Mechanical parameters

The mechanical parameters describe the motor end with reference to the mechanics used. The mechanical parameters are set in the »PLC Designer« on the Settings tab in the Mechanical parameters dialog level of the respective motion axis.

Total encoder resolution (subindex 28)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder

This parameter serves to set the maximum display area of the encoder position to be read in. The maximum display area is calculated from the number of increments per revolution * representable revolutions.

If the actual position is read in via an i700 or an encoder from the backplane bus, a representation of 32 bits must be parameterised.

Selection list (Lenze setting printed in bold)

1024

10 bit Bit

2048

11 bit Bit

4096

12 bits Bit

8192

13 bits Bit

16384

14 bits Bit

32768

15 bits Bit

65536

16 bits Bit

131072

17 bits Bit

262144

18 bits Bit

524288

19 bits Bit

1048576

20 bits Bit

2097152

21 bits Bit

4194304

22 bits Bit

8388608

23 bits Bit

16777216

24 bits Bit

33554432

25 bits Bit

67108864

26 bits Bit

134217728

27 bits Bit

268435456

28 bits Bit

536870912

29 bits Bit

1073741824

30 bits Bit

2147483648

31 bits Bit

4294967295

32 bits Bit

Read access Write access Can only be changed in "Disabled" state No download

UNSIGNED_32

Virtual mode (subindex 29)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder

This parameter serves to virtually switch a motion axis that is connected to a real drive. The axis then behaves like a virtual axis and the state of the connected real drive is ignored.

This option can be used if the real axis is not available on the EtherCAT bus (EtherCAT node is deactivated in the device tree or configured as physically not available via the modular machine configuration) but is to be used in the project, e.g. as master axis or for testing the program execution.

Note

Function blocks that provide the functions for a real drive (e.g. L_MC1P_SetTorqueLimit or L_MC1P_GetDigInputsFromDrive) do not generate an error message when a real axis is used that is switched virtually.

Selection list (Lenze setting printed in bold)

0

not active

1

Active

Read access Write access Can only be changed in "Disabled" state No download

UNSIGNED_8

Tip!

The current value of the Virtual mode parameter can be read out via the xVirtual output of the L_MC1P_ReadMachineData function block.

Traversing range

The selection of the traversing range in subindex 30 defines the machine measuring system.

Traversing range (subindex 30)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder

Traversing range

Selection list (Lenze setting printed in bold)

0

Modulo

1

Limitation

Read access Write access Can only be changed in "Disabled" state No download

UNSIGNED_16

Tip!

The current value of the Traversing range parameter can be read out via the eTraversingRange output of the L_MC1P_ReadMachineData function block.

"Limited" traversing range

"Modulo" traversing range

  • The travel range is limited by positive and negative position limits (mechanical limits/travel range limit switches/software limit positions).
  • After a defined distance the drive must travel in the opposite direction again.
  • The measuring system is repeated.
  • If the cycle length set in the 31 subindex is exceeded, a defined overflow occurs. In a rotary system, the cycle length typically corresponds to a revolution or tool distance.
  • Software limit positions are not effective.
  • Absolute targets can be approached by exceeding the measuring system limit, e.g. from 10° to 350°.

Example: "Spindle drive" (linear axis)

Example: "Turntable"

Cycle length (illustration = 60°)

Example: Position representation

Reference setting

Position in the machine measuring system

Position in the motor measuring system

Cycle

Position in the machine measuring system

Position in the motor measuring system

Cycle length (subindex 31)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder

Cycle length

Setting range (min. value | unit | max. value)

Lenze setting

1e-009

Unit

2147483647

360.0 unit

Read access Write access Can only be changed in "Disabled" state No download

FLOAT_64

Tip!

The current value of the Cycle length parameter can be read out via the lrCycleLength output of the L_MC1P_ReadMachineData function block.

Feed constant

The feed constant to be set in subindex 32 corresponds to the movement of the machine during one revolution of the gearbox output shaft.

Feed constant (subindex 32)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder

Feed constant

Setting range (min. value | unit | max. value)

Lenze setting

1e-009

Unit/rev

2147483647

360.0 unit/rev

Read access Write access Can only be changed in "Disabled" state No download

FLOAT_64

Tip!

The current value of the Feed constant parameter can be read out via the lrFeedConstant output of the L_MC1P_ReadMachineData function block.

In the case of a conveyor drive, the feed constant is obtained from the drive roll's circumference, which, in the following example, is calculated on the basis of the indicated diameter:

d = diameter

[4-10] Schematic diagram: Feed constant for a conveyor driver

The feed constant of a spindle drive results from the leadscrew pitch. The feed constant specifies the path which the slide covers within one revolution of the spindle (in the following example 5.023 mm).

h = leadscrew pitch (can be obtained from the technical data of the linear axis)

[4-11] Schematic diagram: Feed constant for a spindle drive

In the case of a rotary table and its specification as an angle, the feed constant is = 360°/revolution.

Gearbox ratio

The gearbox ratio indicates the number of revolutions of the motor axis it takes for exactly one revolution of the load axis (e.g. spindle or drive roll) to take place.

In the following example, one revolution of the spindle is carried out at exactly 58,667 revolutions of the motor axis:

[4-12] Schematic diagram of gearbox ratio

The data required for setting the gearbox ratio can be obtained from the technical data of the gearbox:

[4-13] Example: Technical data relating to the gearbox (from gearbox catalogue)

The gearbox ratio has to be set in the form of a quotient (numerator/denominator).

In order to specify the gearbox ratio exactly, use the number of teeth indicated on the data sheet or in the catalogue, if possible, instead of the information on the nameplate (see following calculation).

[4-14] Example calculation on the basis of the technical gearbox data

Resulting gear factor i is calculated as follows:

i= (gearbox factor numerator (subindex 33 ) * additional gearbox factor numerator (subindex 25 ) / (gearbox factor denominator (subindex 34 ) * additional gearbox factor denominator (subindex 26 ))



Gearbox factor numerator (subindex 33)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder

Gearbox numerator

Setting range (min. value | unit | max. value)

Lenze setting

1

4294967295

1

Read access Write access Can only be changed in "Disabled" state No download

UNSIGNED_32

Tip!

The current value of the Gearbox factor numerator parameter can be read out via the dwGearNumerator FB output of L_MC1P_ReadMachineData .

Gearbox factor denominator (subindex 34)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder

Gearbox factor denominator

Setting range (min. value | unit | max. value)

Lenze setting

1

4294967295

1

Read access Write access Can only be changed in "Disabled" state No download

UNSIGNED_32

Tip!

The current value of the Gearbox factor denominator parameter can be read out via the dwGearDenominator FB output of L_MC1P_ReadMachineData .

Additional gearbox factor numerator (subindex 25)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder

Additional gearbox factor numerator

Setting range (min. value | unit | max. value)

Lenze setting

1

4294967295

1

Read access Write access Can only be changed in "Disabled" state No download

UNSIGNED_32

Tip!

The current value of the Additional gearbox factor numerator parameter can be read out via the dwAddGearNumerator output of the L_MC1P_ReadMachineData function block.

Additional gearbox factor denominator (subindex 26)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder

Additional gearbox factor denominator

Setting range (min. value | unit | max. value)

Lenze setting

1

4294967295

1

Read access Write access Can only be changed in "Disabled" state No download

UNSIGNED_32

Tip!

The current value of the Additional gearbox factor denominator parameter can be read out via the dwAddGearDenominator output of the L_MC1P_ReadMachineData function block.

Further mechanical parameters

Mounting direction (subindex 35)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder

Motor installation direction

  • Depending on the motor mounting position, the direction of rotation can be inverted via this parameter, if required.

Selection list (Lenze setting printed in bold)

Info

0

Cw

Clockwise rotating motor = positive machine direction

1

Ccw

Counter-clockwise rotating motor = positive machine direction

Read access Write access Can only be changed in "Disabled" state No download

UNSIGNED_8

Tip!

The current value of the Mounting direction parameter can be read out via the xOrientation output of the L_MC1P_ReadMachineData function block.

Resolution of an encoder revolution (subindex 36)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder

Resolution of an encoder revolution

  • This parameter serves to set the resolution used by the position signal of the lower-level drive.
  • The resolution of an encoder revolution and thus a position value is set as default to 65536 increments/revolution.
  • The possible settings depend on the lower-level drive.
    • Inverters i700 and i950: The set value must be identical to the setting in device parameter 0x608F subindex 1 (encoder increments) or 0x688F subindex 1 for axis B.
    • Inverter 9400HL CiA402: The set value must be identical to the setting in code C00100 (resolution of one encoder revolution) and C02524 (feed constant).
    • When using Lenze inverters, AxisRef writes the value to the respective parameters of the drive during startup or when changing.
    • If encoder axes or external drives are used, the relevant encoder or inverter parameter settings must be transferred.

Setting range (min. value | unit | max. value)

Lenze setting

1

Inc / Rev

4294967295

65536 Inc / Rev

Read access Write access Can only be changed in "Disabled" state No download

UNSIGNED_32

Tip!

The current value of the Resolution of an encoder revolution parameter can be read out via the dwPosResolution output of the L_MC1P_ReadMachineData function block.

Moment of inertia load (for feedforward control) (subindex 37)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder

Moment of inertia of the load (with reference to the gearbox output)

  • By default, a torque feedforward control takes place in the motion axis resulting from the current setpoint acceleration and the set moments of inertia.
  • The moment of inertia to be parameterised refers to the output end.
  • The value is only used in the control and not transferred to the drive.

Setting range (min. value | unit | max. value)

Lenze setting

0

kg cm²

2147483647

0.0 kg cm²

Read access Write access Can only be changed in "Disabled" state No download

FLOAT_64

Moment of inertia of motor (subindex 38)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder

Moment of inertia of the motor read out of the axis

This is used for an automatic calculation of a feedforward control torque torque feedforward control

Display area (min. value | unit | max. value)

Initialization

kg cm²

0.0 kg cm²

Read access Write access Can only be changed in "Disabled" state No download

FLOAT_64

Reference torque (subindex 39)

Virtual axis 9400 HighLine i500 inverter i700 servo inverter i950 servo inverter Encoder

Reference torque read out of the axis

Display area (min. value | unit | max. value)

Initialization

Nm

0.0 Nm

Read access Write access Can only be changed in "Disabled" state No download

FLOAT_64