If the drift additional value exceeds the limit value entered in MD36710
$MA_DRIFT_LIMIT, alarm 25070 "Drift value too large" is output and the drift
additional value is limited to this value.
Not relevant for:
MD36700 $MA_DRIFT_ENABLE = 0
36720 DRIFT_VALUE EXP, A07, A09 -
% Basic drift value DOUBLE NEW CONF
-
- 1 0.0 -1e15 1e15 1/1
Description: Only for special analog and hydraulic drives (not active with PROFIdrive drives):
The value entered in MD36720 $MA_DRIFT_VALUE is always added as an offset to the
manipulated
variable. Whereas
automatic drift compensation is active only for position-
controlled axes, this machine data is always active.
Special case: the following applies to PROFIdrive drives:
This MD can also be used for "simple" drives that have drift problems due to drive-
internal implementation as analog drives. To avoid erroneous settings, this static
drift
compensation only
becomes active with PROFIdrive if MD32250 $MA_RATED_OUTVAL !=
0 (i.e. the MD has no effect in the case of automatic interface adjustment between the
NC and the drive).
Note:
Drift compensation must not be active if the DSC function (MD32640
$MA_STIFFNESS_CONTROL_ENABLE=1) is being used, otherwise unexpected speed
oscillations will occur when DSC is enabled/disabled.
Standardization: The input value is related to the corresponding interface
standardization in
MD32250 $MA_RATED_OUTVAL,
MD32260 $MA_RATED_VELO, and
MD36210 $MA_CTRLOUT_LIMIT.
36730 DRIVE_SIGNAL_TRACKING A10 B3
- Acquisition of additional drive actual values BYTE PowerOn
-
808d-me42 - 0 0 4 0/0
808d-me62 - 1 0 1 1/1
808d-te42 - 0 0 4 0/0
808d-te62 - 1 0 1 1/1
808d-mte40 - 0 0 4 7/2
808d-mte60 - 0 0 4 7/2
Description: MD36730 $MA_DRIVE_SIGNAL_TRACKING = 1 activates the acquisition of the following drive
actual values (if they are made available by the drive):
● $AA_LOAD Drive load
● $AA_POWER Drive active power
● $AA_TORQUE Drive torque setpoint
● $AA_CURR Smoothed current setpoint (q-axis current) of drive
MD36730 $MA_DRIVE_SIGNAL_TRACKING = 2 activates the acquisition of the following drive
actual values:
With PROFIdrive, it must be ensured that the stated values are also transmitted in the
drive
actual message frame (provide sufficient message frame length on the bus, assign
the values to the message frame content in the drive, e.g. use message frame 116).
● $VA_DP_ACT_TEL shows actual value message frame words
Note: Values 3 and 4 are reserved
Machine data
3.4 Axis-specific machine data
Parameter Manual
Parameter Manual, 08/2015, 6FC5397-8EP40-0BA1 293
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