake_tot" (braking time from v_setp down to 0) for the motion tasks.
Depending on the setting of acceleration unit you can enter either the acceleration time or the acceleration in
the dimensional unit that has been selected.
InPosition
ASCII: PEINPOS
Default: 4000 valid for OPMODES 4,5,8
Sets the InPosition window. Determines at which distance from the set position the "InPosition" message should
be reported. The drive moves precisely to the target position.
Modulo-Start-Pos.
ASCII : SRND
Default : -2
31
valid for OPMODES 4,5,8
This parameter is used to define the start of the range of movement for a modulo axis.
The end of the range is defined by the parameter Modulo-End-Pos.
Modulo-End-Pos.
ASCII : ERND
Default : 2
31
-1 valid for OPMODES 4,5,8
This parameter is used to define the end of the range of movement for a modulo axis.
The start of the range is defined by the parameter Modulo-Start-Pos.
Setup Software 67
BECKHOFF 07/03 Screen page "Position Data"
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