Initial commissioning
5–8
1070 066 091-102 (01.08) GB
Default settings
.
The following default settings normally do not have to be changed.
Weighting:
rotational
Unit of measure: Position data
S-0-0076
Degrees
Bits 0...4
Velocities
S-0-0044
rpm
have to be
identical
Acceleration
S-0-0160
rad/sec
identical
Torque/force data
S-0-0086
%
Data reference:
to the motor shaft
S–0–0076= 0b0000000000000010 ; [] Type of weighting for position data
S–0–0044= 0b0000000000000010 ; [] Type of weighting for velocity data
S–0–0160= 0b0000000000000010 ; [] Type of weighting for acceleration data
S–0–0086= 0b0000000000000000 ; [] Type of weighting for torque/force data
Translational weighting
When linear axes are used, you have to adjust the standard settings:
L
Set weighting to ”translational”
(bits 0 to 2 in S-0-0044, S-0-0076 and S-0-0160)
L
Set data reference to ”at the load”
(bit 6 in S-0-0044, S-0-0076 and S-0-0160)
L
Specify the input and output speeds of an interconnected gearbox, if any.
Only integers are permitted here.
Example:
The transmission ratio is Ratio = 1 : 128.18
First, you have to eliminate the decimal places:
³
Ratio = 100 : 12818 (by multiplication with 100), or
³
Ratio = 50 : 6409 (by multiplication with 50)
Enter calculated values in S-0-0121 and S-0-0122 :
³
S-0-0121 = 100; S-0-0122 = 12818, or
³
S-0-0121 = 50; S-0-0122 = 6409
L
Specify feedrate constant by which the rotational motor movement is con-
verted into a translational axis movement.
Default:
no gearbox (S-0-0121 = 1; S-0-0122 = 1)
Feedrate constant of 1 mm/rev.
S–0–0121= 1 ; [input rev.] Load gear box input revolutions
S–0–0122= 1 ; [output rev.] Load gear box output revolutions
S–0–0123= 1.0000 ; [mm/rev] Feedrate constant
L
Check the values of the following parameters:
D
S-x-0091:
Bipolar velocity limit value
D
S-x-0092:
Bipolar torque limit value
D
S-0-0138:
Acceleration bipolar
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