Axis Parameters

The parameters for axis configuration and adjustment are set by the Function Blocks CMC_AXIS_CONTROL_PARAMETRS_REAL CMC_AXIS_CONTROL_PARAMETER_REAL or CMC_AXIS_CONTROL_PARAMETRS_INT CMC_AXIS_CONTROL_PARAMETER_INT.

Depending on the version of the kernel Function Block the corresponding version of the parameters Function Block has to be used. The instance will then be connected to the kernel Function Block by its instance name.

Example

• FF_PERCENTAGE=0
• INTEGRAL_PART=0
• HORIZON=0

In this example the control structure is a simple position control loop with just proportional gain. When the application does not require minimized position following error it should be used this way as it is simple to adjust, robust and requires minimal performance. The proportional gain is then adjusted by CONTROL_TIME. Just change values at CMC_AXIS_CONTROL_PARAMETER when the position control loop is open (DRIVE_RELEASE=FALSE, the axis state is Disabled). The values are sending to the control loop whit a positive edge at “Enable”. The CMC_MOTION_KERNEL block needs to be already enabled.

• Supervision
• Position Control Loop
• PLC Cycle Time
• Roll-Over Axis
• Scaling of the Unit of Length
• Scaling of the Speed Reference Output
• Access and Modify Parameters