48
10.6.15
Force Control
DESCRIPTION
Short
CMD
PARAMETER
Force Calibration is started with distance parameter.
Value from 1 to 10'000'000 = Distance in Inc. of the scan run.
? = Returns whether scanned values are available
0 = Force Calibration delete scanned values
The Force Calibration works iteratively and improves itself in
repeated execution. If the motor oscillates during the Force
Calibration, then wrong values are stored and the oscillation
increases. In this case, the scanned values must be deleted with
FC0 before statring a new Force Calibration.
In the libraries for the operation with bus module, there exists
an input "Iterative FC disable" in the function block
JS_MC_ForceCalibration for this case.
Important:
Force Calibration scan drive will begin at current position
Force Calibration
FC
0-< stroke LINAX®/ELAX®
/ ?
Test function to check Force Calibration effect through manual
movement of the carriage slider.
2 = Test Force Calibration On (without active compensation)
1 = Test Force Calibration (with active compensation)
0 = Test Force Calibration off (Servo holds position)
Force Calibration Test
FCT
0,1,2 /?
Request Status of Force Calibration:
0 = No Force Calibration scan values available
1=Force Calibration scan values available
Force Calibration Valid
FCV
xx / ?
Automatic I_Force Drift Compensation Drive in positive
direction
I_Force Drift
Compensation Positive
IFDCP
Automatic I_Force Drift Compensation Drive in negative
direction
I_Force Drift
Compensation Negative
IFDCN
I_Force Drift Compensation Settings, bitwise coded:
Bit0: Continuous compensation at disabled power stage
Bit1: Automatic compensation before force calibration
Bit2: Continuous compensation at enabled power stage at
applicable position (see command PIFDC)
I_Force Drift
Compensation Settings
IFDCS
0-7 / ?
Position for I_Force Drift Compensation at enabled power
stage, depending on the motor type
Position I_Force Drift
Compensation
PIFDC
?
Maximal approved force-proportional current [x10mA]
0 = Deactivated
→
As soon as the max. approved current has been hit, info
„30“
is being activated and can be retrieved over Process Status
registry
Bit 15
„I_FORCE_ LIMIT_REACHED“ with command TPSR
(Refer to chapter 13.1.2 Force Limitation)
Limit I_Force
LIF
0
–
value of “I run”
/ ?
Change Limit DR_I_FORCE to xx x 10mA
value xx will overwrite the current parameter DR_I_Force, until
DRIVE I_FORCE END
Change Limit I Force
CLIF
xx
Driving with limited force until reaching an object or the end
position if there is no object.
xx= [1-10] No. of the selected Drive I_Force
parameter set
Drive I_Force
DIF
xx
Force-proportional, actual current-value filtered [mA]
(Refer to chapter 13.1.3 Force Monitoring)
I Force Actual
IFA
Actual motor current [mA]
Tell motor current
TMC
