G2: Velocities, setpoint / actual value systems, closed-loop control
7.4 Setpoint/actual-value system
Basic Functions
Function Manual, 09/2011, 6FC5397-0BP40-2BA0
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Coding of the machine data
The indices of the following machine data are coded at the encoder [Encoder no.]:
Encoder 0 or 1
Index [n] of the following machine data depend on the servo parameter sets of the position controller, with which
the actual-value resolution is calculated automatically in the control:
MD DRIVE_AX_...[servo parameter set no.] : 0-5
For the following machine data, the control does not consider any parameter set nor any indices for coded
encoders.
Encoder-dependent machine data
Meaning
MD31070 $MA_DRIVE_ENC_RATIO_DENOM[n]
Measuring gear denominator
MD31080 $MA_DRIVE_ENC_RATIO_NUMERA[n]
Measuring gear numerator
MD31000 $MA_ENC_IS_LINEAR[n]
Direct measuring system linear scale
MD31010 $MA_ENC_GRID_POINT_DIST[n]
Distance between reference marks on
linear scales
MD31020 $MA_ENC_RESOL[n]
Encoder pulses per revolution
for rotary encoder
MD31040 $MA_ENC_IS_DIRECT[n]
Encoder is connected directly at the
machine
MD34320 $MA_ENC_INVERS[n]
Length measuring system is in the opposite
sense
Additional machine data without index
Meaning
MD30200 $MA_NUM_ENCS
Number of encoders
MD30300 $MA_IS_ROT_AX
Rotary axis
MD31030 $MA_LEADSCREW_PITCH
Leadscrew pitch
Parameter-set-dependent machine data
Meaning
MD31050 $MA_DRIVE_AX_RATIO_DENOM[n]
Denominator load gearbox
MD31060 $MA_DRIVE_AX_RATIO_NUMERA[n]
Numerator load gearbox
NewConfig-dependent machine data
Encoder-dependent machine data
Meaning
MD31044 $MA_ENC_IS_DIRECT2[n]
Encoder on intermediate gear
MD34080 $MA_REFP_MOVE_DIST [n]
Reference point approach distance
MD34090 $MA_REFP_MOVE_DIST_CORR[n]
Reference point offset
