Detailed Description
2.3 Setpoint/actual-value system
Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0
2-41
Note
These machine data are not required for encoder matching (path evaluation).
However, they must be entered correctly for the setpoint calculation!
Otherwise the required servo gain (K
V
) factor will not be set.
Load revolutions are entered in machine data:
MD31050 $MA_DRIVE_AX_RATIO_DENOM
and motor revolutions in machine data:
MD31060 $MA_DRIVE_AX_RATIO_NUMERA.
Coding of the machine data
The indices of the following machine data are encoder-coded [encoder no.]:
encoder 0 or 1
Encoder-dependent machine data Meaning
MD31070 $MA_DRIVE_ENC_RATIO_DENOM[n] (Measuring gear denominator)
MD31080 $MA_DRIVE_ENC_RATIO_NUMERA[n] (Measuring gear numerator)
MD31000 $MA_ENC_IS_LINEAR[n] (Direct measuring system, linear scale)
MD31010 $MA_ENC_GRID_POINT_DIST[n] (Distance between reference marks on
linear scales)
MD31020 $MA_ENC_RESOL[n] (Encoder pulses per revolution)
for rotary encoder
MD31040 $MA_ENC_IS_DIRECT[n] (Encoder is connected directly at the
machine)
MD34320 $MA_ENC_INVERS[n] (Length measurement system is inverse)
Further machine data without index
MD30200 $MA_NUM_ENCS (Number of encoders)
MD30300 $MA_IS_ROT_AX (Rotary axis)
MD31030 $MA_LEADSCREW_PITCH (Leadscrew pitch)
Index [n] of the following machine data depend on the servo parameter sets of the position
controller, with which the actual-value resolution is calculated automatically in the control:
MD DRIVE_AX_...[servo parameter set no.] : 0-5
Parameter-set-dependent machine data Meaning
MD31050 $MA_DRIVE_AX_RATIO_DENOM[n] (Denominator load gear unit)
MD31060 $MA_DRIVE_AX_RATIO_NUMERA[n] (Numerator load gear unit)
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