Lenze ETC Motion Control - Manual (Page 37)

Getting started
Parameterising drives via machine constants
Overview of the most important machine constants
2
2.8
2.8.1
l
37 EDSTCXN EN 2.0
MC keyword No. of
values
Values Meaning
MK_CANDRIVES 12 −1, 0 ... 11 Assignment of the axis number 0 ... 11 to
the CAN node address in the order of the
CAN node address 1 ... 12
−1: No axis number is assigned to the
node address
0 ... 11: An axis number is assigned to the
node address
MK_APPLACHSIDX 18 −1, 0 ... 11 Assignment of the axis number 0 ... 11 to
the axis description in the order of the
axis description X ,Y, Z, C, U, V, W, A, B, u,
v, w, x, y, z, a, b, c
−1: No axis number is assigned to the axis
description
0 ... 11: An axis number is assigned to the
axis description
MK_ACHSENART 12 Assignment of the axis type to the axis
number in the order of the axis number 0
... 11
Bit 0 Axis type
xxxxxxx0 Linear axis
xxxxxxx1 Rotation axis
Bit 1 Limit switch
xxxxxx0x Observe HW limit switch
xxxxxx1x Ignore HW limit switch
Bit 3/2 Axis type
xxxx00xx Normal axis
xxxx01xx Spindle
xxxx10xx Measurement axis
xxxx11xx Spindle and measurement axis
Bit 5/4 Only for xxxxxxx1,
rotation axis
xx00xxxx Rotation axis with absolute
positioning
xx01xxxx Modulo 360° axis − sign indicates the
direction
xx11xxxx Modulo 360° axis − shortest distance
is travelled (ETCHC only)
Bit 6 Gantry axis
x0xxxxxx Normal axis
x1xxxxxx Gantry axis (synchronous axis with
mechanical coupling)
Bit 7 Handwheel
0xxxxxxx Normal axis
1xxxxxxx Handwheel
MC keyword No. of
values
Values Meaning
MK_CANOPEN_BAUDRATE 2 0,
10... 1000
1st parameter for CAN1
2nd parameter for CAN1
0: no device connected
>0: baud rate for CAN−Open in kB
MK_DELTAT 1 Rough interpolation cycle in [ms]
Hardware configuration
Software configuration