Machine Data
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2.1.16 $LOOP_I_VEL_PTP[ ]
Integral component of the speed controller
Data type
real
min
Value
----
Unit
----
Value
max ----
Assignment
----
Defines the integral factor of the speed controller.
The value applies to PTP and CP motion.
It is only required for the control loop of a position--controlled slave (“Slave Pos”).
2.1.17 $LOOP_DIRECTION[ ]
Direction specification for slave axes
Data type
int
min
Value
----
Unit
----
Value
max ----
Assignment
----
Specifies the direction in which the slave moves relative to the master.
Description of the valid values:
Control loop of a position--controlled slave (“Slave Pos”):
1 = Same direction as master
--1 = Opposite direction to that of master
Control loop of a torque--controlled slave (“Slave Torq”):
1 = Same torque (or command current) as master
--1 = Opposite torque (or command current) to that of master
2.1.18 $SLAVE_LOOP_FOL_CRITICAL[ ]
Percentage value for configuration of a max. deviation limit
Data type
int
min
Value
101
Unit
%
Value
max ----
Assignment
----
Shut--off threshold with loss of mastering
If the following error exceeds the threshold value, PATH--MAINTAINING BRAKING is
triggered.
The percentage value refers to $SLAVE_LOOP_FOL_ALARM.
The value must be >100, otherwise it is automatically set to 120.
