Table of Contents

IAxisKebaDriveD3ParameterDrive

Namespace
ZEquipmentCiA402
INTERFACE IAxisKebaDriveD3ParameterDrive

Properties

ChangeOnSetpoint 

PROPERTY ChangeOnSetpoint : BOOL

This property controls how two movement commands in profile position mode will be concatenated in the drives trajectory generator. Setting this property to TRUE leads to a smooth transition from the old target position trajectory to a new one. Setting this property to FALSE lets the drive stop at the old target position and after that it will be commanded to the new target position

Property Value

BOOL

ChangeSetImmediately 

PROPERTY ChangeSetImmediately : BOOL

This property defines wether an old positioning should be finished by the drive after it was interrupted by a halt or quick stop or if it should not be finished and a the new positioning should be started immediately

ChangeSetImmediately is used for profile position mode in Keba Drives

Property Value

BOOL

ChannelWithAxisOffset 

PROPERTY ChannelWithAxisOffset : ZCore.IParameterChannel

This property returns the specific parameter channel of the instantiated axis, whereas every parameter can be accessed like it would be the first axis. As this is special for Keba D3 Drives, the parameterchannel which gives access to the actual parameter (e.g. 60B1 for the first drive and 68B1 for the second one) can be accessed via Parameter.Plc.Channel

Property Value

IParameterChannel

HomeOffset 

PROPERTY HomeOffset : LREAL

If homing on a reference point is activated and the reference point is reached, the homeoffset can be used to modify the actual zero position away from the actual reference point. The HomeOffset will be added to the actual reference point

Property Value

LREAL

HomingAcceleration 

PROPERTY HomingAcceleration : LREAL

When homing is started, the axis will move with a desired speed (either HomingSpeedSwitch or HomingSpeedZero afterwards). The movement will also be done by calculating a desired hominge-movement trajectory based on boundary conditions like HomingAcceleration

Property Value

LREAL

HomingMaxDistance 

PROPERTY HomingMaxDistance : LREAL

If a homing movement is performed, the axis will start a movement until a reference point or some other condition is met. With HomingMaxDistance a maximum distance which the axis will move to find the reference point can be parametrized.

Property Value

LREAL

HomingMethod 

PROPERTY HomingMethod : AxisKebaDriveD3HomingMethod

Doing a homing will give the axis an absolute reference on where the axis actual stands and where its zero position is. There can be a lot of methods on how the axis can perform this homing and to choose one of those this property is used. Generally speaking there are two types of homing methods:

  • standardized homing methods: These methods are standardized by the CiA402 motion standard and should be equal between every drive and also different drive manufacturers
  • manufacturer specific methods: These methods are usually set by a value lower than zero and their usage can be found in the drives operating manual

Property Value

AxisKebaDriveD3HomingMethod

HomingSpeedSwitch 

PROPERTY HomingSpeedSwitch : LREAL

For homing methods where a reference impuls is in use, there are two different speed values for finding this impulse. The HomingSpeedSwitch is to find the impulse and drive over it. The HomingSpeedZero value is to go exactly onto the homing position (which must not be exactly on the reference impulse because there can be a HomeOffset defined).

Property Value

LREAL

HomingSpeedZero 

PROPERTY HomingSpeedZero : LREAL

For homing methods where a reference impuls is in use, there are two different speed values for finding this impulse. The HomingSpeedSwitch is to find the impulse and drive over it. The HomingSpeedZero value is to go exactly onto the homing position (which must not be exactly on the reference impulse because there can be a HomeOffset defined).

Property Value

LREAL

HomingTorqueScaling 

PROPERTY HomingTorqueScaling : LREAL

With HomingTorqueScaling a user can reduce the maximum allowed torque during homing operation. The value can be set between 0 and 100%.

Property Value

LREAL

StandStillWindow 

PROPERTY StandStillWindow : LREAL

Is used to observe if a certain speed was reached or if the axis is in standstill or not This parameter is set in user-units and depends on the set conversion-parameters set in AxisParameterPlc for example PositionNumerator and Denumerator.

As default, 1.0 is set to ensure a correct working UpdateMotionState in most cases.

Property Value

LREAL

Methods

SetHomingMethod 

METHOD SetHomingMethod (
 [input] useHomingMethod : AxisKebaDriveD3HomingMethod,
 [input] homePositionOffset : LREAL,
 [input] speedSwitch : LREAL,
 [input] speedZero : LREAL,
 [input] acceleration : LREAL,
 [input] maxDistance : LREAL)

This method can be used to set the homing parameter conviently through one call. It will only use the other properties for homing like:

  • HomingOffset: Setting an offset from the found reference position
  • HomingAcceleration: Adapting the acceleration during homing movement
  • HomingMaxDistance: Limits Maximum distance which can be moved during homing
  • HomingMethod: Chooses the Manufacturer specific or standardized homing methods for KebaDriveD3
  • HomingSpeedSwitch: Speed which is used to find the reference impulse
  • HomingSpeedZero: Speed which is used to move to the reference position
  • HomingTorqueScaling: Adapt the maximum torque which is allowed during homing movement

Inputs

useHomingMethod AxisKebaDriveD3HomingMethod

sets the homing method which is performed after calling HomingAsync

homePositionOffset LREAL

defines the position which is set as an offset to the zero position after homing was performed successfully

speedSwitch LREAL

defines the speed which is commanded when the axis is driving towards the limit switch or the reference impulse during homing

speedZero LREAL

defines the speed which is commanded when the axis is driving to the touch probe point/reference impulse of the encoder

acceleration LREAL

defines the commanded acceleration and deceleration during homing movement while using speedswitch and speedzero

maxDistance LREAL

sets the maximum distance which is allowed to move during homing to find the reference position