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Workbackup - Achsen getunt

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This commit is contained in:
Michael Rest
2021-02-25 11:32:56 +01:00
parent e7b5bdb9de
commit 84b5f336f6
18 changed files with 521 additions and 136 deletions
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4
Logical/MachCtrl/MachCtrl/Action.st
View File

@@ -442,11 +442,11 @@ ACTION DoFUBs:
NOT States.bAxPowerOffDoorReqManual AND
MpFUB.AxBasic_XVirtual.Info.ReadyToPowerOn AND
MpFUB.AxBasic_XVirtual.Active AND (MpFUB.AxBasic_XVirtual.Info.PLCopenState <> mcAXIS_ERRORSTOP);
MpFUB.AxBasic_X.Power := lMachine.bMachineON AND (MpFUB.MpCNC5Axis.Power OR (FUBs.TON_PowerSingleAxes.Q AND NOT States.bSingleAxTuningMode)) AND
MpFUB.AxBasic_X.Power := lMachine.bMachineON AND (MpFUB.MpCNC5Axis.Power OR (FUBs.TON_PowerSingleAxes.Q AND NOT States.bSingleAxTuningModeX)) AND
NOT States.bAxPowerOffDoorReqManual AND
MpFUB.AxBasic_X.Info.ReadyToPowerOn AND
MpFUB.AxBasic_X.Active AND (MpFUB.AxBasic_X.Info.PLCopenState <> mcAXIS_ERRORSTOP);
MpFUB.AxBasic_X1.Power := lMachine.bMachineON AND (MpFUB.MpCNC5Axis.Power OR (FUBs.TON_PowerSingleAxes.Q AND NOT States.bSingleAxTuningMode)) AND
MpFUB.AxBasic_X1.Power := lMachine.bMachineON AND (MpFUB.MpCNC5Axis.Power OR (FUBs.TON_PowerSingleAxes.Q AND NOT States.bSingleAxTuningModeX1)) AND
NOT States.bAxPowerOffDoorReqManual AND
MpFUB.AxBasic_X1.Info.ReadyToPowerOn AND
MpFUB.AxBasic_X1.Active AND (MpFUB.AxBasic_X1.Info.PLCopenState <> mcAXIS_ERRORSTOP);

7
Logical/MachCtrl/MachCtrl/Action_Axis.st
View File

@@ -179,22 +179,23 @@ ACTION DoSLSAxisProcPar:
States.ProcParamSlowSet.bAxis_A := TRUE;
END_IF
ELSIF gbSPLCInMaintDoorOk THEN
//Vollgasparameter
IF States.ProcParamLoaded.bAxis_XVirtual AND NOT States.ProcParamFastSet.bAxis_XVirtual AND NOT MpFUB.ProcessParam_XVirtual.Error THEN
MpData.ProcPar_XVirtual_MoveLim.MovementLimits.InternalPathAxis.Velocity.Basic.Velocity := 1250;
MpData.ProcPar_XVirtual_MoveLim.MovementLimits.InternalPathAxis.Velocity.Basic.Velocity := 2000;
MpFUB.ProcessParam_XVirtual.Mode := mcPPM_WRITE;
MpFUB.ProcessParam_XVirtual.Execute := TRUE;
States.ProcParamFastSet.bAxis_XVirtual := TRUE;
States.ProcParamSlowSet.bAxis_XVirtual := FALSE;
END_IF
IF States.ProcParamLoaded.bAxis_Y AND NOT States.ProcParamFastSet.bAxis_Y AND NOT MpFUB.ProcessParam_Y.Error THEN
MpData.ProcPar_Y_MoveLim.MovementLimits.InternalPathAxis.Velocity.Basic.Velocity := 1250;
MpData.ProcPar_Y_MoveLim.MovementLimits.InternalPathAxis.Velocity.Basic.Velocity := 2000;
MpFUB.ProcessParam_Y.Mode := mcPPM_WRITE;
MpFUB.ProcessParam_Y.Execute := TRUE;
States.ProcParamFastSet.bAxis_Y := TRUE;
States.ProcParamSlowSet.bAxis_Y := FALSE;
END_IF
IF States.ProcParamLoaded.bAxis_Z AND NOT States.ProcParamFastSet.bAxis_Z AND NOT MpFUB.ProcessParam_Z.Error THEN
MpData.ProcPar_Z_MoveLim.MovementLimits.InternalPathAxis.Velocity.Basic.Velocity := 850;
MpData.ProcPar_Z_MoveLim.MovementLimits.InternalPathAxis.Velocity.Basic.Velocity := 1750;
MpFUB.ProcessParam_Z.Mode := mcPPM_WRITE;
MpFUB.ProcessParam_Z.Execute := TRUE;
States.ProcParamFastSet.bAxis_Z := TRUE;

143
Logical/MachCtrl/MachCtrl/Cyclic.st
View File

@@ -511,22 +511,12 @@ PROGRAM _CYCLIC
TimesLatch.diSteptime := gdiSystemTime;
enStepAuto := enAutoStep_CNC_FINISHED;
MFlags.b103_LaserOn := FALSE;
MFlags.b105_LaserOff := FALSE;
bStartMoveCmd := FALSE;
END_IF
//CNC warten bis fertig
//---------------------------
enAutoStep_CNC_FINISHED:
IF MFlags.b103_LaserOn THEN
MFlags.b103_LaserOn := FALSE;
END_IF
IF MpFUB.MpCNC5Axis.MoveDone OR MpFUB.MpCNC5Axis.Error OR MFlags.b105_LaserOff OR VCButtons.AutoStopCycle.bCommand THEN
MFlags.b105_LaserOff := FALSE;
END_IF
enAutoStep_CNC_FINISHED:
//CNC Program Ende
bTransitionCondition := MpFUB.MpCNC5Axis.MoveDone;
@@ -672,7 +662,8 @@ PROGRAM _CYCLIC
END_IF
IF (States.enXGantryMode = enXGantryFollowPosVirtX) THEN
//Virtueller Achse folgen
bTemp := MpFUB.AxBasic_X.PowerOn AND NOT MpFUB.AxBasic_X.Error AND MpFUB.AxBasic_X1.PowerOn AND NOT MpFUB.AxBasic_X1.Error
bTemp := MpFUB.AxBasic_X.PowerOn AND NOT MpFUB.AxBasic_X.Error AND MpFUB.AxBasic_X1.PowerOn AND NOT MpFUB.AxBasic_X1.Error
AND NOT States.bSingleAxTuningModeX AND NOT States.bSingleAxTuningModeX1
AND NOT MpFUB.MoveCyclicPos_X.Error AND NOT MpFUB.MoveCyclicPos_X1.Error;
MpFUB.MoveCyclicPos_X.Enable := bTemp;
MpFUB.MoveCyclicPos_X1.Enable := bTemp;
@@ -689,8 +680,9 @@ PROGRAM _CYCLIC
IF MpFUB.MpCNC5Axis.MoveProgram THEN
//CNC Gestartet
gMP7121.LED_Run := enLED_FLASH_FAST;
//M103 -Befehl laser einschalten
//---------------------------
IF MFlags.b103_LaserOn THEN
//Befehl laser einschalten
gRTLaserInterface.Out.bMidPos := States.TestMode.bNoHeightCtrl OR States.TestMode.bSimulateCNC;
gRTLaserInterface.Out.bFollowPos := NOT States.TestMode.bNoHeightCtrl AND NOT States.TestMode.bSimulateCNC;
@@ -701,53 +693,107 @@ PROGRAM _CYCLIC
IF (gIPGLaserInterface.Out.bPilotLaserOn AND gIPGLaserInterface.In.bPilotLaserIsOn)
OR ((gIPGLaserInterface.Out.uiOutputPower > 0) AND gIPGLaserInterface.In.bLaserIsEmitting)
OR States.TestMode.bSimulateCNC THEN
//M Befehl quittiertn
//M Befehl quittieren
MFlags.b103_LaserOn := FALSE;
END_IF
END_IF
//Leistung <EFBFBD>ndern - FixMe
IF gIPGLaserInterface.Out.uiOutputPower > 0 THEN
gIPGLaserInterface.Out.uiOutputPower := uiTestPowerLaser; //FixMe
END_IF
//Hoehenregulierung deaktivieren
IF MFlags.b110_StayAtHeight THEN
//auf Hoehe halten
IF gRTLaserInterface.In.bHeadIsInFollowpos AND NOT States.TestMode.bNoHeightCtrl AND NOT States.TestMode.bSimulateCNC THEN
gRTLaserInterface.Out.bFollowPos := FALSE;
END_IF
MFlags.b110_StayAtHeight := FALSE;
END_IF
IF MFlags.b111_StayAtMid THEN
//Mittelpos halten
gRTLaserInterface.Out.bFollowPos := FALSE;
gRTLaserInterface.Out.bMidPos := NOT States.TestMode.bSimulateCNC;
MFlags.b111_StayAtMid := FALSE;
END_IF
IF MFlags.b115_ReactivateFollow THEN
gRTLaserInterface.Out.bMidPos := States.TestMode.bNoHeightCtrl OR States.TestMode.bSimulateCNC;
gRTLaserInterface.Out.bFollowPos := NOT States.TestMode.bNoHeightCtrl AND NOT States.TestMode.bSimulateCNC;
END_IF
//FixMe Laser bei Fehle Raytools ausschaulten
//M105 -Befehl Laser ausschaulten
//---------------------------
FUBs.TON_M105_LaserOff.IN := MFlags.b105_LaserOff;
FUBs.TON_M105_LaserOff.PT := t#10ms;
FUBs.TON_M105_LaserOff ();
IF MFlags.b105_LaserOff THEN
//Laser Ausschalten
gIPGLaserInterface.Out.bPilotLaserOn := FALSE;
gIPGLaserInterface.Out.uiOutputPower := 0;
IF FUBs.TON_M105_LaserOff.Q THEN
gIPGLaserInterface.Out.uiOutputPower := 0;
END_IF
gRTLaserInterface.Out.bFollowPos := FALSE;
gRTLaserInterface.Out.bMidPos := TRUE;
//Leistungsanpassung an Bahn aktivieren -Standard
States.bLaserFullPower := FALSE;
IF NOT gIPGLaserInterface.In.bPilotLaserIsOn
AND NOT gIPGLaserInterface.In.bLaserIsEmitting
AND (gRTLaserInterface.In.bHeadIsMidPos OR States.TestMode.bNoHeightCtrl) THEN //FixMe
MFlags.b105_LaserOff := FALSE;
END_IF
END_IF
//M110 -Befehl Hoehenregulierung deaktivieren
//---------------------------
IF MFlags.b110_StayAtHeight THEN
IF gRTLaserInterface.In.bHeadIsInFollowpos AND NOT States.TestMode.bNoHeightCtrl AND NOT States.TestMode.bSimulateCNC THEN
gRTLaserInterface.Out.bFollowPos := FALSE;
END_IF
MFlags.b110_StayAtHeight := FALSE;
END_IF
//M111 -Befehl Mittelpos halten
//---------------------------
IF MFlags.b111_StayAtMid THEN
gRTLaserInterface.Out.bFollowPos := FALSE;
gRTLaserInterface.Out.bMidPos := NOT States.TestMode.bSimulateCNC;
MFlags.b111_StayAtMid := FALSE;
END_IF
//M112 -Befehl Volle Laserleistung aktivieren
//---------------------------
IF MFlags.b112_FullPowerOn THEN
States.bLaserFullPower := TRUE;
MFlags.b112_FullPowerOn := FALSE;
END_IF
//M115 -Befehl Hoehenregulierung reaktivieren
//---------------------------
IF MFlags.b115_ReactivateFollow THEN
gRTLaserInterface.Out.bMidPos := States.TestMode.bNoHeightCtrl OR States.TestMode.bSimulateCNC;
gRTLaserInterface.Out.bFollowPos := NOT States.TestMode.bNoHeightCtrl AND NOT States.TestMode.bSimulateCNC;
MFlags.b115_ReactivateFollow := FALSE;
END_IF
//M116 -Befehl Adaptive Laserleistung reaktivieren
//---------------------------
IF MFlags.b116_AdaptivePower THEN
States.bLaserFullPower := FALSE;
MFlags.b116_AdaptivePower := FALSE;
END_IF
//FixMe Laser bei Fehle Raytools ausschaulten
//Adaptive Laserleistung
//Bahnfaktor berechnen
rPowerFactor := MpFUB.MpCNC5Axis.PathVelocity / 500.0; //mm/s := 30m/s
IF rPowerFactor > 1 THEN
rPowerFactor := 1;
END_IF
IF gIPGLaserInterface.Out.uiOutputPower > 0 THEN
IF States.bLaserFullPower THEN
//Volle Parametrierte Laserleistung
gIPGLaserInterface.Out.uiOutputPower := uiTestPowerLaser;
ELSE
//Leistung an Bahngeschwindigkeit anpassen
gIPGLaserInterface.Out.uiOutputPower := uiTestMinPowerLaser + REAL_TO_UINT (UINT_TO_REAL (uiTestPowerLaser - uiTestMinPowerLaser) * rPowerFactor) ; //FixMe
END_IF
END_IF
IF gIPGLaserInterface.Out.bPilotLaserOn THEN
//Leistung f<EFBFBD>r Pilotlaser simulieren zum Tracen
uiTestPowerLaserSimulation := uiTestMinPowerLaser + REAL_TO_UINT (UINT_TO_REAL (uiTestPowerLaser - uiTestMinPowerLaser) * rPowerFactor);
END_IF
ELSIF MpFUB.MpCNC5Axis.MoveActive THEN
//Achsgruppe in Bewegunge
gMP7121.LED_Run := enLED_ON;
@@ -759,6 +805,13 @@ PROGRAM _CYCLIC
IF NOT MpFUB.MpCNC5Axis.MoveProgram THEN
MFlags.b103_LaserOn := FALSE;
MFlags.b105_LaserOff := FALSE;
MFlags.b110_StayAtHeight := FALSE;
MFlags.b111_StayAtMid := FALSE;
MFlags.b112_FullPowerOn := FALSE;
MFlags.b115_ReactivateFollow := FALSE;
MFlags.b116_AdaptivePower := FALSE;
gIPGLaserInterface.Out.bPilotLaserOn := FALSE;
gIPGLaserInterface.Out.uiOutputPower := 0;
gRTLaserInterface.Out.bFollowPos := FALSE;
@@ -770,7 +823,7 @@ PROGRAM _CYCLIC
IF States.TestMode.bNoHeightCtrl THEN
States.TestMode.bNoLaser := TRUE;
END_IF
gIPGLaserInterface.Out.bEnalbeLaser := NOT States.TestMode.bNoLaser AND MpFUB.MpCNC5Axis.MoveProgram; // AND States.bSafetyLaserOk
gIPGLaserInterface.Out.bEnalbeLaser := NOT States.TestMode.bNoLaser AND MpFUB.MpCNC5Axis.MoveProgram; // AND States.bSafetyLaserOk FixME

2
Logical/MachCtrl/MachCtrl/Init.st
View File

@@ -22,7 +22,7 @@ PROGRAM _INIT
//Unn<EFBFBD>tige Fubs Deaktivieren
MpFUB.MC_BR_GroupSetOverride.Enable := FALSE;
MpFUB.MC_BR_GroupSetOverride.Enable := TRUE;
//Reset important values

14
Logical/MachCtrl/MachCtrl/Types.typ
View File

@@ -78,13 +78,16 @@ TYPE
bAxPowerOffAuto : BOOL; (*Achsversorgung wg. T<>ranforderung in Automatik wegschalten*)
bSingleAxMode : BOOL; (*Einzelachsmodus*)
bSingleAxTuningMode : BOOL; (*Einzelachsmodus -Tuning*)
enXGantryMode : {REDUND_UNREPLICABLE} typ_enXGantryMode;
bHandWheelFw : BOOL;
bHandWheelBw : BOOL;
bSingleAxTuningModeX : BOOL; (*Einzelachsmodus -Tuning*)
bSingleAxTuningModeX1 : BOOL; (*Einzelachsmodus -Tuning*)
bHandWheelFw : BOOL; (*Handrad Signal Vorw<72>rts*)
bHandWheelBw : BOOL; (*Handrad Signal R<>ckw<6B>rts*)
bLaserFullPower : BOOL; (*Laser Ohne Anpassung der Bahngeschwindigkeit*)
bJogAxisCA : USINT; (*Umschalten Achsen C/A*)
enSelectedAxis : UDINT; (*Ausgew<65>hlte Achse*)
enSelectedAxisLatch : UDINT; (*Ausgew<65>hlte Achse - Speicher*)
udHandWheelLastPos : UDINT;
udHandWheelLastPos : UDINT; (*Handradposition -Speicher*)
enXGantryMode : {REDUND_UNREPLICABLE} typ_enXGantryMode; (*Modus des Gantry Systems*)
CNCJogCS : typ_enCNCJogCS; (*CNC - Tipp Koordinatensystem*)
TestMode : typ_States_TestModes;
ProcParamLoaded : typ_States_ProcParamLoaded;
@@ -178,6 +181,7 @@ TYPE
typ_FUB : STRUCT (*Funktionsbausteine*)
TON_PowerSingleAxes : TON;
TON_PowerCNC : TON;
TON_M105_LaserOff : TON;
TOF_Startkey : TOF;
TOF_SafetyCNCOk : TOF; (*Verz<72>gerung Sicherheit CNC Achsen (SS1)*)
TOF_SafetyShuttle1Ok : TOF; (*Verz<72>gerung Sicherheit Shuttle 1 Achsen (SS1)*)
@@ -358,7 +362,9 @@ TYPE
b105_LaserOff : BOOL; (*Laser Aus (Blockierend)*)
b110_StayAtHeight : BOOL; (*Auf aktueller Hoehe halten (nur wenn laser an) nicht Blockierend*)
b111_StayAtMid : BOOL; (*Auf Mittelpos halten (nur wenn laser an) nicht Blockierend*)
b112_FullPowerOn : BOOL; (*Laserleisutung auf Sollwert nicht Blockierend*)
b115_ReactivateFollow : BOOL; (*H<>he wieder Folgen (nur wenn laser an) nicht Blockierend*)
b116_AdaptivePower : BOOL; (*Laserleisutung wieder an Bahngeschwindigkeit anpassen nicht Blockierend*)
END_STRUCT;
typ_enStepAuto :
( (*Schrittkette*)

7
Logical/MachCtrl/MachCtrl/Variables.var
View File

@@ -37,11 +37,18 @@ VAR
udi : UDINT;
uiRecipe : UINT; (*Aktueles Rezept*)
uiTestPowerLaser : UINT := 600;
uiTestMinPowerLaser : UINT := 600;
END_VAR
VAR RETAIN
uiTestPowerLaserSimulation : {REDUND_UNREPLICABLE} UINT := 1200; (*Bahnabh<62>ngige Leistung*)
END_VAR
VAR
usCncPrgSelection : USINT;
END_VAR
(*//REAL*)
VAR
lrPosDelta : LREAL;
rPowerFactor : REAL; (*Geschwindigkeitsfaktor f<>r Laser*)
END_VAR
(*//Strings*)
VAR

44
Logical/VCShared/DataSources/DataSource.dso
View File

@@ -5583,6 +5583,15 @@
<Property Name="VCType" Value="BOOL"/>
</DataPoint>
</Folder>
<DataPoint Name="bLaserFullPower">
<Property Name="ConnectedBySharedResource" Value="False"/>
<Property Name="ConnectingVisus" Value="Vsualization\VisuMP"/>
<Property Name="Description" Value=""/>
<Property Name="PLCType" Value="BOOL"/>
<Property Name="UpdateTime" Value="Default"/>
<Property Name="UserID" Value="None"/>
<Property Name="VCType" Value="BOOL"/>
</DataPoint>
</Folder>
<Folder Name="Parameter">
<Property Name="Description" Value=""/>
@@ -6781,11 +6790,11 @@
<DataPoint Name="PathVelocity">
<Property Name="ConnectedBySharedResource" Value="False"/>
<Property Name="ConnectingVisus" Value="Vsualization\Visu2,Vsualization\VisuMP"/>
<Property Name="DPLimit" Value="None"/>
<Property Name="DPLimit" Value="Default"/>
<Property Name="Description" Value=""/>
<Property Name="PLCType" Value="REAL"/>
<Property Name="PLCUnit" Value="None"/>
<Property Name="UnitGroup" Value="None"/>
<Property Name="PLCUnit" Value="Source[relative:UnitGroup].Unit[MillimeterSec]"/>
<Property Name="UnitGroup" Value="Source[global].UnitGroup[Speed]"/>
<Property Name="UpdateTime" Value="Default"/>
<Property Name="UserID" Value="None"/>
<Property Name="VCType" Value="SCALED"/>
@@ -7328,6 +7337,15 @@
<Property Name="UserID" Value="None"/>
<Property Name="VCType" Value="INTEGER"/>
</DataPoint>
<DataPoint Name="uiTestMinPowerLaser">
<Property Name="ConnectedBySharedResource" Value="False"/>
<Property Name="ConnectingVisus" Value="Vsualization\VisuMP"/>
<Property Name="Description" Value=""/>
<Property Name="PLCType" Value="UINT"/>
<Property Name="UpdateTime" Value="Default"/>
<Property Name="UserID" Value="None"/>
<Property Name="VCType" Value="INTEGER"/>
</DataPoint>
</Folder>
<Folder Name="PartCount">
<Property Name="Description" Value=""/>
@@ -11775,6 +11793,26 @@
</DataPoint>
</Folder>
</Folder>
<Folder Name="gIPGLaserInterface">
<Property Name="Description" Value=""/>
<Property Name="FolderType" Value="Struct"/>
<Folder Name="Out">
<Property Name="Description" Value=""/>
<Property Name="FolderType" Value="Struct"/>
<DataPoint Name="uiOutputPower">
<Property Name="ConnectedBySharedResource" Value="False"/>
<Property Name="ConnectingVisus" Value="Vsualization\VisuMP"/>
<Property Name="DPLimit" Value="Default"/>
<Property Name="Description" Value=""/>
<Property Name="PLCType" Value="UINT"/>
<Property Name="PLCUnit" Value="Source[relative:UnitGroup].Unit[Watt]"/>
<Property Name="UnitGroup" Value="Source[global].UnitGroup[Power]"/>
<Property Name="UpdateTime" Value="Default"/>
<Property Name="UserID" Value="None"/>
<Property Name="VCType" Value="SCALED"/>
</DataPoint>
</Folder>
</Folder>
</Folder>
</DataPoints>
</DataSource>

2
Logical/VCShared/Package.vcp
View File

@@ -3,7 +3,7 @@
<Project xmlns="http://br-automation.co.at/AS/VC/Project">
<Property Name="EnableEvents" Value="True"/>
<Property Name="SharedTargetResourceRoot" Value=""/>
<Property Name="TextIDMax" Value="170410"/>
<Property Name="TextIDMax" Value="171384"/>
<SourceFiles>
<Source File="Languages.vcr"/>
<Source File="TextGroups\DateTimeFormats.txtgrp"/>

4
Logical/VCShared/UnitGroups/Speed.vcug
View File

@@ -1,7 +1,7 @@
<?xml version="1.0" encoding="UTF-8"?>
<?AutomationStudio Version="4.9.2.46"?>
<UnitGroup xmlns="http://br-automation.co.at/AS/VC/Project" Name="Speed">
<Property Name="DefaultDisplayUnit" Value="Source[embedded].Unit[MeterSec]"/>
<Property Name="DefaultDisplayUnit" Value="Source[embedded].Unit[MeterMinute]"/>
<Property Name="DefaultLimit" Value="None"/>
<Property Name="DefaultPLCUnit" Value="Source[embedded].Unit[MillimeterSec]"/>
<Property Name="Description" Value="Unit group for speed"/>
@@ -97,7 +97,7 @@
<Property Name="Text_Description_TextGroup" Value="None"/>
<Property Name="Text_Description_TextIndex" Value="7"/>
<Property Name="UnitFraction" Value="False"/>
<Property Name="Unit_DefaultPrecision" Value="2"/>
<Property Name="Unit_DefaultPrecision" Value="1"/>
</Unit>
</Units>
<Limits/>

216
Logical/Vsualization/VisuMP/Pages/pg10_MainPage.page
View File

@@ -2185,6 +2185,9 @@
<Text ID="170404" Value="Extrapart 1 / 2"/>
<Text ID="170407" Value="Extrapart 1 / 2"/>
<Text ID="170410" Value="Jog-Speed"/>
<Text ID="171382" Value="Power On"/>
<Text ID="171383" Value="Feedrate"/>
<Text ID="171384" Value="Cartrige - Pos Leer"/>
</TextLayer>
<TextLayer LanguageId="de">
<Text ID="169413" Value="Tipp"/>
@@ -2199,6 +2202,9 @@
<Text ID="170404" Value="Höhenreg. AUS"/>
<Text ID="170407" Value="Laser AUS"/>
<Text ID="170410" Value="Laser"/>
<Text ID="171382" Value="Laserpower Voll"/>
<Text ID="171383" Value="Vorschub"/>
<Text ID="171384" Value="Min-Power"/>
</TextLayer>
<IndexMap>
<Index ID="169413" Value="13"/>
@@ -2213,6 +2219,9 @@
<Index ID="170404" Value="2"/>
<Index ID="170407" Value="5"/>
<Index ID="170410" Value="8"/>
<Index ID="171382" Value="9"/>
<Index ID="171383" Value="10"/>
<Index ID="171384" Value="11"/>
</IndexMap>
</TextGroup>
<Controls>
@@ -2378,7 +2387,7 @@
<Property Name="Description" Value=""/>
<Property Name="Font" Value="Source[local].Font[Labels]"/>
<Property Name="Height" Value="12"/>
<Property Name="Left" Value="194"/>
<Property Name="Left" Value="192"/>
<Property Name="Multiline" Value="Automatic"/>
<Property Name="SimulationIndex" Value="0"/>
<Property Name="SimulationValue" Value=""/>
@@ -2386,7 +2395,7 @@
<Property Name="TextGroup" Value="Source[embedded].TextGroup"/>
<Property Name="TextIndexOffset" Value="41"/>
<Property Name="TextSource" Value="SingleText"/>
<Property Name="Top" Value="84"/>
<Property Name="Top" Value="76"/>
<Property Name="Width" Value="66"/>
</Control>
<Control ClassId="0x00001005" Name="bmpPowerOn">
@@ -2399,10 +2408,10 @@
<Property Name="FillStyle" Value="Transparent"/>
<Property Name="Height" Value="12"/>
<Property Name="IndexDatapoint" Value="Source[global].Variable[DataSource.MachCtrl.MachCtrl.MpFUB.MpCNC5Axis.PowerOn]"/>
<Property Name="Left" Value="180"/>
<Property Name="Left" Value="178"/>
<Property Name="SimulationValue" Value="0"/>
<Property Name="StyleClass" Value="Source[relative:StyleGroup].StyleClass[Default]"/>
<Property Name="Top" Value="84"/>
<Property Name="Top" Value="76"/>
<Property Name="Width" Value="12"/>
</Control>
<Control ClassId="0x00001004" Name="lblInMotion">
@@ -2411,7 +2420,7 @@
<Property Name="Description" Value=""/>
<Property Name="Font" Value="Source[local].Font[Labels]"/>
<Property Name="Height" Value="12"/>
<Property Name="Left" Value="197"/>
<Property Name="Left" Value="196"/>
<Property Name="Multiline" Value="Automatic"/>
<Property Name="SimulationIndex" Value="0"/>
<Property Name="SimulationValue" Value=""/>
@@ -2419,7 +2428,7 @@
<Property Name="TextGroup" Value="Source[embedded].TextGroup"/>
<Property Name="TextIndexOffset" Value="42"/>
<Property Name="TextSource" Value="SingleText"/>
<Property Name="Top" Value="101"/>
<Property Name="Top" Value="91"/>
<Property Name="Width" Value="78"/>
</Control>
<Control ClassId="0x00001005" Name="bmpInMotion">
@@ -2431,10 +2440,10 @@
<Property Name="FillStyle" Value="Transparent"/>
<Property Name="Height" Value="12"/>
<Property Name="IndexDatapoint" Value="Source[global].Variable[DataSource.MachCtrl.MachCtrl.MpFUB.MpCNC5Axis.InMotion]"/>
<Property Name="Left" Value="180"/>
<Property Name="Left" Value="179"/>
<Property Name="SimulationValue" Value="0"/>
<Property Name="StyleClass" Value="Source[relative:StyleGroup].StyleClass[Default]"/>
<Property Name="Top" Value="100"/>
<Property Name="Top" Value="90"/>
<Property Name="Width" Value="12"/>
</Control>
<Control ClassId="0x00001004" Name="txtOuMotorsOff">
@@ -2443,7 +2452,7 @@
<Property Name="Description" Value=""/>
<Property Name="Font" Value="Source[local].Font[Labels]"/>
<Property Name="Height" Value="12"/>
<Property Name="Left" Value="201"/>
<Property Name="Left" Value="200"/>
<Property Name="Multiline" Value="Automatic"/>
<Property Name="SimulationIndex" Value="0"/>
<Property Name="SimulationValue" Value=""/>
@@ -2451,7 +2460,7 @@
<Property Name="TextGroup" Value="Source[embedded].TextGroup"/>
<Property Name="TextIndexOffset" Value="43"/>
<Property Name="TextSource" Value="SingleText"/>
<Property Name="Top" Value="119"/>
<Property Name="Top" Value="104"/>
<Property Name="Width" Value="66"/>
</Control>
<Control ClassId="0x00001005" Name="bmpInterupted">
@@ -2463,10 +2472,10 @@
<Property Name="FillStyle" Value="Transparent"/>
<Property Name="Height" Value="12"/>
<Property Name="IndexDatapoint" Value="Source[global].Variable[DataSource.MachCtrl.MachCtrl.MpFUB.MpCNC5Axis.MoveInterrupted]"/>
<Property Name="Left" Value="181"/>
<Property Name="Left" Value="180"/>
<Property Name="SimulationValue" Value="0"/>
<Property Name="StyleClass" Value="Source[relative:StyleGroup].StyleClass[Default]"/>
<Property Name="Top" Value="119"/>
<Property Name="Top" Value="104"/>
<Property Name="Width" Value="12"/>
</Control>
<Control ClassId="0x00001004" Name="lblStopped">
@@ -2483,7 +2492,7 @@
<Property Name="TextGroup" Value="Source[embedded].TextGroup"/>
<Property Name="TextIndexOffset" Value="45"/>
<Property Name="TextSource" Value="SingleText"/>
<Property Name="Top" Value="137"/>
<Property Name="Top" Value="117"/>
<Property Name="Width" Value="66"/>
</Control>
<Control ClassId="0x00001005" Name="bmpStopped">
@@ -2498,7 +2507,7 @@
<Property Name="Left" Value="182"/>
<Property Name="SimulationValue" Value="0"/>
<Property Name="StyleClass" Value="Source[relative:StyleGroup].StyleClass[Default]"/>
<Property Name="Top" Value="137"/>
<Property Name="Top" Value="117"/>
<Property Name="Width" Value="12"/>
</Control>
<Control ClassId="0x00001004" Name="lblError">
@@ -2515,7 +2524,7 @@
<Property Name="TextGroup" Value="Source[embedded].TextGroup"/>
<Property Name="TextIndexOffset" Value="46"/>
<Property Name="TextSource" Value="SingleText"/>
<Property Name="Top" Value="154"/>
<Property Name="Top" Value="131"/>
<Property Name="Width" Value="66"/>
</Control>
<Control ClassId="0x00001005" Name="bmpError">
@@ -2527,10 +2536,10 @@
<Property Name="FillStyle" Value="Transparent"/>
<Property Name="Height" Value="11"/>
<Property Name="IndexDatapoint" Value="Source[global].Variable[DataSource.MachCtrl.MachCtrl.MpFUB.MpCNC5Axis.Error]"/>
<Property Name="Left" Value="178"/>
<Property Name="Left" Value="182"/>
<Property Name="SimulationValue" Value="0"/>
<Property Name="StyleClass" Value="Source[relative:StyleGroup].StyleClass[Default]"/>
<Property Name="Top" Value="152"/>
<Property Name="Top" Value="131"/>
<Property Name="Width" Value="12"/>
</Control>
<Control ClassId="0x00001004" Name="lblNoHeight">
@@ -2661,10 +2670,164 @@
<Property Name="StyleClass" Value="Source[relative:StyleGroup].StyleClass[Default]"/>
<Property Name="TeachDatapoint" Value="None"/>
<Property Name="Top" Value="221"/>
<Property Name="UnitText" Value="Abbreviation"/>
<Property Name="UnitTextAlignment" Value="Left"/>
<Property Name="UnitTextPosition" Value="Right"/>
<Property Name="UnitTextWidth" Value="0"/>
<Property Name="ValueDatapoint" Value="Source[global].Variable[DataSource.MachCtrl.MachCtrl.uiTestPowerLaser]"/>
<Property Name="ValueMode" Value="Standard"/>
<Property Name="Width" Value="56"/>
</Control>
<Control ClassId="0x00001004" Name="lblFullPower">
<Property Name="AlignmentVertical" Value="Center"/>
<Property Name="ControlID" Value="0"/>
<Property Name="Description" Value=""/>
<Property Name="Font" Value="Source[local].Font[Labels]"/>
<Property Name="Height" Value="12"/>
<Property Name="Left" Value="195"/>
<Property Name="Multiline" Value="Automatic"/>
<Property Name="SimulationIndex" Value="0"/>
<Property Name="SimulationValue" Value=""/>
<Property Name="StyleClass" Value="Source[relative:StyleGroup].StyleClass[Default]"/>
<Property Name="TextGroup" Value="Source[embedded].TextGroup"/>
<Property Name="TextIndexOffset" Value="9"/>
<Property Name="TextSource" Value="SingleText"/>
<Property Name="Top" Value="152"/>
<Property Name="Width" Value="66"/>
</Control>
<Control ClassId="0x00001005" Name="bmpFullPower">
<Property Name="AlignmentHorizontal" Value="Center"/>
<Property Name="BitmapGroup" Value="Source[local].BitmapGroup[LED_32]"/>
<Property Name="BitmapIndex" Value="0"/>
<Property Name="BitmapSource" Value="MultipleBitmaps"/>
<Property Name="ControlID" Value="0"/>
<Property Name="Description" Value=""/>
<Property Name="FillStyle" Value="Transparent"/>
<Property Name="Height" Value="12"/>
<Property Name="IndexDatapoint" Value="Source[global].Variable[DataSource.MachCtrl.MachCtrl.States.bLaserFullPower]"/>
<Property Name="Left" Value="181"/>
<Property Name="SimulationValue" Value="0"/>
<Property Name="StyleClass" Value="Source[relative:StyleGroup].StyleClass[Default]"/>
<Property Name="Top" Value="152"/>
<Property Name="Width" Value="12"/>
</Control>
<Control ClassId="0x00001004" Name="lblFeedrate">
<Property Name="AlignmentHorizontal" Value="Center"/>
<Property Name="AlignmentVertical" Value="Center"/>
<Property Name="Border" Value="Source[local].Border[OutputBorder]"/>
<Property Name="ControlID" Value="0"/>
<Property Name="Description" Value=""/>
<Property Name="Font" Value="Source[local].Font[Labels]"/>
<Property Name="Height" Value="10"/>
<Property Name="Left" Value="52"/>
<Property Name="Multiline" Value="Automatic"/>
<Property Name="SimulationIndex" Value="0"/>
<Property Name="SimulationValue" Value=""/>
<Property Name="StyleClass" Value="Source[relative:StyleGroup].StyleClass[Default]"/>
<Property Name="TextGroup" Value="Source[embedded].TextGroup"/>
<Property Name="TextIndexOffset" Value="10"/>
<Property Name="TextSource" Value="SingleText"/>
<Property Name="Top" Value="98"/>
<Property Name="Width" Value="45"/>
</Control>
<Control ClassId="0x00001007" Name="numFeedrate">
<Property Name="ControlID" Value="0"/>
<Property Name="Description" Value=""/>
<Property Name="Font" Value="Source[local].Font[Info]"/>
<Property Name="Height" Value="14"/>
<Property Name="Left" Value="100"/>
<Property Name="MaxDatapoint" Value="None"/>
<Property Name="MaxValue" Value="None"/>
<Property Name="MinDatapoint" Value="None"/>
<Property Name="MinValue" Value="None"/>
<Property Name="SimulationValue" Value="0"/>
<Property Name="StyleClass" Value="Source[relative:StyleGroup].StyleClass[Default]"/>
<Property Name="TeachDatapoint" Value="None"/>
<Property Name="Top" Value="94"/>
<Property Name="UnitText" Value="Abbreviation"/>
<Property Name="UnitTextAlignment" Value="Left"/>
<Property Name="UnitTextPosition" Value="Right"/>
<Property Name="UnitTextWidth" Value="1"/>
<Property Name="ValueDatapoint" Value="Source[global].Variable[DataSource.MachCtrl.MachCtrl.MpFUB.MpCNC5Axis.PathVelocity]"/>
<Property Name="ValueMode" Value="Standard"/>
<Property Name="Width" Value="61"/>
</Control>
<Control ClassId="0x00001007" Name="numLaserpowerAct">
<Property Name="AddFractionDigits" Value="-1"/>
<Property Name="ControlID" Value="0"/>
<Property Name="Description" Value=""/>
<Property Name="Font" Value="Source[local].Font[Input]"/>
<Property Name="Height" Value="29"/>
<Property Name="Left" Value="269"/>
<Property Name="MaxDatapoint" Value="None"/>
<Property Name="MaxValue" Value="None"/>
<Property Name="MinDatapoint" Value="None"/>
<Property Name="MinValue" Value="None"/>
<Property Name="SimulationValue" Value="6666"/>
<Property Name="StyleClass" Value="Source[relative:StyleGroup].StyleClass[Default]"/>
<Property Name="TeachDatapoint" Value="None"/>
<Property Name="Top" Value="141"/>
<Property Name="UnitText" Value="Abbreviation"/>
<Property Name="UnitTextAlignment" Value="Left"/>
<Property Name="UnitTextPosition" Value="Right"/>
<Property Name="UnitTextWidth" Value="0"/>
<Property Name="ValueDatapoint" Value="Source[global].Variable[DataSource.Communication.gIPGLaserInterface.Out.uiOutputPower]"/>
<Property Name="ValueMode" Value="Standard"/>
<Property Name="Width" Value="56"/>
</Control>
<Control ClassId="0x00001007" Name="NumLaserPowerMin">
<Property Name="AlignmentHorizontal" Value="Center"/>
<Property Name="Border" Value="Source[local].Border[Flat_grey]"/>
<Property Name="ControlID" Value="0"/>
<Property Name="Description" Value=""/>
<Property Name="Font" Value="Source[local].Font[Input]"/>
<Property Name="Height" Value="24"/>
<Property Name="Input" Value="True"/>
<Property Name="InputCancel" Value="Lost Focus"/>
<Property Name="InputComma" Value="Explicit"/>
<Property Name="InputConfirm" Value="Enter"/>
<Property Name="InputMinus" Value="Normal"/>
<Property Name="InputNext" Value="Enter"/>
<Property Name="InputStart" Value="Any Key"/>
<Property Name="InputTouchpad" Value="Source[local].TouchPad[NumPad]"/>
<Property Name="InputUpDown" Value="Disabled"/>
<Property Name="Left" Value="101"/>
<Property Name="MaxDatapoint" Value="None"/>
<Property Name="MaxValue" Value="None"/>
<Property Name="MinDatapoint" Value="None"/>
<Property Name="MinIntegerDigits" Value="0"/>
<Property Name="MinValue" Value="0.5"/>
<Property Name="SimulationValue" Value="0.0036"/>
<Property Name="StyleClass" Value="Source[relative:StyleGroup].StyleClass[Default]"/>
<Property Name="TeachDatapoint" Value="None"/>
<Property Name="Top" Value="169"/>
<Property Name="UnitText" Value="Abbreviation"/>
<Property Name="UnitTextAlignment" Value="Left"/>
<Property Name="UnitTextPosition" Value="Right"/>
<Property Name="UnitTextWidth" Value="1"/>
<Property Name="ValueDatapoint" Value="Source[global].Variable[DataSource.MachCtrl.MachCtrl.uiTestMinPowerLaser]"/>
<Property Name="ValueMode" Value="Standard"/>
<Property Name="Width" Value="74"/>
</Control>
<Control ClassId="0x00001004" Name="lblPowerMin">
<Property Name="AlignmentHorizontal" Value="Center"/>
<Property Name="AlignmentVertical" Value="Center"/>
<Property Name="Border" Value="Source[local].Border[OutputBorder]"/>
<Property Name="ControlID" Value="0"/>
<Property Name="Description" Value=""/>
<Property Name="Font" Value="Source[local].Font[Header]"/>
<Property Name="Height" Value="12"/>
<Property Name="Left" Value="23"/>
<Property Name="Multiline" Value="Automatic"/>
<Property Name="SimulationIndex" Value="0"/>
<Property Name="SimulationValue" Value=""/>
<Property Name="StyleClass" Value="Source[relative:StyleGroup].StyleClass[Default]"/>
<Property Name="TextGroup" Value="Source[embedded].TextGroup"/>
<Property Name="TextIndexOffset" Value="11"/>
<Property Name="TextSource" Value="SingleText"/>
<Property Name="Top" Value="181"/>
<Property Name="Width" Value="79"/>
</Control>
</Controls>
<KeyMapping>
<VirtualKey Name="%embVirtualKey_2">
@@ -2848,14 +3011,14 @@
<MovementEntry Control="Source[embedded].Layer[L2_JogMode].Control[Slider_Override]">
<Property Name="Down" Value="Source[embedded].Layer[L4_Setupmode].Control[NumPosDestPos]"/>
<Property Name="Left" Value="Source[embedded].Layer[L5_Manual].Control[Slider_Override1]"/>
<Property Name="Right" Value="Source[embedded].Layer[L3_AutoLayer].Control[Slider_JogSpeed1]"/>
<Property Name="Right" Value="Source[embedded].Layer[L5_Manual].Control[NumLaserPowerMin]"/>
<Property Name="Up" Value="Source[embedded].Layer[L5_Manual].Control[Slider_Override1]"/>
</MovementEntry>
<MovementEntry Control="Source[embedded].Layer[L3_AutoLayer].Control[Slider_JogSpeed1]">
<Property Name="Down" Value="Source[embedded].Layer[L2_JogMode].Control[ddSelectAxis]"/>
<Property Name="Left" Value="Source[embedded].Layer[L2_JogMode].Control[Slider_Override]"/>
<Property Name="Down" Value="Source[embedded].Layer[L5_Manual].Control[NumLaserPowerMin]"/>
<Property Name="Left" Value="Source[embedded].Layer[L5_Manual].Control[NumLaserPowerMin]"/>
<Property Name="Right" Value="Source[embedded].Layer[L2_JogMode].Control[ddSelectAxis]"/>
<Property Name="Up" Value="Source[embedded].Layer[L4_Setupmode].Control[NumPosDestPosDeg]"/>
<Property Name="Up" Value="Source[embedded].Layer[L5_Manual].Control[NumLaserPowerMin]"/>
</MovementEntry>
<MovementEntry Control="Source[embedded].Layer[L3_AutoLayer].Control[Dropdown_1]">
<Property Name="Down" Value="Source[embedded].Layer[L4_Setupmode].Control[Slider_JogSpeed]"/>
@@ -2895,7 +3058,7 @@
</MovementEntry>
<MovementEntry Control="Source[embedded].Layer[L4_Setupmode].Control[NumPosDestPosSh1]">
<Property Name="Down" Value="Source[embedded].Layer[L4_Setupmode].Control[NumPosDestPos]"/>
<Property Name="Left" Value="Source[embedded].Layer[L3_AutoLayer].Control[Slider_JogSpeed1]"/>
<Property Name="Left" Value="Source[embedded].Layer[L5_Manual].Control[NumLaserPowerMin]"/>
<Property Name="Right" Value="Source[embedded].Layer[L4_Setupmode].Control[NumPosDestPosSh2]"/>
<Property Name="Up" Value="Source[embedded].Layer[L2_JogMode].Control[ddSelectAxis]"/>
</MovementEntry>
@@ -2917,6 +3080,12 @@
<Property Name="Right" Value="Source[embedded].Layer[L2_JogMode].Control[Slider_Override]"/>
<Property Name="Up" Value="Source[embedded].Layer[L4_Setupmode].Control[ddSelectAxis]"/>
</MovementEntry>
<MovementEntry Control="Source[embedded].Layer[L5_Manual].Control[NumLaserPowerMin]">
<Property Name="Down" Value="Source[embedded].Layer[L4_Setupmode].Control[NumPosDestPos]"/>
<Property Name="Left" Value="Source[embedded].Layer[L2_JogMode].Control[Slider_Override]"/>
<Property Name="Right" Value="Source[embedded].Layer[L4_Setupmode].Control[NumPosDestPosSh1]"/>
<Property Name="Up" Value="Source[embedded].Layer[L3_AutoLayer].Control[Slider_JogSpeed1]"/>
</MovementEntry>
</MovementOrder>
<TabSequence>
<TabSeqItem Index="0" Value="Source[local].Layer[globalAxInfos].Control[numPosX]"/>
@@ -2965,5 +3134,8 @@
<TabSeqItem Index="43" Value="Source[embedded].Layer[L2_JogMode].Control[Slider_Override]"/>
<TabSeqItem Index="44" Value="Source[embedded].Layer[L5_Manual].Control[Slider_Override1]"/>
<TabSeqItem Index="45" Value="Source[embedded].Layer[L5_Manual].Control[umLaserpower]"/>
<TabSeqItem Index="46" Value="Source[embedded].Layer[L5_Manual].Control[numFeedrate]"/>
<TabSeqItem Index="47" Value="Source[embedded].Layer[L5_Manual].Control[numLaserpowerAct]"/>
<TabSeqItem Index="48" Value="Source[embedded].Layer[L5_Manual].Control[NumLaserPowerMin]"/>
</TabSequence>
</Page>

1
Physical/Config0/5APC3100_KBU0_000/Cpu.pkg
View File

@@ -20,6 +20,7 @@
<Object Type="Package">DTM</Object>
<Object Type="Package">ExternalHardware</Object>
<Object Type="File">PVs.cwt</Object>
<Object Type="File">prfmod$e.br</Object>
</Objects>
<Configuration ModuleId="5APC3100.KBU0-000">
<AutomationRuntime Version="C4.90" />

15
Physical/Config0/5APC3100_KBU0_000/mappMotion/5AxesCNCXYZCA/Config_1.axesgroup
View File

@@ -36,14 +36,18 @@
<Selector ID="ModalDataBehaviour" Value="ResetToDefault" />
<Group ID="GeometryPlanning">
<Property ID="RoundingMode" Value="Standard" />
<Property ID="MaxCornerDeviation" Value="0.075" />
<Property ID="MaxTangentialTransitionDeviation" Value="0.05" />
<Property ID="MaxRadiusDeviation" Value="0.001" />
<Property ID="MaxCornerDeviation" Value="0.2" />
<Property ID="MaxTangentialTransitionDeviation" Value="0.2" />
<Property ID="MaxRadiusDeviation" Value="0.05" />
<Property ID="WorkingPlane" Value="XY" />
</Group>
<Selector ID="TrajectoryPlanning" Value="Basic">
<Selector ID="LimitCheckResolution" Value="Automatic" />
<Selector ID="BufferTime" Value="Automatic" />
<Selector ID="LimitCheckResolution" Value="UserDefinedTime">
<Property ID="Time" Value="0.0034" />
</Selector>
<Selector ID="BufferTime" Value="UserDefinedTime">
<Property ID="Time" Value="0.20" />
</Selector>
</Selector>
</Group>
<Group ID="AxesGroupFeatures">
@@ -55,6 +59,7 @@
<Property ID="FeatureRef[6]" Value="Feature_Monitoring" Description="Ueberwachung" />
<Property ID="FeatureRef[7]" Value="Feature_SimRestart" Description="Simulation und Restart" />
<Property ID="FeatureRef[8]" Value="Feature_FrameHierarchy" Description="Koordinatensystem Hierachie" />
<Property ID="FeatureRef[9]" Value="Feature_Compressor" />
</Group>
</Selector>
<Selector ID="Alarms" Value="MpAlarmX" />

12
Physical/Config0/5APC3100_KBU0_000/mappMotion/5AxesCNCXYZCA/Config_2.axis
View File

@@ -26,12 +26,12 @@
<Property ID="AccelerationIsReadOnly" Value="0" />
<Selector ID="Acceleration">
<Property ID="AccelerationMax" Value="3.4E38" />
<Property ID="Acceleration" Value="5000" />
<Property ID="Acceleration" Value="6000" />
</Selector>
<Property ID="DecelerationIsReadOnly" Value="0" />
<Selector ID="Deceleration">
<Property ID="DecelerationMax" Value="3.4E38" />
<Property ID="Deceleration" Value="5000" />
<Property ID="Deceleration" Value="6000" />
</Selector>
<Property ID="JerkIsReadOnly" Value="0" />
<Property ID="TorqueIsReadOnly" Value="0" />
@@ -93,12 +93,12 @@
<Property ID="AccelerationIsReadOnly" Value="0" />
<Selector ID="Acceleration">
<Property ID="AccelerationMax" Value="3.4E38" />
<Property ID="Acceleration" Value="5000" />
<Property ID="Acceleration" Value="8000" />
</Selector>
<Property ID="DecelerationIsReadOnly" Value="0" />
<Selector ID="Deceleration">
<Property ID="DecelerationMax" Value="3.4E38" />
<Property ID="Deceleration" Value="5000" />
<Property ID="Deceleration" Value="8000" />
</Selector>
<Property ID="JerkIsReadOnly" Value="0" />
<Property ID="TorqueIsReadOnly" Value="0" />
@@ -130,12 +130,12 @@
<Property ID="AccelerationIsReadOnly" Value="0" />
<Selector ID="Acceleration">
<Property ID="AccelerationMax" Value="3.4E38" />
<Property ID="Acceleration" Value="4000" />
<Property ID="Acceleration" Value="8000" />
</Selector>
<Property ID="DecelerationIsReadOnly" Value="0" />
<Selector ID="Deceleration">
<Property ID="DecelerationMax" Value="3.4E38" />
<Property ID="Deceleration" Value="4000" />
<Property ID="Deceleration" Value="8000" />
</Selector>
<Property ID="JerkIsReadOnly" Value="0" />
<Property ID="TorqueIsReadOnly" Value="0" />

96
Physical/Config0/5APC3100_KBU0_000/mappMotion/5AxesCNCXYZCA/Config_4.axesgroupfeature
View File

@@ -86,11 +86,11 @@
<Selector ID="Type" Value="Jogging" />
</Element>
<Element ID="Feature_MFunc" Type="axesgroupfeature">
<Selector ID="Type" Value="MFunctions" Description="M03 Laser Ein">
<Selector ID="Type" Value="MFunctions">
<Selector ID="ModalDataBehaviour" Value="UseAxesGroupSettings" />
<Group ID="MFunction[1]">
<Group ID="MFunction[1]" Description="M103 Laser Ein">
<Selector ID="IndexType" Value="Single">
<Property ID="Index" Value="103" Description="M3 Spindel Ein" />
<Property ID="Index" Value="103" Description="M103 Laser Ein" />
</Selector>
<Selector ID="Blocking" Value="Enabled" />
<Selector ID="Output" Value="Before" />
@@ -98,7 +98,7 @@
<Property ID="PvMapping" Value="::MachCtrl:MFlags.b103_LaserOn" />
<Property ID="Counter" />
</Group>
<Group ID="MFunction[2]" Description="M05 Laser Aus">
<Group ID="MFunction[2]" Description="M105 Laser Aus">
<Selector ID="IndexType" Value="Single">
<Property ID="Index" Value="105" Description="M5 Spindel Aus" />
</Selector>
@@ -108,7 +108,7 @@
<Property ID="PvMapping" Value="::MachCtrl:MFlags.b105_LaserOff" />
<Property ID="Counter" />
</Group>
<Group ID="MFunction[3]">
<Group ID="MFunction[3]" Description="M110 Höhe halten">
<Selector ID="IndexType" Value="Single">
<Property ID="Index" Value="110" />
</Selector>
@@ -118,7 +118,7 @@
<Property ID="PvMapping" Value="::MachCtrl:MFlags.b110_StayAtHeight" />
<Property ID="Counter" />
</Group>
<Group ID="MFunction[4]">
<Group ID="MFunction[4]" Description="M111 Mitte halten">
<Selector ID="IndexType" Value="Single">
<Property ID="Index" Value="111" />
</Selector>
@@ -128,7 +128,17 @@
<Property ID="PvMapping" Value="::MachCtrl:MFlags.b111_StayAtMid" />
<Property ID="Counter" />
</Group>
<Group ID="MFunction[5]">
<Group ID="MFunction[5]" Description="M112 FullPower - Keine Leistungsreduzierung">
<Selector ID="IndexType" Value="Single">
<Property ID="Index" Value="112" />
</Selector>
<Selector ID="Blocking" Value="Disabled" />
<Selector ID="Output" Value="Before" />
<Selector ID="InSimulation" Value="NotUsed" />
<Property ID="PvMapping" Value="::MachCtrl:MFlags.b112_FullPowerOn" />
<Property ID="Counter" />
</Group>
<Group ID="MFunction[6]" Description="M115 Folgen reaktivieren">
<Selector ID="IndexType" Value="Single">
<Property ID="Index" Value="115" />
</Selector>
@@ -138,6 +148,16 @@
<Property ID="PvMapping" Value="::MachCtrl:MFlags.b115_ReactivateFollow" />
<Property ID="Counter" />
</Group>
<Group ID="MFunction[7]" Description="M116 AdaptivePower reaktivieren">
<Selector ID="IndexType" Value="Single">
<Property ID="Index" Value="116" />
</Selector>
<Selector ID="Blocking" Value="Disabled" />
<Selector ID="Output" Value="Before" />
<Selector ID="InSimulation" Value="NotUsed" />
<Property ID="PvMapping" Value="::MachCtrl:MFlags.b116_AdaptivePower" />
<Property ID="Counter" />
</Group>
</Selector>
</Element>
<Element ID="Feature_SimRestart" Type="axesgroupfeature">
@@ -291,4 +311,66 @@
</Group>
</Selector>
</Element>
<Element ID="Feature_Compressor" Type="axesgroupfeature">
<Selector ID="Type" Value="Compressor">
<Selector ID="ModalDataBehaviour" Value="UseAxesGroupSettings" />
<Property ID="MaxCartesianDeviation" Value="0.05" />
<Property ID="MaxNonCartesianDeviation" Value="0.5" />
<Property ID="MaxCartesianTransitionAngle" Value="30.0" />
<Property ID="MaxNonCartesianTransitionAngle" Value="45.0" />
<Property ID="MaxCartesianLength" Value="10.0" />
</Selector>
</Element>
<Element ID="Feature_MFunc_1" Type="axesgroupfeature">
<Selector ID="Type" Value="Program">
<Selector ID="ModalDataBehaviour" Value="UseAxesGroupSettings" />
<Group ID="InitialSettings">
<Selector ID="InterpolationTypes" Value="LinearRapid" />
<Selector ID="PositionCoordinates" Value="Absolute" />
<Selector ID="CircleCoordinates" Value="Relative" />
<Selector ID="JACS_ACSProgramming" Value="JACS" />
<Selector ID="ContourConnection" Value="Inactive" />
<Selector ID="ProgrammingUnits" Value="UseAxesGroupSettings" />
<Group ID="Feedrates">
<Selector ID="FeedPath" Value="Standard" />
<Selector ID="FeedCharacteristic" Value="StandardCharacteristic" />
<Selector ID="FeedType" Value="Feedrate" />
<Selector ID="FeedReduction" Value="Inactive" />
<Property ID="FeedrateValue" Value="0.0" />
<Property ID="InverseFeedrateValue" Value="0.0" />
<Property ID="FeedratePerRevValue" Value="0.0" />
</Group>
</Group>
<Selector ID="DefaultLanguage" Value="BRGCode" />
<Selector ID="Location" Value="Default">
<Property ID="FileDevice" Value="CNC_PrgDir" />
</Selector>
</Selector>
</Element>
<Element ID="Feature_Programs_1" Type="axesgroupfeature">
<Selector ID="Type" Value="Program">
<Selector ID="ModalDataBehaviour" Value="UseAxesGroupSettings" />
<Group ID="InitialSettings">
<Selector ID="InterpolationTypes" Value="LinearRapid" />
<Selector ID="PositionCoordinates" Value="Absolute" />
<Selector ID="CircleCoordinates" Value="Relative" />
<Selector ID="JACS_ACSProgramming" Value="JACS" />
<Selector ID="ContourConnection" Value="Inactive" />
<Selector ID="ProgrammingUnits" Value="UseAxesGroupSettings" />
<Group ID="Feedrates">
<Selector ID="FeedPath" Value="Standard" />
<Selector ID="FeedCharacteristic" Value="StandardCharacteristic" />
<Selector ID="FeedType" Value="Feedrate" />
<Selector ID="FeedReduction" Value="Inactive" />
<Property ID="FeedrateValue" Value="0.0" />
<Property ID="InverseFeedrateValue" Value="0.0" />
<Property ID="FeedratePerRevValue" Value="0.0" />
</Group>
</Group>
<Selector ID="DefaultLanguage" Value="BRGCode" />
<Selector ID="Location" Value="Default">
<Property ID="FileDevice" Value="CNC_PrgDir" />
</Selector>
</Selector>
</Element>
</Configuration>

14
Physical/Config0/5APC3100_KBU0_000/mappMotion/5AxesCNCXYZCA/Config_7.limitset
View File

@@ -15,11 +15,11 @@
</Selector>
<Selector ID="Acceleration" Value="Basic">
<Property ID="AccelerationMax" Value="3.4E38" />
<Property ID="Acceleration" Value="3000" Description="Max 9000" />
<Property ID="Acceleration" Value="8000" Description="Max 9000" />
</Selector>
<Selector ID="Deceleration" Value="Basic" Description="Max 9000">
<Property ID="DecelerationMax" Value="3.4E38" />
<Property ID="Deceleration" Value="3000" />
<Property ID="Deceleration" Value="8000" />
</Selector>
<Property ID="JerkIsReadOnly" Value="0" />
</Selector>
@@ -34,15 +34,15 @@
</Selector>
<Selector ID="Velocity" Value="Basic">
<Property ID="VelocityMax" Value="3.4E38" />
<Property ID="Velocity" Value="2000" />
<Property ID="Velocity" Value="2100" />
</Selector>
<Selector ID="Acceleration" Value="Basic">
<Property ID="AccelerationMax" Value="3.4E38" />
<Property ID="Acceleration" Value="7500" Description="Max 9000" />
<Property ID="Acceleration" Value="8500" Description="Max 9000" />
</Selector>
<Selector ID="Deceleration" Value="Basic" Description="Max 9000">
<Property ID="DecelerationMax" Value="3.4E38" />
<Property ID="Deceleration" Value="7500" />
<Property ID="Deceleration" Value="8500" />
</Selector>
<Property ID="JerkIsReadOnly" Value="0" />
</Selector>
@@ -84,11 +84,11 @@
</Selector>
<Selector ID="Acceleration" Value="Basic">
<Property ID="AccelerationMax" Value="3.4E38" />
<Property ID="Acceleration" Value="5000" Description="Max 9880" />
<Property ID="Acceleration" Value="8000" Description="Max 9880" />
</Selector>
<Selector ID="Deceleration" Value="Basic">
<Property ID="DecelerationMax" Value="3.4E38" />
<Property ID="Deceleration" Value="5000" Description="Max 9880" />
<Property ID="Deceleration" Value="8000" Description="Max 9880" />
</Selector>
<Property ID="JerkIsReadOnly" Value="0" />
</Selector>

4
Physical/Config0/5APC3100_KBU0_000/mappMotion/PureVAxis/Config_8.purevaxcfg
View File

@@ -11,8 +11,8 @@
</Selector>
</Group>
<Selector ID="JerkFilter" Value="Used">
<Property ID="MaxJerkTime" Value="0.25" />
<Property ID="JerkTime" Value="0.25" />
<Property ID="MaxJerkTime" Value="0.1" />
<Property ID="JerkTime" Value="0.06" />
</Selector>
</Group>
</Element>

BIN
Physical/Config0/5APC3100_KBU0_000/prfmod$e.br Normal file
View File

Binary file not shown.

72
Physical/Config0/Hardware.hw
View File

@@ -98,6 +98,7 @@
<Parameter ID="TaskClassIdleTime" Value="1200" />
<Parameter ID="Cyclic1Duration" Value="1200" />
<Parameter ID="Cyclic1Tolerance" Value="0" />
<Parameter ID="Cyclic1Output" Value="1" />
<Parameter ID="Cyclic2Duration" Value="24000" />
<Parameter ID="Cyclic2Tolerance" Value="24000" />
<Parameter ID="Cyclic3Duration" Value="50400" />
@@ -237,17 +238,26 @@
<Parameter ID="ReferenceDistanceIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/MechanicalElements/RotaryToLinearTransformation" Value="0" />
<Parameter ID="ReferenceDistance" Location="DriveConfiguration/Channel[1]/RealAxis/MechanicalElements/RotaryToLinearTransformation" Value="1" />
<Parameter ID="ModeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller" Value="0" />
<Parameter ID="Mode" Location="DriveConfiguration/Channel[1]/RealAxis/Controller" Value="PositionController" />
<Parameter ID="Mode" Location="DriveConfiguration/Channel[1]/RealAxis/Controller" Value="PositionControllerWithTorqueFeedForward" />
<Parameter ID="ProportionalGainIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="600" />
<Parameter ID="IntegrationTimeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0" />
<Parameter ID="IntegrationTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0.0" />
<Parameter ID="PredictionTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0.0004" />
<Parameter ID="TotalDelayTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0.0004" />
<Parameter ID="TotalDelayTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0.0016" />
<Parameter ID="ProportionalGainIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="1.85" />
<Parameter ID="IntegrationTimeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0" />
<Parameter ID="IntegrationTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0.0" />
<Parameter ID="FilterTimeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0" />
<Parameter ID="FilterTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0.0" />
<Parameter ID="FeedForwardIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode" Value="0" />
<Parameter ID="FeedForward" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode" Value="Standard" />
<Parameter ID="TorqueLoad" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
<Parameter ID="TorquePositive" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
<Parameter ID="TorqueNegative" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
<Parameter ID="SpeedTorqueFactor" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
<Parameter ID="Inertia" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
<Parameter ID="AccelerationFilterTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
<Parameter ID="LoopFilter1" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/LoopFilters" Value="NotUsed" />
<Parameter ID="LoopFilter2" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/LoopFilters" Value="NotUsed" />
<Parameter ID="LoopFilter3" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/LoopFilters" Value="NotUsed" />
@@ -258,7 +268,7 @@
<Parameter ID="PositionError" Location="DriveConfiguration/Channel[1]/RealAxis/MovementErrorLimits" Value="1.0" />
<Parameter ID="VelocityErrorMonitoring" Location="DriveConfiguration/Channel[1]/RealAxis/MovementErrorLimits" Value="Automatic1" />
<Parameter ID="JerkFilter" Location="DriveConfiguration/Channel[1]/RealAxis" Value="Used" />
<Parameter ID="JerkTime" Location="DriveConfiguration/Channel[1]/RealAxis/JerkFilter" Value="0.25" />
<Parameter ID="JerkTime" Location="DriveConfiguration/Channel[1]/RealAxis/JerkFilter" Value="0.06" />
<Parameter ID="Source" Location="DriveConfiguration/Channel[1]/RealAxis/DigitalInputs/HomingSwitch" Value="NotUsed" />
<Parameter ID="Level" Location="DriveConfiguration/Channel[1]/RealAxis/DigitalInputs/HomingSwitch" Value="High" />
<Parameter ID="Source" Location="DriveConfiguration/Channel[1]/RealAxis/DigitalInputs/PositiveLimitSwitch" Value="NotUsed" />
@@ -278,17 +288,26 @@
<Parameter ID="ReferenceDistanceIsReadOnly" Location="DriveConfiguration/Channel[2]/RealAxis/MechanicalElements/RotaryToLinearTransformation" Value="0" />
<Parameter ID="ReferenceDistance" Location="DriveConfiguration/Channel[2]/RealAxis/MechanicalElements/RotaryToLinearTransformation" Value="1" />
<Parameter ID="ModeIsReadOnly" Location="DriveConfiguration/Channel[2]/RealAxis/Controller" Value="0" />
<Parameter ID="Mode" Location="DriveConfiguration/Channel[2]/RealAxis/Controller" Value="PositionController" />
<Parameter ID="Mode" Location="DriveConfiguration/Channel[2]/RealAxis/Controller" Value="PositionControllerWithTorqueFeedForward" />
<Parameter ID="ProportionalGainIsReadOnly" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode/Position" Value="0" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode/Position" Value="420" />
<Parameter ID="IntegrationTimeIsReadOnly" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode/Position" Value="0" />
<Parameter ID="IntegrationTime" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode/Position" Value="0.0" />
<Parameter ID="PredictionTime" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode/Position" Value="0.0004" />
<Parameter ID="TotalDelayTime" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode/Position" Value="0.0004" />
<Parameter ID="TotalDelayTime" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode/Position" Value="0.0016" />
<Parameter ID="ProportionalGainIsReadOnly" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode/Speed" Value="0" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode/Speed" Value="0.7" />
<Parameter ID="IntegrationTimeIsReadOnly" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode/Speed" Value="0" />
<Parameter ID="IntegrationTime" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode/Speed" Value="0.0" />
<Parameter ID="FilterTimeIsReadOnly" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode/Speed" Value="0" />
<Parameter ID="FilterTime" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode/Speed" Value="0.0" />
<Parameter ID="FeedForwardIsReadOnly" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode" Value="0" />
<Parameter ID="FeedForward" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode" Value="Standard" />
<Parameter ID="TorqueLoad" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
<Parameter ID="TorquePositive" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
<Parameter ID="TorqueNegative" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
<Parameter ID="SpeedTorqueFactor" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
<Parameter ID="Inertia" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
<Parameter ID="AccelerationFilterTime" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
<Parameter ID="LoopFilter1" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode/LoopFilters" Value="NotUsed" />
<Parameter ID="LoopFilter2" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode/LoopFilters" Value="NotUsed" />
<Parameter ID="LoopFilter3" Location="DriveConfiguration/Channel[2]/RealAxis/Controller/Mode/LoopFilters" Value="NotUsed" />
@@ -299,7 +318,7 @@
<Parameter ID="PositionError" Location="DriveConfiguration/Channel[2]/RealAxis/MovementErrorLimits" Value="1.0" />
<Parameter ID="VelocityErrorMonitoring" Location="DriveConfiguration/Channel[2]/RealAxis/MovementErrorLimits" Value="Automatic1" />
<Parameter ID="JerkFilter" Location="DriveConfiguration/Channel[2]/RealAxis" Value="Used" />
<Parameter ID="JerkTime" Location="DriveConfiguration/Channel[2]/RealAxis/JerkFilter" Value="0.25" />
<Parameter ID="JerkTime" Location="DriveConfiguration/Channel[2]/RealAxis/JerkFilter" Value="0.06" />
<Parameter ID="Source" Location="DriveConfiguration/Channel[2]/RealAxis/DigitalInputs/HomingSwitch" Value="NotUsed" />
<Parameter ID="Level" Location="DriveConfiguration/Channel[2]/RealAxis/DigitalInputs/HomingSwitch" Value="High" />
<Parameter ID="Source" Location="DriveConfiguration/Channel[2]/RealAxis/DigitalInputs/PositiveLimitSwitch" Value="NotUsed" />
@@ -422,12 +441,12 @@
<Parameter ID="ModeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller" Value="0" />
<Parameter ID="Mode" Location="DriveConfiguration/Channel[1]/RealAxis/Controller" Value="PositionControllerWithTorqueFeedForward" />
<Parameter ID="ProportionalGainIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="350" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="100" />
<Parameter ID="IntegrationTimeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0" />
<Parameter ID="IntegrationTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0.0" />
<Parameter ID="TotalDelayTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0.0004" />
<Parameter ID="ProportionalGainIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="30" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="115" />
<Parameter ID="IntegrationTimeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0" />
<Parameter ID="IntegrationTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0.0" />
<Parameter ID="FilterTimeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0" />
@@ -525,12 +544,12 @@
<Parameter ID="ModeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller" Value="0" />
<Parameter ID="Mode" Location="DriveConfiguration/Channel[1]/RealAxis/Controller" Value="PositionControllerWithTorqueFeedForward" />
<Parameter ID="ProportionalGainIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="350" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="100" />
<Parameter ID="IntegrationTimeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0" />
<Parameter ID="IntegrationTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0.0" />
<Parameter ID="TotalDelayTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0.0004" />
<Parameter ID="ProportionalGainIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="30" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="115" />
<Parameter ID="IntegrationTimeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0" />
<Parameter ID="IntegrationTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0.0" />
<Parameter ID="FilterTimeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0" />
@@ -628,12 +647,12 @@
<Parameter ID="ModeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller" Value="0" />
<Parameter ID="Mode" Location="DriveConfiguration/Channel[1]/RealAxis/Controller" Value="PositionControllerWithTorqueFeedForward" />
<Parameter ID="ProportionalGainIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="400" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="100" />
<Parameter ID="IntegrationTimeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0" />
<Parameter ID="IntegrationTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0" />
<Parameter ID="TotalDelayTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0.0004" />
<Parameter ID="TotalDelayTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0.0016" />
<Parameter ID="ProportionalGainIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="30" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="100" />
<Parameter ID="IntegrationTimeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0" />
<Parameter ID="IntegrationTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0.0" />
<Parameter ID="FilterTimeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0" />
@@ -641,10 +660,10 @@
<Parameter ID="FeedForwardIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode" Value="0" />
<Parameter ID="FeedForward" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode" Value="Standard" />
<Parameter ID="TorqueLoad" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
<Parameter ID="TorquePositive" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="4" />
<Parameter ID="TorqueNegative" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="4" />
<Parameter ID="SpeedTorqueFactor" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
<Parameter ID="Inertia" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.03" />
<Parameter ID="TorquePositive" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="3" />
<Parameter ID="TorqueNegative" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="3" />
<Parameter ID="SpeedTorqueFactor" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.177" />
<Parameter ID="Inertia" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.0336" />
<Parameter ID="AccelerationFilterTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
<Parameter ID="LoopFilter1" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/LoopFilters" Value="NotUsed" />
<Parameter ID="LoopFilter2" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/LoopFilters" Value="NotUsed" />
@@ -656,7 +675,7 @@
<Parameter ID="PositionError" Location="DriveConfiguration/Channel[1]/RealAxis/MovementErrorLimits" Value="1.0" />
<Parameter ID="VelocityErrorMonitoring" Location="DriveConfiguration/Channel[1]/RealAxis/MovementErrorLimits" Value="Automatic1" />
<Parameter ID="JerkFilter" Location="DriveConfiguration/Channel[1]/RealAxis" Value="Used" />
<Parameter ID="JerkTime" Location="DriveConfiguration/Channel[1]/RealAxis/JerkFilter" Value="0.25" />
<Parameter ID="JerkTime" Location="DriveConfiguration/Channel[1]/RealAxis/JerkFilter" Value="0.06" />
<Parameter ID="Source" Location="DriveConfiguration/Channel[1]/RealAxis/DigitalInputs/HomingSwitch" Value="NotUsed" />
<Parameter ID="Level" Location="DriveConfiguration/Channel[1]/RealAxis/DigitalInputs/HomingSwitch" Value="High" />
<Parameter ID="Source" Location="DriveConfiguration/Channel[1]/RealAxis/DigitalInputs/PositiveLimitSwitch" Value="NotUsed" />
@@ -698,7 +717,8 @@
<Parameter ID="DriveError" Location="DriveConfiguration/Channel[2]/RealAxis/StopReaction" Value="DecelerationLimit" />
<Parameter ID="PositionError" Location="DriveConfiguration/Channel[2]/RealAxis/MovementErrorLimits" Value="1.0" />
<Parameter ID="VelocityErrorMonitoring" Location="DriveConfiguration/Channel[2]/RealAxis/MovementErrorLimits" Value="Automatic1" />
<Parameter ID="JerkFilter" Location="DriveConfiguration/Channel[2]/RealAxis" Value="NotUsed" />
<Parameter ID="JerkFilter" Location="DriveConfiguration/Channel[2]/RealAxis" Value="Used" />
<Parameter ID="JerkTime" Location="DriveConfiguration/Channel[2]/RealAxis/JerkFilter" Value="0.06" />
<Parameter ID="Source" Location="DriveConfiguration/Channel[2]/RealAxis/DigitalInputs/HomingSwitch" Value="NotUsed" />
<Parameter ID="Level" Location="DriveConfiguration/Channel[2]/RealAxis/DigitalInputs/HomingSwitch" Value="High" />
<Parameter ID="Source" Location="DriveConfiguration/Channel[2]/RealAxis/DigitalInputs/PositiveLimitSwitch" Value="NotUsed" />
@@ -732,14 +752,14 @@
<Parameter ID="ModeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller" Value="0" />
<Parameter ID="Mode" Location="DriveConfiguration/Channel[1]/RealAxis/Controller" Value="PositionControllerWithTorqueFeedForward" />
<Parameter ID="ProportionalGainIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="400" Description="Proportional amplification war 390" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="100" Description="Proportional amplification war 390" />
<Parameter ID="IntegrationTimeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0" />
<Parameter ID="IntegrationTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0.0" />
<Parameter ID="TotalDelayTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0.0004" />
<Parameter ID="TotalDelayTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0.0016" />
<Parameter ID="ProportionalGainIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="68.4" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="57" />
<Parameter ID="IntegrationTimeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0" />
<Parameter ID="IntegrationTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0.0" />
<Parameter ID="IntegrationTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0.04" />
<Parameter ID="FilterTimeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0" />
<Parameter ID="FilterTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0.0" />
<Parameter ID="FeedForwardIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode" Value="0" />
@@ -760,7 +780,7 @@
<Parameter ID="PositionError" Location="DriveConfiguration/Channel[1]/RealAxis/MovementErrorLimits" Value="1.0" />
<Parameter ID="VelocityErrorMonitoring" Location="DriveConfiguration/Channel[1]/RealAxis/MovementErrorLimits" Value="Automatic1" />
<Parameter ID="JerkFilter" Location="DriveConfiguration/Channel[1]/RealAxis" Value="Used" />
<Parameter ID="JerkTime" Location="DriveConfiguration/Channel[1]/RealAxis/JerkFilter" Value="0.25" />
<Parameter ID="JerkTime" Location="DriveConfiguration/Channel[1]/RealAxis/JerkFilter" Value="0.06" />
<Parameter ID="Source" Location="DriveConfiguration/Channel[1]/RealAxis/DigitalInputs/HomingSwitch" Value="NotUsed" />
<Parameter ID="Level" Location="DriveConfiguration/Channel[1]/RealAxis/DigitalInputs/HomingSwitch" Value="High" />
<Parameter ID="Source" Location="DriveConfiguration/Channel[1]/RealAxis/DigitalInputs/PositiveLimitSwitch" Value="NotUsed" />