Siemens SINUMERIK 810D - 9.2 User views

Detailed description
2.3 Setpoint /actual-value system
Basic logic functions: Velocities, Setpoint/Actual Value Systems, Closed-Loop Control (G2)
Function Manual, 11/2006, 6FC5397-0BP10-2BA0
57
⇒
MD30300 $MA_IS_ROT_AX = 1
MD31000 $MA_ENC_IS_LINEAR[0] = 0
MD31040 $MA_ENC_IS_DIRECT[0] = 0
MD31020 $MA_ENC_RESOL[0] = 2048
MD31080 $MA_DRIVE_ENC_RATIO_NUMERA[0] = 1
MD31070 $MA_DRIVE_ENC_RATIO_DENOM[0] = 1
MD31060 $MA_DRIVE_AX_RATIO_NUMERA[0] = 5
MD31050 $MA_DRIVE_AX_RATIO_DENOM[0] = 1
MD10210 $MN_INT_INCR_PER_DEG = 1000
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Result:
1 encoder increment corresponds to 0.017166 increments of the internal unit.
The encoder resolution is thus coarser than the computational resolution by a factor of 58.
Rotary axis with rotary encoder on the machine
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Figure 2-10 Rotary axis with rotary encoder on the machine
In order to adapt the actual-value resolution to the calculation resolution, the control
calculates the quotients from the "internal increments/degree" and the "encoder
increments/degree" as follows: