New Automation Technology

TwinCAT CNC Training

24.02.2015

TwinCAT CNC Training

Commissioning AX5000 - Overview

This is a step by step introduction to implementing an AX5000 drive into a
TwinCAT CNC application. This includes the following steps:
Scan of hardware configuration
Configuration of power supply
Configuration of motor and feedback system
Configuration of drive interface
Link (logical) CNC axis with hardware drive
Finally some useful CNC settings will be discussed.

24.02.2015

TwinCAT CNC Training

Commissioning AX5000 Hardware Scan I

By right clicking on the IO Devices tree entry a context menu will be opened. This
allows scanning all connected IO devices. The following hint will be confirmed by
clicking OK.

24.02.2015

TwinCAT CNC Training

Commissioning AX5000 Hardware Scan II

Now a dialog appears in which all fieldbus systems that have to be included into
the scan have to be selected. Please select EtherCAT here.

If there is no EtherCAT entry available in this dialog please make sure that all
devices are connected correctly and/or check installation of the TwinCAT Ethernet
protocol.

24.02.2015

TwinCAT CNC Training

Commissioning AX5000 Hardware Scan III

Now hardware scan will be started

TwinCAT version from Build 2201 on support additional scanning of connected

motors.

24.02.2015

TwinCAT CNC Training

Commissioning AX5000 Hardware Scan IV

The question if new NC axes should be added and linked to the drive must be
rejected by clicking No, because the axis will be linked manually to a CNC
configuration instead.

With this the hardware scan is finished.

2/24/2015

TwinCAT CNC Training

Commissioning AX5000 Hardware Scan V

In the system manager configuration the AX5000 appears under the
correspondent EtherCAT master. The Configuration tab contains the TwinCAT
Drive Manager which is the configuration tool for the AX5000.

24.02.2015

TwinCAT CNC Training

Commissioning AX5000 Power Supply

The Power Management section allows configuration of power supply and DC
link connection.

24.02.2015

TwinCAT CNC Training

Commissioning AX5000 Startup List

All the parameters that have been changed by the TwinCAT Drive Manager will
not be saved permanently. Modified values must be loaded with every system
start and therefore need to be included into the so called startup list. This can be
edited by clicking on the drive manager.

Accept the selected

parameter
Accept all changed
parameters

24.02.2015

TwinCAT CNC Training

Commissioning AX5000 Motor & Feedback I

The Motor and Feedback entry allows scanning the connected motor and
feedback system.

24.02.2015

10

TwinCAT CNC Training

Commissioning AX5000 Motor & Feedback II

The automatic detection of the correct motor and feedback type works with
Beckhoff motors only and requires a digital motor plate. Therefore motors with
analog feedback systems like resolvers need to be included manually.
This can be done by clicking on the motor symbol, whereby a selection dialog will
be opened.

24.02.2015

11

TwinCAT CNC Training

Commissioning AX5000 Path resolution

The path resolution of the measuring system has to be adjusted by the CNC since
the AX5000 has no option for this.
The AX5000 always provides (independent of physical measuring system) 220 =
(1.048.576) increments /motor revolution.
Numerator and denominator of the path resolution are represented by the axisspecific parameters getriebe[i].wegauf_z and getriebe[i]. wegauf_n.
getriebe[i].wegauf_z
getriebe[i].wegauf_n

1048576
10000

(increments/motor revolution)
(path /motor revolution)

24.02.2015

12

TwinCAT CNC Training

Commissioning AX5000 lag monitoring in CNC

Currently the AX5000 has no internal lag monitoring. Therefore the lag monitoring
of the CNC should be activated. This can be done means of the axis specific
parameter getriebe[i].slep_ueberw_typ .
If a lag-less operation mode is used (that means feed forward control is about
100%) this parameter should be set to 4. This enables the velocity independent
lag monitoring mode which activates only two further different limits: The
permissible lag at standstill and during movement.
The lag is calculated by the CNC on the basis of the command and actual values.
The parameter antr.nbr_delay_cyclesdefines the number of cycles between the
output of the command values and the read in of the actual values. Normally this
should be set to 3 in order to get realistic lag values.

getriebe[i].slep_ueberw_typ 4
(type of lag monitoring)
getriebe[i].slep_min
10000 (max. permissable lag at standstill)
getriebe[i].slep_max
20000 (max. permissable lag during movement)
antr.nbr_delay_cycles
3

24.02.2015

13

TwinCAT CNC Training

Commissioning AX5000 following distance from drive

To use the following distance value directly from the linked drive instead of
calculating it in the cnc core the following has to be included into process data:
SERCOS: S-0-0189
CANOpen: Object 0x60F4
In the axis parameter list the parameter
ant.use_drive_following_error

enables the using of the drive value.

Adding additional data to the drive telegram should be done after the drive has
been linked to the CNC axis. Otherwise the error 260090 will be raised during
start up. This error can be suppressed by means of the axis specific parameter
antr.ignore_unknown _telegram_elements.
antr.ignore_unknown_telegram_elements 1

(ignore unknown telegram elements)

2/24/2015

14

TwinCAT CNC Training

Commissioning AX5000 Homing

If an absolute path measurement system is used, the following parameter must
be set to TRUE. So no homing is necessary.
kenngr.abs_pos_gueltig
antr.abs_pos_offset

1
699870000

Homing for all non-absolute axes may be done by the homing method of encoder
overflow evaluation.
Here the overflow of the encoder position value is used as zero pulse
replacement. In this case the axis is homed as soon as an over- or underflow of
the encoder position is recognized.
This requires the following axis specific settings:
kenngr.homing_type
kenngr.homing_without_zero_pulse
kenngr.homing_overflow_evaluation
antr.encoder_bit_range

CNC_CONTROLLED
0
1
20

2/24/2015

15

TwinCAT CNC Training

Commissioning AX5000 Linking cnc axis to hardware

2/24/2015

16

TwinCAT CNC Training

Commissioning AX5000 Linking process data

The link of each variable is done
automaticly when linking a cnc axis to
physical axis.

2/24/2015

17