3.4
Supplementary conditions
3.4.1
Axis monitoring functions
Settings
For correct operation of the monitoring, the following settings must be made or checked, in
addition to the machine data mentioned:
General
● MD31030 $MA_LEADSCREW_PITCH (leadscrew pitch)
● MD31050 $MA_DRIVE_AX_RATIO_DENOM (denominator load gearbox)
● MD31060 $MA_DRIVE_AX_RATIO_NUMERA (numerator load gearbox)
● MD31070 $MA_DRIVE_ENC_RATIO_DENOM (denominator measuring gearbox)
● MD31080 $MA_DRIVE_ENC_RATIO_NUMERA (numerator measuring gearbox)
● MD32810 $MA_EQUIV_SPEEDCTRL_TIME (equivalent time constant speed control loop
for feedforward control)
● Encoder resolution
For the appropriate machine data, see Section "G2: Velocities, setpoint / actual value
systems, closed-loop control (Page 317)".
Only drives with analog speed setpoint interface
● MD32260 $MA_RATED_VELO (rated motor speed)
● MD32250 $MA_RATED_OUTVAL (rated output voltage)
3.5
Examples
3.5.1
Axis monitoring functions
3.5.1.1
Working area limitation in WCS/SZS
Available channel axes
Four axes are defined in the channel: X, Y, Z and A
The A-axis is a rotary axis (not modulo).
Parameterize the number of working area limitation groups
Three working area limitation groups will be provided:
Basic Functions
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
A3: Axis Monitoring, Protection Zones
3.5 Examples
159