Input DescriptionΒΆ
Function Block CMC_AXIS_CONTROL_PARAMETER_INT
ENABLE
Data type: BOOL
Enable new parameters with a positive edge.
POS_LAG_PERCENTAGE
Data type: WORD, default: 150, unit: %
Value for supervision of position difference. 100 is at least necessary to reach the maximum velocity with FF_PERCENTAGE = 0.
V_CHECK_TIME
Data type: TIME, default: 100, unit: ms
Delay time for the supervision of actual velocity. With V_CHECK_TIME = 0, this supervision will be disabled.
CONTROL_TIME
Data type: LREAL, default: 100, unit: ms
Determines the gain for position control loop. A lower time means a larger proportional gain for position control loop. The value means: In case FF_PERCENTAGE = 0, the drive will run CONTROL_TIME ms behind its position reference.
FF_PERCENTAGE
Data type: WORD, default: 0, unit: %
Feed-forward gain, usually should be <80%. For larger values, the parameter HORIZON needs to be used as the position will overshoot otherwise.
INTEGRAL_TIME
Data type: WORD, default: 0, unit: ms
Integration time for position control loop, 0 means no integral part is used.
HORIZON
Data type: LREAL, default: 0, unit: ms
Gives a time in advance for the feed-forward. This could compensate reaction times. HORIZON > 0 requires more computing power.
CYCLE
Data type: LREAL, default: 10, unit: ms
Cycle time of the PLC program.
EN_MODULO
Data type: BOOL, default: FALSE
Enable rollover axis.
MODULO_RANGE
Data type: DINT, unit: increment
Distance for rollover, maximum value is 0x3FFFFFFF.
INC_PER_R
Data type: DWORD, default: 1024
Increments per revolution for actual position.
U_PER_REV_NOMINATOR
Data type: WORD, default: 1024
Units per revolution.
U_PER_REV_DENOMINATOR
Data type: WORD, default: 1
Units per revolution.
REF_MAX
Data type: WORD, default: 32767
Maximum value for SPEED_REFERENCE.
MAX_RPM
Data type: WORD, default: 1500, unit: 1/m
Maximum value for rotations per minute, has to be the value which is reached at SPEED_REFERENCE = REF_MAX.