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New Automation Technology

TwinCAT CNC Training

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Commissioning AX5000 - Overview


This is a step by step introduction to implementing an AX5000 drive into a

TwinCAT CNC application. This includes the following steps:

Scan of hardware configuration

Configuration of power supply

Configuration of motor and feedback system

Configuration of drive interface

Link (logical) CNC axis with hardware drive

Finally some useful CNC settings will be discussed.

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Commissioning AX5000 Hardware Scan I


By right clicking on the IO Devices tree entry a context menu will be opened. This

allows scanning all connected IO devices. The following hint will be confirmed by

clicking OK.

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Commissioning AX5000 Hardware Scan II


Now a dialog appears in which all fieldbus systems that have to be included into

the scan have to be selected. Please select EtherCAT here.

If there is no EtherCAT entry available in this dialog please make sure that all

devices are connected correctly and/or check installation of the TwinCAT Ethernet

protocol.

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Commissioning AX5000 Hardware Scan III


Now hardware scan will be started

TwinCAT version from Build 2201 on support additional scanning of connectedmotors.

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Commissioning AX5000 Hardware Scan IV


The question if new NC axes should be added and linked to the drive must be

rejected by clicking No, because the axis will be linked manually to a CNC

configuration instead.

With this the hardware scan is finished.

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Commissioning AX5000 Hardware Scan V


In the system manager configuration the AX5000 appears under the

correspondent EtherCAT master. The Configuration tab contains the TwinCAT

Drive Manager which is the configuration tool for the AX5000.

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Commissioning AX5000 Power Supply


The Power Management section allows configuration of power supply and DC

link connection.

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Commissioning AX5000 Startup List


All the parameters that have been changed by the TwinCAT Drive Manager will

not be saved permanently. Modified values must be loaded with every system

start and therefore need to be included into the so called startup list. This can be

edited by clicking on the drive manager.

Accept the selected

parameter

Accept all changed

parameters

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Commissioning AX5000 Motor & Feedback I


The Motor and Feedback entry allows scanning the connected motor and

feedback system.

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Commissioning AX5000 Motor & Feedback II


The automatic detection of the correct motor and feedback type works with

Beckhoff motors only and requires a digital motor plate. Therefore motors with

analog feedback systems like resolvers need to be included manually.

This can be done by clicking on the motor symbol, whereby a selection dialog will

be opened.

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Commissioning AX5000 Path resolution


The path resolution of the measuring system has to be adjusted by the CNC since

the AX5000 has no option for this.

The AX5000 always provides (independent of physical measuring system) 220=

(1.048.576) increments /motor revolution.

Numerator and denominator of the path resolution are represented by the axis-

specific parameters getriebe[i].wegauf_z and getriebe[i]. wegauf_n.getriebe[i].wegauf_z 1048576 (increments/motor revolution)

getriebe[i].wegauf_n 10000 (path /motor revolution)

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Commissioning AX5000 lag monitoring in CNC


Currently the AX5000 has no internal lag monitoring. Therefore the lag monitoring

of the CNC should be activated. This can be done means of the axis specific

parameter getriebe[i].slep_ueberw_typ .

If a lag-less operation mode is used (that means feed forward control is about

100%) this parameter should be set to 4. This enables the velocity independent

lag monitoring mode which activates only two further different limits: The

permissible lag at standstill and during movement.

The lag is calculated by the CNC on the basis of the command and actual values.

The parameter antr.nbr_delay_cyclesdefinesthe number of cycles between the

output of the command values and the read in of the actual values. Normally this

should be set to 3 in order to get realistic lag values.

getriebe[i].slep_ueberw_typ 4 (type of lag monitoring)

getriebe[i].slep_min 10000 (max. permissable lag at standstill)

getriebe[i].slep_max 20000 (max. permissable lag during movement)antr.nbr_delay_cycles 3

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Commissioning AX5000 following distance from drive


To use the following distance value directly from the linked drive instead of

calculating it in the cnc core the following has to be included into process data:

SERCOS: S-0-0189

CANOpen: Object 0x60F4

ant.use_drive_following_error 1

In the axis parameter list the parameter

enables the using of the drive value.

Adding additional data to the drive telegram should be done after the drive has

been linked to the CNC axis. Otherwise the error 260090 will be raised during

start up. This error can be suppressed by means of the axis specific parameterantr.ignore_unknown _telegram_elements.

antr.ignore_unknown_telegram_elements 1 (ignore unknown telegram elements)

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Commissioning AX5000 Homing


If an absolute path measurement system is used, the following parameter must

be set to TRUE. So no homing is necessary.

kenngr.homing_type CNC_CONTROLLED

kenngr.homing_without_zero_pulse 0

kenngr.homing_overflow_evaluation 1

antr.encoder_bit_range 20

Homing for all non-absolute axes may be done by the homing method of encoder

overflow evaluation.

Here the overflow of the encoder position value is used as zero pulse

replacement. In this case the axis is homed as soon as an over- or underflow of

the encoder position is recognized.

This requires the following axis specific settings:

kenngr.abs_pos_gueltig 1antr.abs_pos_offset 699870000

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Commissioning AX5000 Linking cnc axis to hardware


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Commissioning AX5000 Linking process data


The link of each variable is doneautomaticly when linking a cnc axis to

physical axis.

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04_ax5000_eng