or when SD41110 $SN_JOG_SET_VELO = 0:
vDRF = MD32020 $MA_JOG_VELO * MD32090 $MA_HANDWH_VELO_OVERLAY_FACTOR
The velocity setting in SD41130 $SN_JOG_ROT_AX_SET_VELO applies for DRF on rotary axes
instead of the value in SD41110 $SN_JOG_SET_VELO.
MD irrelevant for:
JOG handwheel
Related to:
MD32020 $MA_JOG_VELO (JOG axis velocity)
SD41110 $SN_JOG_SET_VELO (JOG velocity for G94)
SD41130 $SN_JOG_ROT_AX_SET_VELO (JOG velocity for rotary axes)
32100 AX_MOTION_DIR A07, A03, A11 G1, TE3, G2
- Traversing direction (not control direction) DWORD PowerOn
-
- - 1 -1 1 2/2
Description: The direction of movement of the machine can be reversed with this MD.
The control direction is, however, not destroyed; i.e. closed-loop control remains
stable.
-1: Direction reversal
0, 1: No direction reversal
32110 ENC_FEEDBACK_POL A07, A02, A11 G2
- Sign actual value (control direction) DWORD PowerOn
-
- 1 1, 1 -1 1 2/2
Description: The evalution direction of the shaft encoder signals is entered in the MD.
-1: Actual value reversal
0, 1: No actual value reversal
The index[n] of the machine data is encoded as follows:
[Encoder no.]: 0 or 1
Special cases:
The axis can run off if an incorrect control direction is entered.
Depending on the setting of the corresponding limit values, one of the following
alarms is displayed:
Alarm 25040 "Standstill monitoring"
Alarm 25050 "Contour monitoring"
Alarm 25060 "Speed setpoint limitation"
If an uncontrolled setpoint step change occurs on connection of a drive, the control
direction might be incorrect.
Note:
In the case of SINAMICS drives, we recommend that the direction of motion is reversed
in the drive (see P410).
This is obligatory if you are using DSC (see also MD32640
$MA_STIFFNESS_CONTROL_ENABLE).
Machine data
3.4 Axis-specific machine data
Parameter Manual
Parameter Manual, 08/2015, 6FC5397-8EP40-0BA1 233
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