11/2010
SIMOTION
Technology Packages Configuration Data
List Manual
s
Preface, Contents
TP CamI
TP PathII
TP Cam_extIII
TP TControlIV
Siemens AGIndustry SectorPostfach 48 4890026 NürnbergGERMANY
Copyright © Siemens AG 2010.Technical data subject to change.
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are graded according to the degree of danger.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific task in accordance with the relevant documentation for the specific task, in particular its warning notices and safety instructions. Qualified personnel are those who, based on their training and experience, are capable of identifying risks and avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
Trademarks
All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication my be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this publication is reviewed regularly and any necessary corrections are included in subsequent editions.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.
CAUTION
without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.
NOTICE
indicates that an unintended result or situation can occur if the corresponding information is not taken into account.
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems. The permissible ambient conditions must be adhered to. The information in the relevant documentation must be observed.
Preface-3SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Preface
Scope and standards
This document is part of the SIMOTION Programming References documentation package.
Scope of validity
This manual is valid for SIMOTION SCOUT V4.2:
• SIMOTION SCOUT V4.2 (engineering system for the SIMOTION product family),
• SIMOTION Kernel from V3.0 to V4.2
• SIMOTION technology packages Cam, Cam_ext (Kernel V3.2 and later) and TControl in the version for the respective kernel (including technology packages Gear, Position and BasicMC up to Kernel V3.0).
Preface
Preface-4 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Sections in this manual
This manual describes the generally applicable Configuration Data of SIMOTION and technology objects.
• TP Cam
DriveAxis (Chapter 1)
ExternalEncoderType (Chapter 2)
PosAxis (Chapter 3)
MeasuringInputType (Chapter 4)
OutputCamType (Chapter 5)
CamTrackType (Chapter 6)
FollowingAxis (Chapter 7)
FollowingObjectType (Chapter 8)
CamType (Chapter 9)
• TP Path
Additionally, the Technology Package TP Path contains all Technology Objects (TO) of TP Cam.
PathObjectType (Chapter 10)
PathAxis (Chapter 11)
• TP Cam_ext
Additionally, the Technology Package TP Cam_ext contains all Technology Objects (TO) of TP Cam and TP Path.
AdditionObjectType (Chapter 12)
ControllerObjectType (Chapter 13)
FormulaObjectType (Chapter 14)
FixedGearType (Chapter 15)
SensorType (Chapter 16)
• TP TControl
TemperatureControllerType (Chapter 17)
Preface
Preface-5SIMOTION Technology Packages Configuration DataList Manual, 11/2010
SIMOTION Documentation
An overview of the SIMOTION documentation can be found in a separate list of references.
This documentation is included as electronic documentation in the scope of delivery of SIMOTION SCOUT. It comprises 10 documentation packages.
The following documentation packages are available for SIMOTION V4.2.
• SIMOTION Engineering System
• SIMOTION System and Function Descriptions
• SIMOTION Service and Diagnostics
• SIMOTION IT
• SIMOTION Programming
• SIMOTION Programming - References
• SIMOTION C
• SIMOTION P
• SIMOTION D
• SIMOTION Supplementary Documentation
Hotline and Internet addresses
Additional information
Click the following link to find information on the following topics:
• Ordering documentation/overview of documentation
• Additional links to download documents
• Using documentation online (find and search in manuals/information)
hhtp://www.siemens.com/motioncontrol/docu
My Documentation Manager
Click the following link for information on SITRAIN - Siemens training courses for automation products, systems and solutions:
http://www.siemens.com/sitrain
Training
Click the following link for information on SITRAIN - Siemens training courses for automation products, systems and solutions:
http://www.siemens.com/sitrain
Preface
Preface-6 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
FAQs
You can find Frequently Asked Questions on the Service&Support pages under
Product Support:
http://support.automation.siemens.com
Technical support
Country-specific telephone numbers for technical support are provided on the Internet under Contact:
http://www.siemens.com/automation/service&support
Contents-7SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Contents
Preface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Preface-3
Part I TP Cam
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-25
1 DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-35AbsEncoder - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-35ActualVelocityMonitoring - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-39AdaptDrive - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-40AdaptExtern - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-40AdaptLoad - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-41AdditionalSensorDriverInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-42AdditionalSensorMain - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-44AdditionalSensorNumber - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-45AnalogConversionDataType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-45AnalogSensorType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-46AssemblyBase - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-46ControllerDynamic - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-47ControllerStruct - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-48ConversionData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-49DataSetMain - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-50DecodingConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-51Drift - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-55DriveData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-56DriverInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-58DynamicData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-61EmergencyRampGenerator - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-62EncoderMain - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-63EncoderNumber - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-67ExecutionConfigInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-68Filter - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-69FineInterpolator - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-70ForceControlHeldValueMonitoring - DriveAxis . . . . . . . . . . . . . . . . . . . . . . 1-71ForceControlRunningInWindowMonitoring - DriveAxis . . . . . . . . . . . . . . . . 1-72ForceControllerData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-73ForceControllerDifference - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-75FrequencyLimit - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-75Friction - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-76Gear - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-77HWEndPos - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-78
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Contents-8 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
IncEncoder - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-80IntervalCounterConversionDataType - DriveAxis . . . . . . . . . . . . . . . . . . . . 1-81InversCountDirection - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-82InvertSetPoint - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-83InvertSetPointHydraulicType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . 1-83LinearMotorDriveData - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-84LinearStepMotorDriveDataType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . 1-86MaxAcceleration - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-87MaxForceCommandData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-88MaxJerk - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-88MaxVelocity - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-89NeutralBand - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-90NumberOfAdditionalSensors - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . 1-91NumberOfDataSets - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-92NumberOfEncoders - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-94OutputLimits - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-95PID_ControllerForce - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-96PID_ControllerPos - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-98ProcessModel - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-100Range - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-100RestartConditionInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-101RestartInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-102SensorControlConfig - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-103SensorSetActualValue - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-104SetPointDriverInfo - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-105SimulationInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-109SmoothingFilter - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-110StandStillSignal - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-111StepMotorDriveDataType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-112StepMotorMonitoringType - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-113StructAxisAdditionalOffset - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-114StructAxisDriveControlConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . 1-116StructAxisDriveSafetyExtendedFunctionsInfoDataIn - DriveAxis . . . . . . . 1-118StructAxisFilterForceControlConfig - DriveAxis. . . . . . . . . . . . . . . . . . . . . 1-119StructAxisInvertFOutput - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-120StructAxisInvertQOutput - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-120StructAxisNistDriverConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-121StructAxisOperatingDataInInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . 1-122StructAxisPulsesEnabledConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . 1-124StructAxisServoMonitoringConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . . . 1-124StructAxisSetpointFilter - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-125StructAxisSlidingFriction - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-126StructAxisSpeedLimitation - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-127StructAxisSystemDeadTimeData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . 1-127StructAxisTechnologicalData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . 1-128StructAxisTechnologicalDataInInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . 1-129StructAxisTechnologicalDataOutInfo - DriveAxis . . . . . . . . . . . . . . . . . . . 1-129StructControllerOutput - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-130StructDaxDynamicQFData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-131StructDirectOutputDriverInfo - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . 1-132StructDriveInterfaceDriverInfo - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . 1-133StructDriverInfoDirectIncremental - DriveAxis. . . . . . . . . . . . . . . . . . . . . . 1-136StructEnableBit - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-137
Contents
Contents-9SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPressureDifferenceMeasurement - DriveAxis . . . . . . . . . . . . . . . . . 1-138StructSensorDriverInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-140TypeOfAxisInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-142
2 ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-145AbsEncoder - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-145AbsHomingEncoder - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . 2-149ActualVelocityMonitoring - ExternalEncoderType . . . . . . . . . . . . . . . . . . . 2-150AdaptDrive - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-150AdaptExtern - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-151AdaptLoad - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-151AnalogConversionDataType - ExternalEncoderType . . . . . . . . . . . . . . . . 2-152AnalogSensorType - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . 2-153AssemblyBase - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . 2-154DecodingConfig - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . 2-154DistributedMotionInfo - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . 2-155DriverInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-156EncoderMain - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-159ExecutionConfigInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . 2-163ExtrapolationPositionFilterType - ExternalEncoderType. . . . . . . . . . . . . . 2-164Filter - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-165FrequencyLimit - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . 2-166Gear - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-166IncEncoder - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-167IncHomingEncoder - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . 2-168IntervalCounterConversionDataType - ExternalEncoderType . . . . . . . . . 2-171InversCountDirection - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . 2-172LeadScrewInfo - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . 2-172ModuloInfo - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-173PT2PositionFilterType - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . 2-174PathPerRevolution - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . 2-174PositionFilterType - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . 2-175Resolution - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-176RestartInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-177SensorControlConfig - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . 2-178SensorNist - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-178SensorSetActualValue - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . 2-179SmoothingFilter - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . 2-180StandStillSignal - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . 2-181StepMotorMonitoringType - ExternalEncoderType . . . . . . . . . . . . . . . . . . 2-182StructAxisActualValueUpdateCounter - ExternalEncoderType. . . . . . . . . 2-183StructAxisAnalogSensorErrorStateMonitoring - ExternalEncoderType. . . 2-185StructAxisAnalogSensorReadyStateMonitoring - ExternalEncoderType . . 2-186StructAxisDriveControlConfig - ExternalEncoderType . . . . . . . . . . . . . . . 2-187StructAxisDriveSafetyExtendedFunctionsInfoDataIn - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-189StructAxisNistDriverConfig - ExternalEncoderType . . . . . . . . . . . . . . . . . 2-189StructAxisOperatingDataInInfo - ExternalEncoderType . . . . . . . . . . . . . . 2-190StructAxisPulsesEnabledConfig - ExternalEncoderType . . . . . . . . . . . . . 2-192StructAxisSpeedLimitation - ExternalEncoderType. . . . . . . . . . . . . . . . . . 2-193StructAxisTechnologicalData - ExternalEncoderType. . . . . . . . . . . . . . . . 2-194StructAxisTechnologicalDataInInfo - ExternalEncoderType . . . . . . . . . . . 2-195StructAxisTechnologicalDataOutInfo - ExternalEncoderType. . . . . . . . . . 2-195
Contents
Contents-10 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructDriverInfoDirectIncremental - ExternalEncoderType . . . . . . . . . . . . 2-196StructExtrapolation - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . 2-197StructExtrapolationFilter - ExternalEncoderType . . . . . . . . . . . . . . . . . . . 2-198StructLogAddressIoBitType - ExternalEncoderType. . . . . . . . . . . . . . . . . 2-199StructSensorDriverInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . 2-200StructToleranceRange - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . 2-202TypeOfAxisInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . 2-203
3 PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-205AbsBackLash - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-205AbsEncoder - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-207AbsHomingEncoder - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-211ActualAccelerationMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . 3-212ActualVelocityMonitoring - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-213AdaptDrive - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-214AdaptExtern - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-214AdaptLoad - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-215AdditionalSensorDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-216AdditionalSensorMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-218AdditionalSensorNumber - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-219AnalogConversionDataType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-219AnalogSensorType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-220AssemblyBase - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-220ClampingMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-221ControllerDynamic - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-222ControllerStruct - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-223ControllerSwitchData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-223ConversionData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-224DataSetMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-225DecodingConfig - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-226DigitalInputMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-230DistributedMotionInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-231Drift - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-232DriveData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-233DriverInfo - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-235DynamicComp - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-238DynamicData - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-239DynamicFollowing - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-240EmergencyRampGenerator - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-242EncoderMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-243EncoderNumber - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-248ExecutionConfigInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-248ExtrapolationPositionFilterType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . 3-249Filter - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-250FineInterpolator - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-251ForceControlHeldValueMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . . . . 3-251ForceControlRunningInWindowMonitoring - PosAxis . . . . . . . . . . . . . . . . 3-252ForceControllerData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-253ForceControllerDifference - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-255FrequencyLimit - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-255Friction - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-256Gear - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-257HWEndPos - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-258
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Contents-11SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Homing - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-260IncBackLash - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-262IncEncoder - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-263IncHomingEncoder - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-264IntervalCounterConversionDataType - PosAxis . . . . . . . . . . . . . . . . . . . . 3-269InversCountDirection - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-270InvertSetPoint - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-270InvertSetPointHydraulicType - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . 3-271LeadScrewInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-271LinearMotorDriveData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-272LinearStepMotorDriveDataType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . 3-274MaxAcceleration - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-275MaxForceCommandData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-276MaxJerk - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-276MaxVelocity - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-277ModuloInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-277NeutralBand - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-278NumberOfAdditionalSensors - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . 3-279NumberOfDataSets - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-280NumberOfDigitalInputs - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-282NumberOfEncoders - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-283OutputLimits - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-284PD_Controller - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-284PID_ControllerForce - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-285PID_ControllerPos - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-287PT2PositionFilterType - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-289PV_Controller - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-290PathPerRevolution - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-292PathSyncAxisPosTolerance - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-292PositionFilterType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-293PositionMonitoring - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-294ProcessModel - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-295Range - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-296Resolution - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-296RestartConditionInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-297RestartInfo - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-298ReverseCamNegative - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-299ReverseCamPositive - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-300SensorControlConfig - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-301SensorNist - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-302SensorSetActualValue - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-303SetPointDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-304SimulationInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-308Slippage - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-308SmoothingFilter - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-309StandStillMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-310StandStillSignal - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-311StateDriveExternalZeroMark - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . 3-312StepMotorDriveDataType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-312StepMotorMonitoringType - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-313StructAxisActualValueUpdateCounter - PosAxis . . . . . . . . . . . . . . . . . . . 3-314StructAxisAdditionalOffset - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-316StructAxisAnalogSensorErrorStateMonitoring - PosAxis . . . . . . . . . . . . . 3-318
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Contents-12 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisAnalogSensorReadyStateMonitoring - PosAxis . . . . . . . . . . . . 3-319StructAxisDriveControlConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . 3-320StructAxisDriveSafetyExtendedFunctionsInfoDataIn - PosAxis . . . . . . . . 3-322StructAxisFilterForceControlConfig - PosAxis. . . . . . . . . . . . . . . . . . . . . . 3-323StructAxisInvertFOutput - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-324StructAxisInvertQOutput - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-324StructAxisNistDriverConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-325StructAxisOperatingDataInInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . 3-326StructAxisPulsesEnabledConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . 3-328StructAxisServoMonitoringConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . . . 3-328StructAxisSetpointFilter - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-329StructAxisSlidingFriction - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-330StructAxisSpeedLimitation - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-331StructAxisSwLimitConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-332StructAxisSystemDeadTimeData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . 3-333StructAxisTechnologicalData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . 3-334StructAxisTechnologicalDataInInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . 3-335StructAxisTechnologicalDataOutInfo - PosAxis . . . . . . . . . . . . . . . . . . . . 3-335StructCommandValueQuantization - PosAxis. . . . . . . . . . . . . . . . . . . . . . 3-336StructControllerOutput - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-337StructDirectOutputDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-338StructDriveInterfaceDriverInfo - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . 3-339StructDriverInfoDirectIncremental - PosAxis . . . . . . . . . . . . . . . . . . . . . . . 3-342StructEnableBit - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-343StructExtrapolation - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-344StructExtrapolationFilter - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-345StructLogAddressIoBitType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-346StructPaxDynamicQFData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-347StructPositionDifferenceMeasurement - PosAxis . . . . . . . . . . . . . . . . . . . 3-348StructPressureDifferenceMeasurement - PosAxis . . . . . . . . . . . . . . . . . . 3-349StructSensorDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-351StructToleranceRange - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-353TypeOfAxisInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-354VelocityPositionProfile - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-357
4 MeasuringInputType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-359DecodingConfigInfo - MeasuringInputType. . . . . . . . . . . . . . . . . . . . . . . . 4-359MipBaseCfgInfo - MeasuringInputType. . . . . . . . . . . . . . . . . . . . . . . . . . . 4-360MipInputCfgInfo - MeasuringInputType . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-361RestartInfo - MeasuringInputType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-362StructMeasuringInputLogAddress - MeasuringInputType . . . . . . . . . . . . . 4-363StructMeasuringInputTimeStampConfig - MeasuringInputType . . . . . . . . 4-363StructMeasuringRange - MeasuringInputType . . . . . . . . . . . . . . . . . . . . . 4-364
5 OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-365DecodingConfigInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-365LogAddressInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-366OcaBaseCfgInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-367OcaTypeInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-369RestartInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-370
6 CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-371DecodingConfigInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-371
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Contents-13SIMOTION Technology Packages Configuration DataList Manual, 11/2010
LogAddressInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-372OctBaseCfgInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-373OctTechnologicalCfgInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . 6-375OctTypeInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-375RestartInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-376
7 FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-377AbsBackLash - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-377AbsEncoder - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-379AbsHomingEncoder - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-383ActualAccelerationMonitoring - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . 7-384ActualVelocityMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . 7-385AdaptDrive - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-386AdaptExtern - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-386AdaptLoad - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-387AdditionalSensorDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . 7-388AdditionalSensorMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-390AdditionalSensorNumber - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . 7-391AnalogConversionDataType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . 7-391AnalogSensorType - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-392AssemblyBase - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-392ClampingMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-393ControllerDynamic - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-394ControllerStruct - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-395ControllerSwitchData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-395ConversionData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-396DataSetMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-397DecodingConfig - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-398DigitalInputMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-402DistributedMotionInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-403Drift - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-404DriveData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-405DriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-407DynamicComp - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-410DynamicData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-411DynamicFollowing - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-412EmergencyRampGenerator - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . 7-414EncoderMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-415EncoderNumber - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-420ExecutionConfigInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-420ExtrapolationPositionFilterType - FollowingAxis . . . . . . . . . . . . . . . . . . . . 7-421Filter - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-422FineInterpolator - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-423ForceControlHeldValueMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . 7-424ForceControlRunningInWindowMonitoring - FollowingAxis . . . . . . . . . . . 7-424ForceControllerData - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-425ForceControllerDifference - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . 7-427FrequencyLimit - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-427Friction - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-428Gear - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-429GearingPosTolerance - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-430HWEndPos - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-432Homing - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-434
Contents
Contents-14 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
IncBackLash - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-436IncEncoder - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-437IncHomingEncoder - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-438IntervalCounterConversionDataType - FollowingAxis. . . . . . . . . . . . . . . . 7-443InversCountDirection - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-444InvertSetPoint - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-444InvertSetPointHydraulicType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . 7-445LeadScrewInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-445LinearMotorDriveData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-446LinearStepMotorDriveDataType - FollowingAxis. . . . . . . . . . . . . . . . . . . . 7-448MaxAcceleration - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-449MaxForceCommandData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . 7-450MaxJerk - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-450MaxVelocity - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-451ModuloInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-452NeutralBand - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-453NumberOfAdditionalSensors - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . 7-454NumberOfDataSets - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-455NumberOfDigitalInputs - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . 7-457NumberOfEncoders - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-458OutputLimits - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-459PD_Controller - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-460PID_ControllerForce - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-461PID_ControllerPos - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-463PT2PositionFilterType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-465PV_Controller - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-466PathPerRevolution - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-468PathSyncAxisPosTolerance - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . 7-469PositionFilterType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-470PositionMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-471ProcessModel - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-472Range - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-472Resolution - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-473RestartConditionInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-473RestartInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-474ReverseCamNegative - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-475ReverseCamPositive - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-476SensorControlConfig - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-477SensorNist - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-477SensorSetActualValue - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-478SetPointDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-479SimulationInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-483Slippage - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-483SmoothingFilter - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-484StandStillMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-485StandStillSignal - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-486StateDriveExternalZeroMark - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . 7-487StepMotorDriveDataType - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . 7-488StepMotorMonitoringType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . 7-489StructAxisActualValueUpdateCounter - FollowingAxis . . . . . . . . . . . . . . . 7-490StructAxisAdditionalOffset - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . 7-492StructAxisAnalogSensorErrorStateMonitoring - FollowingAxis . . . . . . . . . 7-494StructAxisAnalogSensorReadyStateMonitoring - FollowingAxis. . . . . . . . 7-495
Contents
Contents-15SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisDriveControlConfig - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . 7-496StructAxisDriveSafetyExtendedFunctionsInfoDataIn - FollowingAxis . . . . 7-498StructAxisFilterForceControlConfig - FollowingAxis . . . . . . . . . . . . . . . . . 7-499StructAxisInvertFOutput - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . 7-500StructAxisInvertQOutput - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . 7-500StructAxisNistDriverConfig - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . 7-501StructAxisOperatingDataInInfo - FollowingAxis. . . . . . . . . . . . . . . . . . . . . 7-502StructAxisPulsesEnabledConfig - FollowingAxis. . . . . . . . . . . . . . . . . . . . 7-504StructAxisServoMonitoringConfig - FollowingAxis . . . . . . . . . . . . . . . . . . 7-504StructAxisSetpointFilter - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . 7-505StructAxisSlidingFriction - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . 7-506StructAxisSpeedLimitation - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . 7-507StructAxisSwLimitConfig - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . 7-508StructAxisSystemDeadTimeData - FollowingAxis. . . . . . . . . . . . . . . . . . . 7-509StructAxisTechnologicalData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . 7-509StructAxisTechnologicalDataInInfo - FollowingAxis . . . . . . . . . . . . . . . . . 7-510StructAxisTechnologicalDataOutInfo - FollowingAxis . . . . . . . . . . . . . . . . 7-510StructCommandValueQuantization - FollowingAxis . . . . . . . . . . . . . . . . . 7-511StructControllerOutput - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-512StructDirectOutputDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . 7-513StructDriveInterfaceDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . 7-514StructDriverInfoDirectIncremental - FollowingAxis . . . . . . . . . . . . . . . . . . 7-517StructEnableBit - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-518StructExtrapolation - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-519StructExtrapolationFilter - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . 7-520StructLogAddressIoBitType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . 7-521StructPaxDynamicQFData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . 7-522StructPositionDifferenceMeasurement - FollowingAxis. . . . . . . . . . . . . . . 7-523StructPressureDifferenceMeasurement - FollowingAxis . . . . . . . . . . . . . . 7-524StructSensorDriverInfo - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . 7-526StructToleranceRange - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-528TypeOfAxisInfo - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-529VelocityPositionProfile - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-532
8 FollowingObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-533DecodingConfigInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . . . . 8-533DistributedMotionInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . . . 8-534ExecutionConfigInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . . . . 8-534RestartInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-535SyncingMotionInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . . . . . 8-536
9 CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-539DecodingConfigInfo - CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-539InverseCamRepresentationInfo - CamType . . . . . . . . . . . . . . . . . . . . . . . 9-540RestartInfo - CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-541StructCamInterpolationSettings - CamType . . . . . . . . . . . . . . . . . . . . . . . 9-542ToleranceInfo - CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-543
Contents
Contents-16 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Part II TP Path
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . II-547
10 PathObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-551ExecutionConfigInfo - PathObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . 10-551RestartInfo - PathObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-552StructPathArticulatedArm2DConfig - PathObjectType . . . . . . . . . . . . . . 10-553StructPathArticulatedArm2DLinkCompensationConfig - PathObjectType 10-555StructPathArticulatedArmKinematicsConfig - PathObjectType . . . . . . . . 10-556StructPathArticulatedArmLinkCompensationConfig - PathObjectType. . 10-558StructPathCartesianKinematicsConfig - PathObjectType . . . . . . . . . . . . 10-559StructPathDecodingConfigInfo - PathObjectType . . . . . . . . . . . . . . . . . . 10-560StructPathDelta2DKinematicsConfig - PathObjectType . . . . . . . . . . . . . 10-561StructPathDelta3DKinematicsConfig - PathObjectType . . . . . . . . . . . . . 10-563StructPathInterpolationConfigInfo - PathObjectType . . . . . . . . . . . . . . . 10-565StructPathKinematicsConfig - PathObjectType. . . . . . . . . . . . . . . . . . . . 10-566StructPathKinematicsOffsetConfig - PathObjectType . . . . . . . . . . . . . . . 10-567StructPathPickerKinematicsConfig - PathObjectType. . . . . . . . . . . . . . . 10-568StructPathRotaryArmKinematicsConfig - PathObjectType . . . . . . . . . . . 10-569StructPathRotaryArmLinkCompensationA2 - PathObjectType . . . . . . . . 10-570StructPathRotaryArmLinkCompensationA4 - PathObjectType . . . . . . . . 10-571StructPathScaraKinematicsConfig - PathObjectType . . . . . . . . . . . . . . . 10-572StructPathScaraLinkCompensationA2 - PathObjectType . . . . . . . . . . . . 10-573StructPathScaraLinkCompensationA3 - PathObjectType . . . . . . . . . . . . 10-574StructPathScaraLinkCompensationA4 - PathObjectType . . . . . . . . . . . . 10-575StructPathSpecificKinematicsConfig - PathObjectType . . . . . . . . . . . . . 10-576
11 PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-577AbsBackLash - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-577AbsEncoder - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-579AbsHomingEncoder - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-583ActualAccelerationMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . 11-584ActualVelocityMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-585AdaptDrive - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-586AdaptExtern - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-586AdaptLoad - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-587AdditionalSensorDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . 11-588AdditionalSensorMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-590AdditionalSensorNumber - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-591AnalogConversionDataType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . 11-591AnalogSensorType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-592AssemblyBase - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-592ClampingMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-593ControllerDynamic - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-594ControllerStruct - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-595ControllerSwitchData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-595ConversionData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-596DataSetMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-597DecodingConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-598DigitalInputMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-602DistributedMotionInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-603
Contents
Contents-17SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Drift - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-604DriveData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-605DriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-607DynamicComp - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-610DynamicData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-611DynamicFollowing - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-612EmergencyRampGenerator - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . 11-614EncoderMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-615EncoderNumber - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-620ExecutionConfigInfo - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-620ExtrapolationPositionFilterType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . 11-621Filter - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-622FineInterpolator - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-623ForceControlHeldValueMonitoring - PathAxis. . . . . . . . . . . . . . . . . . . . . 11-624ForceControlRunningInWindowMonitoring - PathAxis . . . . . . . . . . . . . . 11-624ForceControllerData - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-625ForceControllerDifference - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-627FrequencyLimit - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-627Friction - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-628Gear - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-629GearingPosTolerance - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-630HWEndPos - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-632Homing - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-634IncBackLash - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-636IncEncoder - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-637IncHomingEncoder - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-638IntervalCounterConversionDataType - PathAxis. . . . . . . . . . . . . . . . . . . 11-643InversCountDirection - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-644InvertSetPoint - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-644InvertSetPointHydraulicType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . 11-645LeadScrewInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-645LinearMotorDriveData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-646LinearStepMotorDriveDataType - PathAxis . . . . . . . . . . . . . . . . . . . . . . 11-648MaxAcceleration - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-649MaxForceCommandData - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-650MaxJerk - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-650MaxVelocity - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-651ModuloInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-652NeutralBand - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-653NumberOfAdditionalSensors - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . 11-654NumberOfDataSets - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-655NumberOfDigitalInputs - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-657NumberOfEncoders - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-658OutputLimits - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-659PD_Controller - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-660PID_ControllerForce - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-661PID_ControllerPos - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-663PT2PositionFilterType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-665PV_Controller - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-666PathAxisPosTolerance - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-668PathPerRevolution - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-668PathSyncAxisPosTolerance - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . 11-669PositionFilterType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-670
Contents
Contents-18 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PositionMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-671ProcessModel - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-672Range - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-672Resolution - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-673RestartConditionInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-673RestartInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-674ReverseCamNegative - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-675ReverseCamPositive - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-676SensorControlConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-677SensorNist - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-677SensorSetActualValue - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-678SetPointDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-679SimulationInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-683Slippage - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-683SmoothingFilter - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-684StandStillMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-685StandStillSignal - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-686StateDriveExternalZeroMark - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . 11-687StepMotorDriveDataType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-688StepMotorMonitoringType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-689StructAxisActualValueUpdateCounter - PathAxis . . . . . . . . . . . . . . . . . . 11-690StructAxisAdditionalOffset - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-692StructAxisAnalogSensorErrorStateMonitoring - PathAxis . . . . . . . . . . . . 11-694StructAxisAnalogSensorReadyStateMonitoring - PathAxis. . . . . . . . . . . 11-695StructAxisDriveControlConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . 11-696StructAxisDriveSafetyExtendedFunctionsInfoDataIn - PathAxis. . . . . . . 11-698StructAxisFilterForceControlConfig - PathAxis . . . . . . . . . . . . . . . . . . . . 11-699StructAxisInvertFOutput - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-700StructAxisInvertQOutput - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-700StructAxisNistDriverConfig - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . 11-701StructAxisOperatingDataInInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . 11-702StructAxisPulsesEnabledConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . 11-704StructAxisServoMonitoringConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . 11-704StructAxisSetpointFilter - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-705StructAxisSlidingFriction - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-706StructAxisSpeedLimitation - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-707StructAxisSwLimitConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-708StructAxisSystemDeadTimeData - PathAxis. . . . . . . . . . . . . . . . . . . . . . 11-709StructAxisTechnologicalData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . 11-710StructAxisTechnologicalDataInInfo - PathAxis . . . . . . . . . . . . . . . . . . . . 11-711StructAxisTechnologicalDataOutInfo - PathAxis . . . . . . . . . . . . . . . . . . . 11-711StructCommandValueQuantization - PathAxis . . . . . . . . . . . . . . . . . . . . 11-712StructControllerOutput - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-713StructDirectOutputDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . 11-714StructDriveInterfaceDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . 11-715StructDriverInfoDirectIncremental - PathAxis . . . . . . . . . . . . . . . . . . . . . 11-718StructEnableBit - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-719StructExtrapolation - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-720StructExtrapolationFilter - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-721StructLogAddressIoBitType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . 11-722StructPaxDynamicQFData - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . 11-723StructPositionDifferenceMeasurement - PathAxis . . . . . . . . . . . . . . . . . 11-724StructPressureDifferenceMeasurement - PathAxis. . . . . . . . . . . . . . . . . 11-725
Contents
Contents-19SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructSensorDriverInfo - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-727StructToleranceRange - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-729TypeOfAxisInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-730VelocityPositionProfile - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-733
Part III TP Cam_ext
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . III-737
12 AdditionObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-741ExecutionConfigInfo - AdditionObjectType . . . . . . . . . . . . . . . . . . . . . . . 12-741ModuloInfo - AdditionObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-742RestartInfo - AdditionObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-743StructAdderDecodingConfigType - AdditionObjectType . . . . . . . . . . . . . 12-744StructBaseConfigType - AdditionObjectType . . . . . . . . . . . . . . . . . . . . . 12-744StructMotionInMainType - AdditionObjectType. . . . . . . . . . . . . . . . . . . . 12-745StructMotionInType - AdditionObjectType. . . . . . . . . . . . . . . . . . . . . . . . 12-745StructMotionOutType - AdditionObjectType . . . . . . . . . . . . . . . . . . . . . . 12-746
13 ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-747DecodingConfigInfo - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . 13-747ExecutionConfigInfo - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . 13-748Filter - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-749PT2PositionFilterType - ControllerObjectType . . . . . . . . . . . . . . . . . . . . 13-750RestartInfo - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-751SmoothingFilter - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . 13-752StructCompactControllerControllerType - ControllerObjectType . . . . . . 13-753StructCompactControllerPreControl - ControllerObjectType. . . . . . . . . . 13-753StructControlObjectControlDeviationThreshold - ControllerObjectType . 13-754StructControllerObjectControlDeviationMonitoring - ControllerObjectType13-754StructControllerObjectInputInterface - ControllerObjectType . . . . . . . . . 13-755StructControllerObjectOutputDerivativeLimitingConfig - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-756StructControllerObjectOutputInterface - ControllerObjectType . . . . . . . . 13-757StructControllerObjectOutputLimitConfig - ControllerObjectType . . . . . . 13-758StructControllerObjectPIDContollerDConfig - ControllerObjectType . . . 13-758StructControllerObjectPIDContollerIConfig - ControllerObjectType . . . . 13-759StructControllerObjectPIDContollerIConfigILimit - ControllerObjectType . 13-759StructControllerObjectPIDContollerLimitAntiWindup - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-760StructControllerObjectPIDControllerConfig - ControllerObjectType . . . . 13-760
14 FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-761DecodingConfigInfo - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . . 14-761ExecutionConfigInfo - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . . 14-762RestartInfo - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-763StructDINTInMainType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . 14-764StructDINTInType - FormulaObjectType. . . . . . . . . . . . . . . . . . . . . . . . . 14-764StructDINTOutMainType - FormulaObjectType . . . . . . . . . . . . . . . . . . . 14-765StructDINTOutType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . . 14-765
Contents
Contents-20 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructFormulaObjectMotionOutConfig - FormulaObjectType . . . . . . . . . 14-766StructLREALInMainType - FormulaObjectType . . . . . . . . . . . . . . . . . . . 14-766StructLREALInType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . . 14-767StructLREALOutMainType - FormulaObjectType . . . . . . . . . . . . . . . . . . 14-767StructLREALOutType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . 14-768StructMotionInMainType - FormulaObjectType. . . . . . . . . . . . . . . . . . . . 14-768StructMotionInType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . . 14-769StructMotionOutMainType - FormulaObjectType . . . . . . . . . . . . . . . . . . 14-769
15 FixedGearType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-771DecodingConfigInfo - FixedGearType. . . . . . . . . . . . . . . . . . . . . . . . . . . 15-771ExecutionConfigInfo - FixedGearType . . . . . . . . . . . . . . . . . . . . . . . . . . 15-772ModuloInfo - FixedGearType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-773RestartInfo - FixedGearType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-774StructBaseConfigType - FixedGearType . . . . . . . . . . . . . . . . . . . . . . . . 15-775StructMotionInMainType - FixedGearType . . . . . . . . . . . . . . . . . . . . . . . 15-775StructMotionInType - FixedGearType . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-776StructMotionOutType - FixedGearType . . . . . . . . . . . . . . . . . . . . . . . . . 15-776
16 SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-777AbsEncoder - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-777AdditionalSensorDriverInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . 16-781AnalogConversionDataType - SensorType. . . . . . . . . . . . . . . . . . . . . . . 16-783AnalogSensorType - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-784ConversionData - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-785ConversionDataAdaptType - SensorType. . . . . . . . . . . . . . . . . . . . . . . . 16-786DecodingConfigInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-786DriverInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-787ExecutionConfigInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-790Filter - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-791FrequencyLimit - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-791IncEncoder - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-792IntervalCounterConversionDataType - SensorType . . . . . . . . . . . . . . . . 16-793InversCountDirection - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-794LeadScrewInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-794ModuloInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-795PathPerRevolution - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-795PositionFilterType - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-796Resolution - SensorType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-797RestartInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-798SensorControlConfig - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-799Slippage - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-799StandStillSignal - SensorType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-800StructAxisActualValueUpdateCounter - SensorType . . . . . . . . . . . . . . . 16-801StructAxisAnalogSensorErrorStateMonitoring - SensorType . . . . . . . . . 16-803StructAxisAnalogSensorReadyStateMonitoring - SensorType . . . . . . . . 16-804StructAxisDriveControlConfig - SensorType . . . . . . . . . . . . . . . . . . . . . . 16-805StructAxisDriveSafetyExtendedFunctionsInfoDataIn - SensorType . . . . 16-807StructAxisNistDriverConfig - SensorType . . . . . . . . . . . . . . . . . . . . . . . . 16-807StructAxisOperatingDataInInfo - SensorType . . . . . . . . . . . . . . . . . . . . . 16-808StructAxisPulsesEnabledConfig - SensorType . . . . . . . . . . . . . . . . . . . . 16-810StructAxisSpeedLimitation - SensorType . . . . . . . . . . . . . . . . . . . . . . . . 16-811StructAxisTechnologicalData - SensorType . . . . . . . . . . . . . . . . . . . . . . 16-812
Contents
Contents-21SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisTechnologicalDataInInfo - SensorType. . . . . . . . . . . . . . . . . . 16-812StructAxisTechnologicalDataOutInfo - SensorType . . . . . . . . . . . . . . . . 16-813StructDriverInfoDirectIncremental - SensorType. . . . . . . . . . . . . . . . . . . 16-813StructExtrapolation - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-814StructExtrapolationFilter - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . 16-815StructInSensorMain - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-816StructInputObjectRange - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . 16-816StructLogAddressIoBitType - SensorType . . . . . . . . . . . . . . . . . . . . . . . 16-817StructSensorDriverInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-818StructSensorExtrapolation - SensorType . . . . . . . . . . . . . . . . . . . . . . . . 16-820StructSensorGeneralParameter - SensorType . . . . . . . . . . . . . . . . . . . . 16-820StructToleranceRange - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-821
Part IV TP TControl
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IV-825
17 TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-827StructTControllerCfgActualIdentificationType - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-827StructTControllerCfgAnalogDevice - TemperatureControllerType . . . . . 17-828StructTControllerCfgBinaryDevice - TemperatureControllerType . . . . . . 17-828StructTControllerCfgConfigUpdate - TemperatureControllerType . . . . . 17-829StructTControllerCfgControlRangeParameter - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-829StructTControllerCfgControlledSystemParameter - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-830StructTControllerCfgController - TemperatureControllerType. . . . . . . . . 17-830StructTControllerCfgCycleParameter - TemperatureControllerType . . . 17-831StructTControllerCfgDPIDController - TemperatureControllerType . . . . 17-831StructTControllerCfgDPIDParameter - TemperatureControllerType. . . . 17-832StructTControllerCfgDataConversionOutput - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-834StructTControllerCfgExecutionParameter - TemperatureControllerType . 17-835StructTControllerCfgGeneralParameter - TemperatureControllerType. . 17-837StructTControllerCfgHTempController - TemperatureControllerType. . . 17-838StructTControllerCfgIdentificationMinimumStepSize - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-838StructTControllerCfgIdentificationModifiedTangentMethod - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-839StructTControllerCfgIdentificationOutputValue - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-839StructTControllerCfgIdentificationStandardType - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-840StructTControllerCfgIdentificationStaticCondition - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-841StructTControllerCfgIdentificationTransitionMode - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-841StructTControllerCfgInput - TemperatureControllerType . . . . . . . . . . . . 17-842StructTControllerCfgInputAnalog - TemperatureControllerType . . . . . . . 17-842
Contents
Contents-22 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgInputDisplayValueParameter - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-843StructTControllerCfgInputFilterParameter - TemperatureControllerType . 17-843StructTControllerCfgInputGradientCheckParameter - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-844StructTControllerCfgInputLimitCheckParameter - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-844StructTControllerCfgInputSingleLimitCheckParameter - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-845StructTControllerCfgLimits - TemperatureControllerType. . . . . . . . . . . . 17-846StructTControllerCfgLimitsControllerParameter - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-847StructTControllerCfgLimitsGeneralParameter - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-849StructTControllerCfgLimitsProcessParameter - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-850StructTControllerCfgOutput - TemperatureControllerType . . . . . . . . . . . 17-852StructTControllerCfgOutputAnalog - TemperatureControllerType . . . . . 17-852StructTControllerCfgOutputPwm - TemperatureControllerType . . . . . . . 17-853StructTControllerCfgOutputSingleOutput - TemperatureControllerType . 17-853StructTControllerCfgParameterMatlab - TemperatureControllerType. . . 17-854StructTControllerCfgParameterNetwork1 - TemperatureControllerType . 17-855StructTControllerCfgParameterPT4Tt - TemperatureControllerType . . . 17-857StructTControllerCfgPlausibilityParameter - TemperatureControllerType 17-858StructTControllerCfgProcessMode - TemperatureControllerType . . . . . 17-860StructTControllerCfgPwmParameter - TemperatureControllerType . . . . 17-861StructTControllerCfgSetpointHandling - TemperatureControllerType. . . 17-861StructTControllerCfgSetpointSmoothing - TemperatureControllerType . 17-862StructTControllerCfgSetpointStartupProfile - TemperatureControllerType 17-863StructTControllerCfgSimulation - TemperatureControllerType . . . . . . . . 17-864StructTControllerCfgSimulationControlledSystemParameter - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-865StructTControllerCfgSimulationParameter - TemperatureControllerType. 17-866StructTControllerCfgSimulationSystemNetwork1 - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-867StructTControllerCfgSimulationSystemPT4Tt - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-868StructTControllerConversionConverterRange - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-869StructTControllerConversionLinear - TemperatureControllerType . . . . . 17-870StructTControllerConversionTemperatureRange - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-870StructTControllerConversionVector - TemperatureControllerType . . . . . 17-871StructTControllerDataConversionConfig - TemperatureControllerType . 17-872StructTcontrollerCfgIdentification - TemperatureControllerType. . . . . . . 17-872
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I-23SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Part ITP Cam
I-24 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Contents-25SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Contents
Part I TP Cam
1 DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-35AbsEncoder - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-35ActualVelocityMonitoring - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-39AdaptDrive - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-40AdaptExtern - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-40AdaptLoad - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-41AdditionalSensorDriverInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-42AdditionalSensorMain - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-44AdditionalSensorNumber - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-45AnalogConversionDataType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-45AnalogSensorType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-46AssemblyBase - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-46ControllerDynamic - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-47ControllerStruct - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-48ConversionData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-49DataSetMain - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-50DecodingConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-51Drift - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-55DriveData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-56DriverInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-58DynamicData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-61EmergencyRampGenerator - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-62EncoderMain - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-63EncoderNumber - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-67ExecutionConfigInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-68Filter - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-69FineInterpolator - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-70ForceControlHeldValueMonitoring - DriveAxis . . . . . . . . . . . . . . . . . . . . . . 1-71ForceControlRunningInWindowMonitoring - DriveAxis . . . . . . . . . . . . . . . . 1-72ForceControllerData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-73ForceControllerDifference - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-75FrequencyLimit - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-75Friction - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-76Gear - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-77HWEndPos - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-78IncEncoder - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-80IntervalCounterConversionDataType - DriveAxis . . . . . . . . . . . . . . . . . . . . 1-81InversCountDirection - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-82InvertSetPoint - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-83InvertSetPointHydraulicType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . 1-83LinearMotorDriveData - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-84
Contents
Contents-26 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
LinearStepMotorDriveDataType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . 1-86MaxAcceleration - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-87MaxForceCommandData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-88MaxJerk - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-88MaxVelocity - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-89NeutralBand - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-90NumberOfAdditionalSensors - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . 1-91NumberOfDataSets - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-92NumberOfEncoders - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-94OutputLimits - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-95PID_ControllerForce - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-96PID_ControllerPos - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-98ProcessModel - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-100Range - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-100RestartConditionInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-101RestartInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-102SensorControlConfig - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-103SensorSetActualValue - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-104SetPointDriverInfo - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-105SimulationInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-109SmoothingFilter - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-110StandStillSignal - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-111StepMotorDriveDataType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-112StepMotorMonitoringType - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-113StructAxisAdditionalOffset - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-114StructAxisDriveControlConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . 1-116StructAxisDriveSafetyExtendedFunctionsInfoDataIn - DriveAxis . . . . . . . 1-118StructAxisFilterForceControlConfig - DriveAxis. . . . . . . . . . . . . . . . . . . . . 1-119StructAxisInvertFOutput - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-120StructAxisInvertQOutput - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-120StructAxisNistDriverConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-121StructAxisOperatingDataInInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . 1-122StructAxisPulsesEnabledConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . 1-124StructAxisServoMonitoringConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . . . 1-124StructAxisSetpointFilter - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-125StructAxisSlidingFriction - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-126StructAxisSpeedLimitation - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-127StructAxisSystemDeadTimeData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . 1-127StructAxisTechnologicalData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . 1-128StructAxisTechnologicalDataInInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . 1-129StructAxisTechnologicalDataOutInfo - DriveAxis . . . . . . . . . . . . . . . . . . . 1-129StructControllerOutput - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-130StructDaxDynamicQFData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-131StructDirectOutputDriverInfo - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . 1-132StructDriveInterfaceDriverInfo - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . 1-133StructDriverInfoDirectIncremental - DriveAxis. . . . . . . . . . . . . . . . . . . . . . 1-136StructEnableBit - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-137StructPressureDifferenceMeasurement - DriveAxis . . . . . . . . . . . . . . . . . 1-138StructSensorDriverInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-140TypeOfAxisInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-142
2 ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-145AbsEncoder - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-145
Contents
Contents-27SIMOTION Technology Packages Configuration DataList Manual, 11/2010
AbsHomingEncoder - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . 2-149ActualVelocityMonitoring - ExternalEncoderType . . . . . . . . . . . . . . . . . . . 2-150AdaptDrive - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-150AdaptExtern - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-151AdaptLoad - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-151AnalogConversionDataType - ExternalEncoderType . . . . . . . . . . . . . . . . 2-152AnalogSensorType - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . 2-153AssemblyBase - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . 2-154DecodingConfig - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . 2-154DistributedMotionInfo - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . 2-155DriverInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-156EncoderMain - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-159ExecutionConfigInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . 2-163ExtrapolationPositionFilterType - ExternalEncoderType. . . . . . . . . . . . . . 2-164Filter - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-165FrequencyLimit - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . 2-166Gear - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-166IncEncoder - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-167IncHomingEncoder - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . 2-168IntervalCounterConversionDataType - ExternalEncoderType . . . . . . . . . 2-171InversCountDirection - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . 2-172LeadScrewInfo - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . 2-172ModuloInfo - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-173PT2PositionFilterType - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . 2-174PathPerRevolution - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . 2-174PositionFilterType - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . 2-175Resolution - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-176RestartInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-177SensorControlConfig - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . 2-178SensorNist - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-178SensorSetActualValue - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . 2-179SmoothingFilter - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . 2-180StandStillSignal - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . 2-181StepMotorMonitoringType - ExternalEncoderType . . . . . . . . . . . . . . . . . . 2-182StructAxisActualValueUpdateCounter - ExternalEncoderType. . . . . . . . . 2-183StructAxisAnalogSensorErrorStateMonitoring - ExternalEncoderType. . . 2-185StructAxisAnalogSensorReadyStateMonitoring - ExternalEncoderType . . 2-186StructAxisDriveControlConfig - ExternalEncoderType . . . . . . . . . . . . . . . 2-187StructAxisDriveSafetyExtendedFunctionsInfoDataIn - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-189StructAxisNistDriverConfig - ExternalEncoderType . . . . . . . . . . . . . . . . . 2-189StructAxisOperatingDataInInfo - ExternalEncoderType . . . . . . . . . . . . . . 2-190StructAxisPulsesEnabledConfig - ExternalEncoderType . . . . . . . . . . . . . 2-192StructAxisSpeedLimitation - ExternalEncoderType. . . . . . . . . . . . . . . . . . 2-193StructAxisTechnologicalData - ExternalEncoderType. . . . . . . . . . . . . . . . 2-194StructAxisTechnologicalDataInInfo - ExternalEncoderType . . . . . . . . . . . 2-195StructAxisTechnologicalDataOutInfo - ExternalEncoderType. . . . . . . . . . 2-195StructDriverInfoDirectIncremental - ExternalEncoderType . . . . . . . . . . . . 2-196StructExtrapolation - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . 2-197StructExtrapolationFilter - ExternalEncoderType . . . . . . . . . . . . . . . . . . . 2-198StructLogAddressIoBitType - ExternalEncoderType. . . . . . . . . . . . . . . . . 2-199StructSensorDriverInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . 2-200StructToleranceRange - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . 2-202
Contents
Contents-28 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
TypeOfAxisInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . 2-203
3 PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-205AbsBackLash - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-205AbsEncoder - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-207AbsHomingEncoder - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-211ActualAccelerationMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . 3-212ActualVelocityMonitoring - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-213AdaptDrive - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-214AdaptExtern - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-214AdaptLoad - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-215AdditionalSensorDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-216AdditionalSensorMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-218AdditionalSensorNumber - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-219AnalogConversionDataType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-219AnalogSensorType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-220AssemblyBase - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-220ClampingMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-221ControllerDynamic - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-222ControllerStruct - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-223ControllerSwitchData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-223ConversionData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-224DataSetMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-225DecodingConfig - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-226DigitalInputMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-230DistributedMotionInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-231Drift - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-232DriveData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-233DriverInfo - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-235DynamicComp - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-238DynamicData - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-239DynamicFollowing - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-240EmergencyRampGenerator - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-242EncoderMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-243EncoderNumber - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-248ExecutionConfigInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-248ExtrapolationPositionFilterType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . 3-249Filter - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-250FineInterpolator - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-251ForceControlHeldValueMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . . . . 3-251ForceControlRunningInWindowMonitoring - PosAxis . . . . . . . . . . . . . . . . 3-252ForceControllerData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-253ForceControllerDifference - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-255FrequencyLimit - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-255Friction - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-256Gear - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-257HWEndPos - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-258Homing - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-260IncBackLash - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-262IncEncoder - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-263IncHomingEncoder - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-264IntervalCounterConversionDataType - PosAxis . . . . . . . . . . . . . . . . . . . . 3-269InversCountDirection - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-270
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Contents-29SIMOTION Technology Packages Configuration DataList Manual, 11/2010
InvertSetPoint - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-270InvertSetPointHydraulicType - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . 3-271LeadScrewInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-271LinearMotorDriveData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-272LinearStepMotorDriveDataType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . 3-274MaxAcceleration - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-275MaxForceCommandData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-276MaxJerk - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-276MaxVelocity - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-277ModuloInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-277NeutralBand - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-278NumberOfAdditionalSensors - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . 3-279NumberOfDataSets - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-280NumberOfDigitalInputs - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-282NumberOfEncoders - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-283OutputLimits - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-284PD_Controller - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-284PID_ControllerForce - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-285PID_ControllerPos - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-287PT2PositionFilterType - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-289PV_Controller - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-290PathPerRevolution - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-292PathSyncAxisPosTolerance - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-292PositionFilterType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-293PositionMonitoring - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-294ProcessModel - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-295Range - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-296Resolution - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-296RestartConditionInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-297RestartInfo - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-298ReverseCamNegative - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-299ReverseCamPositive - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-300SensorControlConfig - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-301SensorNist - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-302SensorSetActualValue - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-303SetPointDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-304SimulationInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-308Slippage - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-308SmoothingFilter - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-309StandStillMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-310StandStillSignal - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-311StateDriveExternalZeroMark - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . 3-312StepMotorDriveDataType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-312StepMotorMonitoringType - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-313StructAxisActualValueUpdateCounter - PosAxis . . . . . . . . . . . . . . . . . . . 3-314StructAxisAdditionalOffset - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-316StructAxisAnalogSensorErrorStateMonitoring - PosAxis . . . . . . . . . . . . . 3-318StructAxisAnalogSensorReadyStateMonitoring - PosAxis . . . . . . . . . . . . 3-319StructAxisDriveControlConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . 3-320StructAxisDriveSafetyExtendedFunctionsInfoDataIn - PosAxis . . . . . . . . 3-322StructAxisFilterForceControlConfig - PosAxis. . . . . . . . . . . . . . . . . . . . . . 3-323StructAxisInvertFOutput - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-324StructAxisInvertQOutput - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-324
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Contents-30 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisNistDriverConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-325StructAxisOperatingDataInInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . 3-326StructAxisPulsesEnabledConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . 3-328StructAxisServoMonitoringConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . . . 3-328StructAxisSetpointFilter - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-329StructAxisSlidingFriction - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-330StructAxisSpeedLimitation - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-331StructAxisSwLimitConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-332StructAxisSystemDeadTimeData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . 3-333StructAxisTechnologicalData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . 3-334StructAxisTechnologicalDataInInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . 3-335StructAxisTechnologicalDataOutInfo - PosAxis . . . . . . . . . . . . . . . . . . . . 3-335StructCommandValueQuantization - PosAxis. . . . . . . . . . . . . . . . . . . . . . 3-336StructControllerOutput - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-337StructDirectOutputDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-338StructDriveInterfaceDriverInfo - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . 3-339StructDriverInfoDirectIncremental - PosAxis . . . . . . . . . . . . . . . . . . . . . . . 3-342StructEnableBit - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-343StructExtrapolation - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-344StructExtrapolationFilter - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-345StructLogAddressIoBitType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-346StructPaxDynamicQFData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-347StructPositionDifferenceMeasurement - PosAxis . . . . . . . . . . . . . . . . . . . 3-348StructPressureDifferenceMeasurement - PosAxis . . . . . . . . . . . . . . . . . . 3-349StructSensorDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-351StructToleranceRange - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-353TypeOfAxisInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-354VelocityPositionProfile - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-357
4 MeasuringInputType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-359DecodingConfigInfo - MeasuringInputType. . . . . . . . . . . . . . . . . . . . . . . . 4-359MipBaseCfgInfo - MeasuringInputType. . . . . . . . . . . . . . . . . . . . . . . . . . . 4-360MipInputCfgInfo - MeasuringInputType . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-361RestartInfo - MeasuringInputType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-362StructMeasuringInputLogAddress - MeasuringInputType . . . . . . . . . . . . . 4-363StructMeasuringInputTimeStampConfig - MeasuringInputType . . . . . . . . 4-363StructMeasuringRange - MeasuringInputType . . . . . . . . . . . . . . . . . . . . . 4-364
5 OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-365DecodingConfigInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-365LogAddressInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-366OcaBaseCfgInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-367OcaTypeInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-369RestartInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-370
6 CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-371DecodingConfigInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-371LogAddressInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-372OctBaseCfgInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-373OctTechnologicalCfgInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . 6-375OctTypeInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-375RestartInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-376
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Contents-31SIMOTION Technology Packages Configuration DataList Manual, 11/2010
7 FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-377AbsBackLash - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-377AbsEncoder - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-379AbsHomingEncoder - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-383ActualAccelerationMonitoring - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . 7-384ActualVelocityMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . 7-385AdaptDrive - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-386AdaptExtern - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-386AdaptLoad - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-387AdditionalSensorDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . 7-388AdditionalSensorMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-390AdditionalSensorNumber - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . 7-391AnalogConversionDataType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . 7-391AnalogSensorType - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-392AssemblyBase - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-392ClampingMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-393ControllerDynamic - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-394ControllerStruct - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-395ControllerSwitchData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-395ConversionData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-396DataSetMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-397DecodingConfig - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-398DigitalInputMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-402DistributedMotionInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-403Drift - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-404DriveData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-405DriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-407DynamicComp - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-410DynamicData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-411DynamicFollowing - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-412EmergencyRampGenerator - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . 7-414EncoderMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-415EncoderNumber - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-420ExecutionConfigInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-420ExtrapolationPositionFilterType - FollowingAxis . . . . . . . . . . . . . . . . . . . . 7-421Filter - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-422FineInterpolator - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-423ForceControlHeldValueMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . 7-424ForceControlRunningInWindowMonitoring - FollowingAxis . . . . . . . . . . . 7-424ForceControllerData - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-425ForceControllerDifference - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . 7-427FrequencyLimit - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-427Friction - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-428Gear - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-429GearingPosTolerance - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-430HWEndPos - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-432Homing - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-434IncBackLash - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-436IncEncoder - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-437IncHomingEncoder - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-438IntervalCounterConversionDataType - FollowingAxis. . . . . . . . . . . . . . . . 7-443InversCountDirection - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-444InvertSetPoint - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-444
Contents
Contents-32 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
InvertSetPointHydraulicType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . 7-445LeadScrewInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-445LinearMotorDriveData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-446LinearStepMotorDriveDataType - FollowingAxis. . . . . . . . . . . . . . . . . . . . 7-448MaxAcceleration - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-449MaxForceCommandData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . 7-450MaxJerk - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-450MaxVelocity - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-451ModuloInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-452NeutralBand - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-453NumberOfAdditionalSensors - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . 7-454NumberOfDataSets - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-455NumberOfDigitalInputs - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . 7-457NumberOfEncoders - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-458OutputLimits - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-459PD_Controller - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-460PID_ControllerForce - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-461PID_ControllerPos - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-463PT2PositionFilterType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-465PV_Controller - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-466PathPerRevolution - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-468PathSyncAxisPosTolerance - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . 7-469PositionFilterType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-470PositionMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-471ProcessModel - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-472Range - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-472Resolution - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-473RestartConditionInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-473RestartInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-474ReverseCamNegative - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-475ReverseCamPositive - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-476SensorControlConfig - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-477SensorNist - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-477SensorSetActualValue - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-478SetPointDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-479SimulationInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-483Slippage - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-483SmoothingFilter - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-484StandStillMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-485StandStillSignal - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-486StateDriveExternalZeroMark - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . 7-487StepMotorDriveDataType - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . 7-488StepMotorMonitoringType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . 7-489StructAxisActualValueUpdateCounter - FollowingAxis . . . . . . . . . . . . . . . 7-490StructAxisAdditionalOffset - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . 7-492StructAxisAnalogSensorErrorStateMonitoring - FollowingAxis . . . . . . . . . 7-494StructAxisAnalogSensorReadyStateMonitoring - FollowingAxis. . . . . . . . 7-495StructAxisDriveControlConfig - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . 7-496StructAxisDriveSafetyExtendedFunctionsInfoDataIn - FollowingAxis . . . . 7-498StructAxisFilterForceControlConfig - FollowingAxis . . . . . . . . . . . . . . . . . 7-499StructAxisInvertFOutput - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . 7-500StructAxisInvertQOutput - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . 7-500StructAxisNistDriverConfig - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . 7-501
Contents
Contents-33SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisOperatingDataInInfo - FollowingAxis. . . . . . . . . . . . . . . . . . . . . 7-502StructAxisPulsesEnabledConfig - FollowingAxis. . . . . . . . . . . . . . . . . . . . 7-504StructAxisServoMonitoringConfig - FollowingAxis . . . . . . . . . . . . . . . . . . 7-504StructAxisSetpointFilter - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . 7-505StructAxisSlidingFriction - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . 7-506StructAxisSpeedLimitation - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . 7-507StructAxisSwLimitConfig - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . 7-508StructAxisSystemDeadTimeData - FollowingAxis. . . . . . . . . . . . . . . . . . . 7-509StructAxisTechnologicalData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . 7-509StructAxisTechnologicalDataInInfo - FollowingAxis . . . . . . . . . . . . . . . . . 7-510StructAxisTechnologicalDataOutInfo - FollowingAxis . . . . . . . . . . . . . . . . 7-510StructCommandValueQuantization - FollowingAxis . . . . . . . . . . . . . . . . . 7-511StructControllerOutput - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-512StructDirectOutputDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . 7-513StructDriveInterfaceDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . 7-514StructDriverInfoDirectIncremental - FollowingAxis . . . . . . . . . . . . . . . . . . 7-517StructEnableBit - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-518StructExtrapolation - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-519StructExtrapolationFilter - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . 7-520StructLogAddressIoBitType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . 7-521StructPaxDynamicQFData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . 7-522StructPositionDifferenceMeasurement - FollowingAxis. . . . . . . . . . . . . . . 7-523StructPressureDifferenceMeasurement - FollowingAxis . . . . . . . . . . . . . . 7-524StructSensorDriverInfo - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . 7-526StructToleranceRange - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-528TypeOfAxisInfo - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-529VelocityPositionProfile - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-532
8 FollowingObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-533DecodingConfigInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . . . . 8-533DistributedMotionInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . . . 8-534ExecutionConfigInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . . . . 8-534RestartInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-535SyncingMotionInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . . . . . 8-536
9 CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-539DecodingConfigInfo - CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-539InverseCamRepresentationInfo - CamType . . . . . . . . . . . . . . . . . . . . . . . 9-540RestartInfo - CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-541StructCamInterpolationSettings - CamType . . . . . . . . . . . . . . . . . . . . . . . 9-542ToleranceInfo - CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-543
Contents
Contents-34 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
1-35SIMOTION Technology Packages Configuration DataList Manual, 11/2010
DriveAxis 1Associated parameters (maximum):
• Execution (ExecutionConfigInfo)• Restart (RestartInfo)• RestartCondition (RestartConditionInfo)• Simulation (SimulationInfo)• TypeOfAxis (TypeOfAxisInfo)
AbsEncoder - DriveAxis
The structure elements of 'AbsEncoder' specify the parameters for an absolute encoder.
NoteFurther information about the following parameters and on fine resolution can be found inFunction Manual "TO Axis Electric/Hydraulic, External Encoder".or in the online help
absBaudRate
Specifies the baud rate data for detecting the actual value of the absolute encoder.Baudrate_5 sets a baud rate of 3 Mbaud.Baudrate_4 sets a baud rate of 1.5 Mbaud.Baudrate_3 sets a baud rate of 750 Kbaud.Baudrate_2 sets a baud rate of 375 Kbaud.Baudrate_1 sets a baud rate of 187.5 Kbaud.
absDataLength
Specifies the number of data bits of the absolute encoder range (packet length).The number of data bits is calculated from the number of steps per revolution multiplied by the number of revolutions.For example: 2048 incr./rev. * rev.= data bit length 23
Data type: EnumAbsBaudrate
Changeable online: No
System default: Baudrate_3
Data type: UDINT
Changeable online: Yes, active after restart
System default: 24
DriveAxis
1-36 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
absMessageFormat
Specifies a message frame format for the absolute encoder.With RIGHT_MARGIN, the protocol format is right-justified.With PINETREE, the pine tree format is selected.
absMessageLength
Specifies the message frame length for detecting the actual value of the absolute encoder.With LENGTH_13, a protocol length of 13 bits is selected.With LENGTH_21, a protocol length of 21 bits is selected.With LENGTH_25, a protocol length of 25 bits is selected.
absResolution
Specifies the number of increments per encoder revolution specified on the encoder rating plate.
absResolutionMultiplierAbsolute
Specifies the multiplication factor of the actual value of the absolute encoder.Evaluation of the absolute encoder during request by the absolute encoder (GxIST2).
absResolutionMultiplierCyclic
Specifies the multiplication factor of the cyclic actual value of the encoder.Evaluation of the incremental signal of the absolute encoder during operation (GxIST1).
Data type: EnumAbsMsgFormat
Changeable online: No
System default: PINETREE
Data type: EnumAbsMsgLength
Changeable online: No
System default: LENGTH_25
Data type: UDINT
Changeable online: Yes, active after restart
System default: 4096
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 0
DriveAxis
1-37SIMOTION Technology Packages Configuration DataList Manual, 11/2010
absState
Specifies a protocol format for the actual value of the absolute encoder.With BIN_CODE, a binary code is selected.With GRAY_CODE, GRAY code is selected.
enableAbsMonitoring
Specifies the monitoring mode of the permissible changes of the actual value for the absolute encoder.
With YES (system default), monitoring of the permissible changes of the actual value for the absolute encoder is activated.
Actual value changes of the absolute encoder greater than or equal to the possible change in accor-dance with the maximum velocity (maxVelocity.maximum) are limited to the change in accordance with the current velocity, i.e. the velocity of the previous cycle.
Incorrect actual values, e.g. due to transmission errors, are adjusted.If the actual value changes are impermissibly high in 5 subsequent cycles, alarm 20005, reason 0, is issued.
With NO, monitoring of the permissible changes of the actual value for the absolute encoder is not activated, i.e., incorrect actual values due to transmission errors, for example, are also not changed and processed as they are.No technological alarm is issued.
NoteSwitch the monitoring function off at your own risk.
After the deactivation of the monitoring, it can no longer be guaranteed that the magnitude of the cal-culated velocity lies within the limits defined by the user.
The position and the velocity and all derived quantities are also displayed and processed also taking account of any measured values recognized as being incorrect (control, stop ramps, interpolations, positioning).
EnumAbsBaudrate
EnumAbsMsgFormat
Data type: EnumAbsState
Changeable online: No
System default: GRAY_CODE
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: YES
Baudrate_5 (16#01) 3 Mbaud
Baudrate_4 (16#02) 1.5 Mbaud
Baudrate_3 (16#04) 750 Kbaud
Baudrate_2 (16#08) 375 Kbaud
Baudrate_1 (16#10) 187.5 Kbaud
RIGHT_MARGIN (0) Right-justified
PINETREE (1) Pine tree format
DriveAxis
1-38 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumAbsMsgLength
EnumAbsState
EnumYesNo
LENGTH_13 (13) 13 bits
LENGTH_21 (21) 21 bits
LENGTH_25 (25) 25 bits
BIN_CODE (16#00) Binary
GRAY_CODE (16#01) Gray Code
NO (91) No
YES (173) Yes
DriveAxis
1-39SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ActualVelocityMonitoring - DriveAxis
The structure elements of 'ActualVelocityMonitoring' specify the monitoring mode for the maximum actual velocity.
enable
Specifies the monitoring mode for the maximum actual velocity.With NO, monitoring of the actual velocity does not take place.With YES, the actual velocity is monitored for the maximum permissible value.When the maximum value is exceeded, the system variable 'sensordata.sensormonitoring.velocity' is output as 'limitexceeded'.The velocity is not limited to this value.
maximum
Specifies the maximum permissible actual velocity.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 1/min
NO (91) No
YES (173) Yes
DriveAxis
1-40 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
AdaptDrive - DriveAxis
The structure elements of 'AdaptDrive' specify the gear ratio parameters for drive-mounted encoders.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
denFactor
Specifies the denominator of the gear ratio for a measuring gear.
numFactor
Specifies the numerator of the gear ratio for a measuring gear.
AdaptExtern - DriveAxis
The structure elements of 'AdaptExtern' specify the gear ratio parameters for the EXTERN mounting type.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
denFactor
Specifies the denominator of the gear ratio for a measuring gear.
numFactor
Specifies the numerator of the gear ratio for a measuring gear.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
DriveAxis
1-41SIMOTION Technology Packages Configuration DataList Manual, 11/2010
AdaptLoad - DriveAxis
The structure elements of 'AdaptLoad' specify the gear ratio parameters for load-side encoders.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
denFactor
Specifies the denominator of the gear ratio for a measuring gear.
numFactor
Specifies the numerator of the gear ratio for a measuring gear.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
DriveAxis
1-42 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
AdditionalSensorDriverInfo - DriveAxis
The elements of this structure are used to configure the I/O module of an encoder.
errorToleranceTime
Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Specifies the logical address of the communication module.
maxValue
Specifies the maximum digitalized measured value for the additional encoder.
minValue
Specifies the minimal digitalized measured value for the additional encoder.
resolution
Specifies the number of relevant bits for the additional encoder.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1 s
Data type: EnumActualValueFormat
Changeable online: Yes, active after restart
System default: VALUE_LEFT_MARGIN
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
Data type: DINT
Changeable online: Yes, active immediately
System default: 32511
Data type: DINT
Changeable online: Yes, active immediately
System default: -32512
Data type: UDINT
Changeable online: Yes, active after restart
System default: 15
DriveAxis
1-43SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumActualValueFormat
VALUE_RIGHT_MARGIN (0) Right-justified
VALUE_LEFT_MARGIN (1) Left-justified
VALUE_LEFT_MARGIN_WITHOUT_SIGN (2) Left-justified without sign
VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3) Right-justified without sign
DriveAxis
1-44 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
AdditionalSensorMain - DriveAxis
The structure element 'AdditionalSensor' is used to configure an additional encoder.
additionalSensorType
Specifies the interpretation of the encoder values.With STANDARD, the digitalized measured value is interpreted as an absolute actual force/pressure value of an individual encoder.With PRESSURE_DIFFERENCE_MEASUREMENT, the differential pressure measurement between two different encoders is set.With SET_ACTUAL_VALUE, the value is specified with a system variable.
interfaceActivation
Specification to activate the digitized measured values.With STARTUP_ACTIVATED the driver is activated on the technology object following system star-tup.With STARTUP_DEACTIVATED the driver is deactivated on the technology object following system startup.
EnumAxisAdditionalSensorType
EnumAxisInterfaceActivationConfig
Associated parameters (maximum):
Data type: EnumAxisAdditionalSensorType
Changeable online: No
System default: STANDARD
Data type: EnumAxisInterfaceActivationConfig
Changeable online: No
System default: STARTUP_ACTIVATED
STANDARD (0) Pressure measurement
PRESSURE_DIFFERENCE_MEASUREMENT (1)
Differential pressure measurement
SET_ACTUAL_VALUE (2) Actual pressure value via system variable
STARTUP_DEACTIVATED (942) Deactivated after startup
STARTUP_ACTIVATED (943) Active after startup
ConversionData(ConversionData)
Interpretation of the encoder values
DriverInfo(AdditionalSensorDriverInfo)
Analog input module
Filter(Filter)
Filter for actual value smoothing
PressureDifferenceMeasurement(StructPressureDifferenceMeasurement)
Parameters for differential pressure measure-ment
Range(Range)
Definition range of the encoder values
DriveAxis
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AdditionalSensorNumber - DriveAxis
The structure element 'AdditionalSensorNumber' is used to configure the assignment of data set to additional encoder.
number
Specifies the encoder number.
AnalogConversionDataType - DriveAxis
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder values read.
_type
Specifies the interpretation type for the digitalized measured value.
factor
Specifies the weighting factor for the analog measured value. The weighting factor specifies the rela-tion between distance/velocity per bit.
offset
Specifies the offset for the analog measured value.
EnumConversionDataType
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: EnumConversionDataType
Changeable online: No
System default: LINEAR_CONVERSIONDATA
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
LINEAR_CONVERSIONDATA (1) Linear relationship
DriveAxis
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AnalogSensorType - DriveAxis
The structure elements of 'AnalogSensor' specify actual value smoothing.
Associated parameters (maximum):
AssemblyBase - DriveAxis
The structure elements of 'AssemblyBase' specify the parameters for the encoder mounting type.
assemblyBase
Specifies the assembly base of the encoder.With ASSEMBLY_BASE_DRIVE, the encoder is a drive-side assembly type.With ASSEMBLY_BASE_LOAD, the encoder is a load-side assembly type.With ASSEMBLY_BASE_EXTERN, the encoder is an external assembly type.With ASSEMBLY_BASE_LINEAR, the encoder is a linear assembly type.
EnumAxisEncoderAssemblyType
ConversionData(AnalogConversionDataType)
Conversion factors between analog input value and actual position value
DriverInfo(StructSensorDriverInfo)
Driver data
Data type: EnumAxisEncoderAssemblyType
Changeable online: Yes, active after restart
System default: ASSEMBLY_BASE_DRIVE
ASSEMBLY_BASE_DRIVE (0) Drive side
ASSEMBLY_BASE_LOAD (1) Load side
ASSEMBLY_BASE_EXTERN (2) External
ASSEMBLY_BASE_LINEAR (3) Linear
DriveAxis
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ControllerDynamic - DriveAxis
The structure elements of 'ControllerDynamic' specify the reference model monitoring.
NoteThe function of the 'ControllerDynamic' (monitoring of actual speed) configuration data element on a drive axis can only be used when a message frame type that also supplies an actual position value to the controller is used.
enable
Specifies the activation status of the reference model monitoring.With 'NO', the monitoring is not activated.With 'YES', the monitoring is activated.
maxVeloTolerance
Specifies the maximum deviation between model and process with reference to maximum velocity.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 2.0 %
NO (91) No
YES (173) Yes
DriveAxis
1-48 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ControllerStruct - DriveAxis
The structure elements of 'ControllerStruct' set the controller structure.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
conType
Specifies the controller type.NODEF has no significance.With PD, a PD controller is used.With PV, a P controller with precontrol is used.With PID, a PID controller is used.With PID_ACTUAL, a PID controller with actual value-dependent D-component is used.
EnumAxisControllerType
Associated parameters (maximum):
Data type: EnumAxisControllerType
Changeable online: No
System default: DIRECT
NODEF (0) No significance
DIRECT (1) Control only
PD (2) PID controller
PV (3) PV controller
PID (4) PID controller
PID_ACTUAL (5) PID controller with actual value-dependent D-component
PID_Controller(PID_ControllerPos)
PID controller
DriveAxis
1-49SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ConversionData - DriveAxis
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder values read.
NoteFurther information is provided:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Supplementary Technology Objects Function ManualOnline help
_type
Specifies the interpretation type for the digitalized measured value.
factor
Specifies the evaluation type for the digitalized measured value.
invert
Specifies whether or not the sign of the measured value should be inverted.With NO, the sign is not inverted.With YES, the sign is inverted.
offset
Specifies the offset for the digitalized measured value.
EnumConversionDataType
EnumYesNo
Data type: EnumConversionDataType
Changeable online: No
System default: LINEAR_CONVERSIONDATA
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 Pa
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 Pa
LINEAR_CONVERSIONDATA (1) Linear relationship
NO (91) No
YES (173) Yes
DriveAxis
1-50 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
DataSetMain - DriveAxis
The structure elements belonging to "DataSet_(n)" are used to set the data set (n).
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
Associated parameters (maximum):
AdditionalSensorNumber(AdditionalSensorNumber)
Assignment of a force/pressure sensor to this data record
ControllerDynamic(ControllerDynamic)
Reference model monitoring
ControllerStruct(ControllerStruct)
Controller parameters
DynamicData(DynamicData)
Dynamic data of the cascaded control loop sys-tem
DynamicQFData(StructDaxDynamicQFData)
Dynamic data of the hydraulic process
EncoderNumber(EncoderNumber)
Assignment of an encoder to this data record
ForceControllerData(ForceControllerData)
Force/pressure controller
ForceControllerDifference(ForceControllerDifference)
System deviation monitoring of the force/pres-sure control loop
Gear(Gear)
Ratio of the load gearbox
InvertQ(StructAxisInvertQOutput)
Inversion of the Q-output in front of the characte-ristic curve
InvertSetPoint(InvertSetPointHydraulicType)
Inversion of the Q-output behind the characteri-stic curve
ProcessModel(ProcessModel)
Process model
DriveAxis
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DecodingConfig - DriveAxis
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
NoteAdditional information is available at:Function Manual "TO Axis Electric/Hydraulic, External Encoder".SIMOTION MCC Motion Control Chart Programming and Operating ManualFunction Manual: Basic Functionsor in the online help
behaviourAtTheEndOfProfile
Specifies the behavior at the end of the profile.
With MOVE_WITH_CONSTANT_SPEED, the axis moves at a constant velocity.In terms of interpolation status, the final condition acts in the same way as the system function _move. If the physical variable is not equal to 0, setpoint generation will not be completed.
With STOP_IN_PROFILE_END, the profile end is the target of the positioning movement, that is, at the target, 'velocity:=0'.
With STOP_WHEN_PROFILE_END_REACHED, the axis is stopped only after the profile end has been reached.
cyclicSetUpInForceLimiting
Specifies how cyclic resetting to the setpoints should occur with active force/pressure limiting.With 'NONE' cyclic resetting does not occur.With 'POSITION_BASED' cyclic resetting is to the setpoint position after allowing for the pressure limi-ting component.With 'POSITION_AND_DYNAMIC_BASED' cyclic resetting is to the setpoint position and setpoint velocity after allowing for the pressure limiting component.
decodeSequentialMotionCommand
Specifies the cycle in which the next 'SEQUENTIAL' or 'NEXT_MOTION' command is transferred to the interpolator.
Data type: EnumEndBehaviourOfProfile
Changeable online: Yes, active immediately
System default: STOP_WHEN_PROFILE_END_REACHED
Data type: EnumAxisCyclicSetUpInForceLimiting
Changeable online: Yes, active immediately
System default: NONE
Data type: EnumDecodeSequentialMotionCommand
Changeable online: Yes, active immediately
System default: IMMEDIATELY
DriveAxis
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directionDynamic
Specifies the acceleration model used.With NO, the non-direction-related acceleration model is used.With YES, the direction-related acceleration model is used.
disableMotionOperation
Specifies the behavior for motion commands stopped with 'stopMode := STOP_WITHOUT_ABORT' after the enables have been removed.With 'YES' the motion commands are canceled and cannot be resumed.With 'NO' the motion commands are not canceled and can be resumed after the enables are reset.
numberOfImmediateCommands
Specifies the number of commands, programmed with the IMMEDIATELY command parameter, which can be active simultaneously on one axis.
numberOfMaxBufferedCommandId
Specifies the maximum number of command IDs active simultaneously whose status can be reques-ted at the end of the relevant command.A command ID is added to the list with the ST command '_bufferAxisCommandId'.Removal from the list takes place with the ST command '_removeBufferedAxisCommandId'.
numberOfQueueCommands
Specifies the maximum number of commands which can be active simultaneously on one axis.
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: YES
Data type: DINT
Changeable online: Yes, active after restart
System default: 6
Data type: DINT
Changeable online: Yes, active after restart
System default: 100
Data type: DINT
Changeable online: Yes, active after restart
System default: 6
DriveAxis
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profileDynamicsLimiting
Specifies the active limits for dynamic parameters.
With 'COMMAND_DYNAMICS' the system ramps up to the profile or the values specified in the Moti-onIn vector using the minimum of the dynamic parameters specified in the command or the configured maximum values in 'MaxJerk', 'MaxAcceleration', and 'MaxVelocity' and is then limited during the course of the profile to the minimum of the programmed values and the configured maximum values.
With 'MAX_CONFIGURED_DYNAMICS' the system ramps up to the profile or the values specified in the MotionIn vector using the minimum of the dynamic parameters specified in the command and the configured maximum values in 'MaxJerk', 'MaxAcceleration', and 'MaxVelocity' and is then limited during the course of the profile to the configured maximum values.
speedModeSetPointZero
Specifies how the axis is traversed to zero velocity when the enables are set.
With 'No', the axis is traversed to zero via a braking ramp with the maximum axis dynamic response.
With 'Yes', the velocity setpoint (and acceleration) is set directly to 0 without ramp.
stopWithJerk
Details of the behavior for a local stop response. This configuration applies only to interpolatory stops.With 'YES' the local stop response is executed with the value from 'Max.Jerk.maximum'.With 'NO', the local stop response is executed without jerk limiting.
transferSuperimposedPosition
Specifies when the coordinate system of the superimposed motion is reset (to 0).
With 'TRANSFER_STANDSTILL' the position of the superimposed coordinate system is reset to 0 after termination of the setpoint generation of the axis or when programming a motion command with mergeMode:=IMMEDIATELY or when the axis is reset.
With 'TRANSFER_MERGE' the position of the superimposed coordinate system is reset to 0 when programming a motion command with mergeMode:=IMMEDIATELY or when the axis is reset.
With ''AXIS_RESET' the position of the superimposed coordinate system is reset to 0 when the axis is reset.
Data type: EnumProfileDynamicsLimiting
Changeable online: Yes, active immediately
System default: COMMAND_DYNAMICS
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumTransferSuperimposedPosition
Changeable online: Yes, active after restart
System default: TRANSFER_STANDSTILL
DriveAxis
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EnumEndBehaviourOfProfile
EnumAxisCyclicSetUpInForceLimiting
EnumDecodeSequentialMotionCommand
EnumYesNo
EnumProfileDynamicsLimiting
EnumTransferSuperimposedPosition
MOVE_WITH_CONSTANT_SPEED (0) Motion at constant speed
STOP_IN_PROFILE_END (1) Deceleration to the endpoint / velocity 0
STOP_WHEN_PROFILE_END_REACHED (2) Deceleration after profile completed
NONE (0) No cyclic resetting
POSITION_BASED (1) Cyclic resetting to the setpoint position
POSITION_AND_DYNAMIC_BASED (2) Cyclic resetting to the setpoint position and set-point velocity
IMMEDIATELY (0) Switch to next command immediately
NEXT_IPO_CYCLE (1) Switch to next command in next cycle
NO (91) No
YES (173) Yes
COMMAND_DYNAMICS (0) Limiting of dynamic parameters using the mini-mum value of the configured and programmed values
MAX_CONFIGURED_DYNAMICS (1) Limiting of dynamic parameters using configu-red values
TRANSFER_STANDSTILL (0) Switch to next command at standstill, reset, or according to merge mode
TRANSFER_MERGE (1) Switch to next command at reset, or according to merge mode
TRANSFER_RESET (2) Switch to next command at reset
DriveAxis
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Drift - DriveAxis
The structure elements of 'Drift' specify drift compensation.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies the activation status of drift compensation.With 'NO', the drift compensation is not activated.With 'YES', the drift compensation is activated.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
NO (91) No
YES (173) Yes
DriveAxis
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DriveData - DriveAxis
The structure elements for 'DriveData' specify the key drive values.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
maxSpeed
Specifies the maximum speed.
maxTorque
Specifies the maximum torque of the drive.
nominalSpeed
Specifies the reference speed.
nominalTorque
Specifies the nominal torque of the drive.
speedReference
Selection setting for scaling: reference speed or maximum speed.
torqueReductionGranularity
Specifies the fine resolution of the torque reduction.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 3000.0 1/min
Data type: LREAL
Changeable online: Yes, active after restart
System default: 3.2 Nm
Data type: LREAL
Changeable online: Yes, active after restart
System default: 3000.0 1/min
Data type: LREAL
Changeable online: Yes, active after restart
System default: 3.2 Nm
Data type: EnumAxisReferenceMaxNominal
Changeable online: Yes, active after restart
System default: MAX_VALUE
Data type: EnumAxisTorqueForceReductionGranularity
Changeable online: Yes, active after restart
System default: BASIC
DriveAxis
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torqueReference
Selection setting for scaling: Nominal torque or maximum torque.
EnumAxisReferenceMaxNominal
EnumAxisTorqueForceReductionGranularity
Data type: EnumAxisReferenceMaxNominal
Changeable online: Yes, active after restart
System default: MAX_VALUE
MAX_VALUE (0) Maximum value
NOMINAL_VALUE (1) Nominal value
STANDARD (0) Resolution 1/100
BASIC (16) Resolution 1/16384
DriveAxis
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DriverInfo - DriveAxis
The structure elements of 'DriverInfo' specify the parameters for the encoder hardware.
NoteAdditional information is available at:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Technology Objects Synchronous Operation, Cam Function Manualor in the online help
encoderNumberOnDevice
Specifies the number of the encoder actual value for message frames with several actual values, e.g. DP_TEL106_611U_DSC_2_ENCODER.
lifeSignCheck
Specifies the monitoring mode for the PROFIBUS DP sign of life between nodes.With 'NO', the sign of life monitoring is switched off.With 'YES', the sign of life monitoring is activated.
logAddressIn
Specifies the logical address for the input data area.
logAddressOut
Specifies the logical address for the output data area.
Data type: DINT
Changeable online: No
System default: 0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: No
System default: 65535
DriveAxis
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telegramType
Specifies a PROFIdrive message frame type.With NO_TELEGRAM, a message frame is not specified.With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set up.With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set up.With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one encoder) is set up.With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with two encoders) is set up.With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives with one encoder and DSC) is set up.With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled drives with two encoders and DSC) is set up.
With DP_TEL81_STANDARD, the standard message frame 81, PZD-2/6 for an encoder is set up.With DP_TEL82_STANDARD, the standard message frame 82, PZD-2/7 for an encoder is set up.With DP_TEL83_STANDARD, the standard message frame 83, PZD-2/8 for an encoder is set up.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7 for velocity-controlled drives without encoders is set up.With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for velocity-controlled drives with one encoder is set up.With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for velocity-controlled drives with two encoders is set up.With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for velocity-controlled drives with one encoder and DSC is set up.With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for velocity-controlled drives with two encoders and DSC is set up.
EnumYesNo
EnumAxisTelegramType
Data type: EnumAxisTelegramType
Changeable online: No
System default: DP_TEL102_611U_POSCTRL_1_ENCODER
NO (91) No
YES (173) Yes
NO_TELEGRAM (0) No message frame
DP_TEL1_STANDARD (1) Standard message frame 1, PZD-2/2
DP_TEL2_STANDARD (2) Standard message frame 2, PZD-4/4
DP_TEL3_STANDARD (3) Standard message frame 3, PZD-5/9
DP_TEL4_STANDARD (4) Standard message frame 4, PZD-6/14
DP_TEL5_STANDARD (5) Standard message frame 5, PZD-9/9
DP_TEL6_STANDARD (6) Standard message frame 6, PZD-10/14
DP_TEL81_STANDARD (81) Standard message frame 81, PZD-2/6
DP_TEL83_STANDARD (83) Standard message frame 83, PZD-2/8
DriveAxis
1-60 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
DP_TEL101_611U_VELCTRL_NO_ENCODER (101)
SIEMENS message frame 101, PZD-6/7
DP_TEL102_611U_POSCTRL_1_ENCODER (102)
SIEMENS message frame 102, PZD-6/10
DP_TEL103_611U_POSCTRL_2_ENCODER (103)
SIEMENS message frame 103, PZD-7/15
DP_TEL105_611U_DSC_1_ENCODER (105) SIEMENS message frame 105, PZD-10/10
DP_TEL106_611U_DSC_2_ENCODER (106) SIEMENS message frame 106/107, PZD-11/15
DriveAxis
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DynamicData - DriveAxis
The structure elements of 'DynamicData' specify the dynamic data of the cascade control system.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
torqueTimeConstant
Specifies the equivalent time constant of the torque control system.
velocityTimeConstant
Specifies the equivalent time constant of the velocity control system.
NoteThis value can only be checked after download.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.00005 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0005 s
DriveAxis
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EmergencyRampGenerator - DriveAxis
The structure element of 'EmergencyRampGenerator' sets the parameter of the emergency stop ramp generator.
maxDeceleration
Specifies the deceleration of the braking ramp.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 3600000.0 m/s²
DriveAxis
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EncoderMain - DriveAxis
The structure elements of 'Encoder' specify the parameters of the encoder.
dataAdaption
Selects the behaviorFor YES, the selected encoder configuration parameters will be modified by the drive.For NO, the encoder configuration parameters are configured by the user.
encoderIdentification
Specifies the encoder identification (encoder interface).With SIMULATION, the circuit between the motor and encoder is closed by means of software. Enco-der measured values are calculated from the simulated actual speed or velocity of the axis. It is not necessary to use a real encoder when simulating encoder operation.With ONBOARD, the encoder is connected to an ONBOARD encoder interface of the controller (e.g. C230, C240, etc.).With DPMASTER, the encoder is connected to an external module. Encoder data is provided via the DP interface.With DIRECT, the encoder is connected to the inputs of a digital or analog input module.With SET_ACTUAL_VALUE, the encoder measured value is provided via the 'sensorsetting.actual-value' system variable. The measured value is updated cyclically in a user program.
encoderMode
Specifies the encoder mode (encoder signal type).RECTANGLE_TTL should be selected if the incremental position is to be measured by evaluating a rectangular encoder signal.SINUS_1VPP should be selected if the incremental position is to be measured by evaluating a sinu-soidal encoder signal.RESOLVER should be selected if the incremental position is to be measured by evaluating a resol-ver's encoder signal.STEPMOT should be selected, if the incremental position is to be determined by taking a set incre-mental position for a stepper motor without an encoder.INTERVAL_COUNTER should be selected if the velocity/speed is to be measured by using an addi-tional module to count intervals between two pulses.PROFIDRIVE_NIST_A should be selected if the velocity/speed is to be determined by reading actual speed value data (16 bits wide) from the PROFIDrive message frame.PROFIDRIVE_NIST_B should be selected if the velocity/speed is to be determined by reading actual speed value data (32 bits wide) from the PROFIDrive message frame.SSI_MODE should be selected if the incremental position is to be transferred to the controller in accor-dance with the specifications of the SSI protocol (absolute encoder).ENDAT should be selected if the incremental position is to be transferred to the controller in accor-dance with the specifications of the EnDat protocol (incremental/absolute encoder).
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumAxisEncoderIdentification
Changeable online: No
System default: SIMULATION
Data type: EnumAxisEncoderMode
Changeable online: No
System default: RECTANGLE_TTL
DriveAxis
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encoderType
Specifies the encoder type.With SENSOR_INCREMENTAL, the encoder is treated as an incremental encoder.With SENSOR_ABSOLUTE, the encoder is treated as an absolute encoder.With SENSOR_CYCLIC_ABSOLUTE, the encoder is treated as an absolute encoder. The number of encoder overflows is also stored in the controller after disabling.With SENSOR_POSITION_DIFFERENCE_MEASUREMENT, an encoder is configured to allow dif-ferential measurement of position and velocity of two definable encoders.
encoderValueType
Specifies the actual value type from which the encoder value is calculated.With POSITION, the actual value is calculated for both the position and the velocity/speed.With VELOCITY, the actual value for the velocity/speed is calculated.With POSITION_AND_PROFIDRIVE_NIST_B, the actual value is calculated for the position and the actual value of the velocity/speed is read from the PROFIDrive message frame.With POSITION_AND_DIRECT_NIST_B, the actual value is calculated for the position, and the actual value for the velocity/speed is read from an area to be addressed in the process image of the inputs and outputs.
interfaceAllocation
Selects the interface behavior.With EXCLUSIVE, the driver can only be used on this technology object.With NON_EXCLUSIVE_AND_STARTUP_ACTIVATED, the driver can be used on this and any other technology object. The driver is activated on the technology object after system startup.With NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED, the driver can be used on this and any other technology object. The driver is deactivated on the technology object after system startup.
EnumYesNo
EnumAxisEncoderIdentification
Data type: EnumAxisEncoderType
Changeable online: No
System default: SENSOR_INCREMENTAL
Data type: EnumAxisEncoderValueType
Changeable online: No
System default: VELOCITY
Data type: EnumAxisSensorInterfaceAllocationConfig
Changeable online: No
System default: EXCLUSIVE
NO (91) No
YES (173) Yes
SIMULATION (0) Simulation
ONBOARD (1) Onboard
DPMASTER (2) DPMaster
DIRECT (4) Encoder supplies the value directly
SET_ACTUAL_VALUE (5) Actual value via system variable
DriveAxis
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EnumAxisEncoderMode
EnumAxisEncoderType
EnumAxisEncoderValueType
EnumAxisSensorInterfaceAllocationConfig
RECTANGLE_TTL (1) Rectangle
SSI_MODE (2) SSI
STEPMOTOR (3) Stepper motor
ENDAT (4) Endat
SINUS_1VPP (5) Sine
RESOLVER (6) Resolver
SENSOR_ANALOG (7) Analog encoder
INTERVAL_COUNTER (8) Encoder mode for interval counter
PROFIDRIVE_NIST_A (9) Velocity value 16-bit
PROFIDRIVE_NIST_B (10) Velocity value 32-bit
PROFIDRIVE (11) PROFIdrive profile
SENSOR_INCREMENTAL (1) Incremental encoder
SENSOR_ABSOLUTE (2) Absolute encoder
SENSOR_CYCLIC_ABSOLUTE (3) Absolute encoder cyclic absolute
SENSOR_POSITION_DIFFERENCE_MEASUREMENT (4)
Differential position
POSITION (0) Calculate actual position value
VELOCITY (1) Calculate actual velocity value
POSITION_AND_PROFIDRIVE_NIST_B (2) Calculate actual position values and velocity from DP protocol
POSITION_AND_DIRECT_NIST_B (3) Calculate actual position values and actual velo-city value from I/O
POSITION_AND_PROFIDRIVE_ENCODER_NIST_B (4)
Calculate actual position values and velocity from DP protocol (standard message frame 83)
EXCLUSIVE (939) Exclusive
NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED (940)
Non-exclusive and deactivated
NON_EXCLUSIVE_AND_STARTUP_ACTIVATED (941)
Non-exclusive and active
DriveAxis
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Associated parameters (maximum):
AbsEncoder(AbsEncoder)
Absolute encoder
AdaptDrive(AdaptDrive)
Gear ratio of the measuring system for a drive-side assembly type
AdaptExtern(AdaptExtern)
Gear ratio of the measuring system for an exter-nal assembly type
AdaptLoad(AdaptLoad)
Gear ratio of the measuring system for a load-side assembly type
AnalogSensor(AnalogSensorType)
Analog measuring system
AssemblyBase(AssemblyBase)
Assembly type of the measuring system
DriverInfo(DriverInfo)
Actual value interface
DriverInfoDirectIncremental(StructDriverInfoDirectIncremental)
Actual value interface of the direct incremental encoder
Filter(Filter)
Actual value filter
FrequencyLimit(FrequencyLimit)
Limit frequency of the measuring system
IncEncoder(IncEncoder)
Incremental encoder
IntervalCounterConversionData(IntervalCounterConversionDataType)
Interval counter
InversCountDirection(InversCountDirection)
Inverse count direction
NistDriverConfig(StructAxisNistDriverConfig)
Actual speed value
SensorControlConfig(SensorControlConfig)
Encoder error tolerance
SensorSetActualValue(SensorSetActualValue)
Actual value via system variable
StepMotorMonitoring(StepMotorMonitoringType)
Stepper motor
DriveAxis
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EncoderNumber - DriveAxis
The assignment between data record number and measuring system number of the position or velo-city sensor is specified with the structure elements for 'EncoderNumber'.
EncoderNumber
Specifies which encoder is assigned to this data set.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
DriveAxis
1-68 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ExecutionConfigInfo - DriveAxis
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
NoteFurther information is provided:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Technology Objects Synchronous Operation, Cam Function ManualOnline help
executionlevel
Specifies the task level at which the interpolator task of the technology object is running.With IPO, the task is executed in the fast interpolator cycle clock.With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel
Data type: EnumToExecutionLevel
Changeable online: Yes, active after restart
System default: IPO
IPO (0) IPO
IPO_2 (1) IPO_2
SERVO (2) Servo
IPO_FAST (3) IPO_fast
SERVO_FAST (4) Servo_fast
DriveAxis
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Filter - DriveAxis
The structure elements of 'Filter' specify actual value smoothing.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies filter functionality.With 'NO', the filter functionality is deactivated.With 'YES', the filter functionality is activated.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
DriveAxis
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FineInterpolator - DriveAxis
The structure element of 'FineInterpolator' specifies the parameter of the fine interpolator.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
_type
Specifies the type of fine interpolator used.With DIRECT_MODE, fine interpolation does not take place.With LINEAR_MODE, a linear fine interpolation takes place.With CUBIC_MODE, acceleration-continuous setpoints are generated.With QUADRATIC_MODE, velocity-continuous setpoints are generated.
EnumAxisFineInterpolatorMode
Data type: EnumAxisFineInterpolatorMode
Changeable online: Yes, active after restart
System default: LINEAR_MODE
DIRECT_MODE (0) No interpolation
LINEAR_MODE (1) Linear interpolation
CUBIC_MODE (2) Acceleration-continuous interpolation
QUADRATIC_MODE (3) Velocity-continuous interpolation
DriveAxis
1-71SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ForceControlHeldValueMonitoring - DriveAxis
The force/pressure final value monitoring is set with the structure elements for 'ForceControlHeldVa-lueMonitoring'.
delayTimeToActivate
Specifies the delay between the time when the actual value exceeds the tolerance window and acti-vation of the message.
tolerance
Specifies the permissible force/pressure value tolerance with a constant setpoint.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 20.0 Pa
DriveAxis
1-72 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ForceControlRunningInWindowMonitoring - DriveAxis
The parameters of the force entry window monitoring are specified with the structure elements for 'ForceControlRunningIn WindowMonitoring'.
maxDelayTime
Specifies the delay time from the arrival of the force/pressure actual value in the tolerance window until the activation of the force/pressure value monitoring.
tolerance
Permissible deviation between setpoint and actual value.
winTolTime
Specifies the delay time from the activation of the monitoring until the actual value reaches the tole-rance window.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 Pa
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
DriveAxis
1-73SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ForceControllerData - DriveAxis
The structure elements of 'ForceControllerData' parameterize the force controller.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
_type
Controller type for the force controller
invertControlValue
With YES, the manipulated variable of the force controller is inverted.With NO, the manipulated variable of the force controller is not inverted.
typeOfSensorData
UNI_DIRECTION means that negative actual values cannot be measured.BOTH_DIRECTION means negative actual values will be measured.
EnumForceControllerType
EnumYesNo
EnumSensorDataType
Data type: EnumForceControllerType
Changeable online: Yes, active after restart
System default: PID
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumSensorDataType
Changeable online: Yes, active after restart
System default: UNI_DIRECTION
PID (1) PID controller
PID_ACTUAL (2) PID controller with actual value-dependent D-component
NO (91) No
YES (173) Yes
UNI_DIRECTION (1) Unidirectional
BOTH_DIRECTION (2) Bidirectional
DriveAxis
1-74 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Associated parameters (maximum):
FilterForceControl(StructAxisFilterForceControlConfig)
Manipulated variable limitation
OutputLimits(OutputLimits)
Manipulated variable limitation
PID_Controller(PID_ControllerForce)
Parameters for the PID controller
DriveAxis
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ForceControllerDifference - DriveAxis
The controller differential monitoring is set with the structure elements for 'ForceControllerDifference'.
enable
With 'YES', the control deviation monitoring of the force controller is activated.With 'NO', the control deviation monitoring of the force controller remains deactivated (system default).
maxForceTolerance
Specifies the maximum permissible control deviation.
EnumYesNo
FrequencyLimit - DriveAxis
The structure elements of 'FrequencyLimit' specify the frequency limit of the encoder.
encoderFrequencyLimit
Specifies the frequency limit of the encoder.
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 Pa
NO (91) No
YES (173) Yes
Data type: LREAL
Changeable online: Yes, active immediately
System default: 400000.0 Hz
DriveAxis
1-76 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Friction - DriveAxis
The structure elements of 'Friction' specify the friction torque compensation.
amplitude
Specifies the maximum value of the friction torque compensation characteristic.
decayTime
Specifies the delay time constant.
delayTimeStandStill
Specifies the delay time for activation of the standstill signal.
enable
Specifies the activation status of friction torque compensation.With NO, the friction torque compensation is not activated.With YES, the friction torque compensation is activated.
maxVeloStandStill
Specifies the maximum velocity at which the standstill signal is active.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 5.0 mm/s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.05 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm/s
NO (91) No
YES (173) Yes
DriveAxis
1-77SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Gear - DriveAxis
The structure elements of 'Gear' specify the gear ratio of the load gearbox. The gear ratio is only active for the 'ASSEMBLY_DRIVE' mounting type.
denFactor
Specifies the number of load revolutions.
numFactor
Specifies the number of motor revolutions.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
DriveAxis
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HWEndPos - DriveAxis
The structure elements of 'HWEndPos' are used to specify the monitoring mode of the hardware limit switches.
bitNumberNegative
Specifies the I/O bit number within the I/O byte specified by the logical address.
bitNumberPositive
Specifies the I/O bit number within the I/O byte specified by the logical address.
enable
Specifies the activation status of the hardware limit switches.For 'NO', the hardware limit switches are deactivated.For 'YES', the hardware limit switches are activated.
interfaceActivation
Selects the interface behavior.With STARTUP_DEACTIVATED the driver is deactivated on the technology object following system startup.With STARTUP_ACTIVATED the driver is activated on the technology object following system star-tup.
logAddressNegative
Specifies the logical address of the negative hardware limit switch.
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumAxisInterfaceActivationConfig
Changeable online: No
System default: STARTUP_ACTIVATED
Data type: UDINT
Changeable online: No
System default: 65535
DriveAxis
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logAddressPositive
Specifies the logical address of the positive hardware limit switch.
mode
Specifies the position of the hardware limit switch relative to the axis traversing range.With 'END_MOUNTED_SWITCH', the hardware limit switches outside of the permissible traversing range are always active.With 'FLEXIBLE_MOUNTED_SWITCH', the hardware limit switches can be crossed in the direction of the impermissible traversing range.
EnumYesNo
EnumAxisInterfaceActivationConfig
EnumMountSwitch
Data type: UDINT
Changeable online: No
System default: 65535
Data type: EnumMountSwitch
Changeable online: Yes, active after restart
System default: END_MOUNTED_SWITCH
NO (91) No
YES (173) Yes
STARTUP_DEACTIVATED (942) Deactivated after startup
STARTUP_ACTIVATED (943) Active after startup
END_MOUNTED_SWITCH (0) Limit switch outside of the permissible traversing range always active
FLEXIBLE_MOUNTED_SWITCH (1) Limit switch can be crossed
DriveAxis
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IncEncoder - DriveAxis
The structure elements of 'IncEncoder' specify the parameters for an incremental encoder.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enableZeroMonitoring
Specifies the activation status of monitoring of the number of increments between two encoder zero marks.With 'NO', monitoring of the number of increments between two encoder zero marks is not activated.With 'YES', monitoring of the number of increments between two encoder zero marks is activated.
incResolution
Specifies the number of increments per encoder revolution specified on the encoder rating plate.
incResolutionMultiplierCyclic
Specifies the multiplication factor of the cyclic actual value.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2048
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
NO (91) No
YES (173) Yes
DriveAxis
1-81SIMOTION Technology Packages Configuration DataList Manual, 11/2010
IntervalCounterConversionDataType - DriveAxis
The structure elements of 'IntervalCounterConversionData' are used to configure the encoder as an interval counter.
The 'Interval counter' encoder type is used to determine the speed using an interval duration and the number of intervals per encoder revolution.An interval is the time between two successive encoder pulses that are recorded by an encoder module.The duration (interval) between the encoder pulses is measured by the module and provided in the I/O area.
incResolution
Specifies the increments or the number of intervals or encoder pulses per encoder revolution.
referenceTime
Specifies the reference time for the measurement of the interval duration.The reference time is the time after which the counter in the encoder module used to determine the interval duration is incremented by one (interval duration = count * reference time).
Associated parameters (maximum):
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0005 ms
DriverInfo(StructSensorDriverInfo)
AnalogDriverInfo (Only the logical address 'logAddress' of the reference value for the inter-val duration stored by the encoder module in the I/O area has to be specified. The other elements of the 'StructSensorDriverInfo' structure are not taken into account for the configuration of the interval counter.)
DriveAxis
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InversCountDirection - DriveAxis
The structure elements of 'InversCountDirection' specify the counting direction of the actual encoder value.
encoderFeedbackPolarity
Specifies whether the counting direction of the actual encoder value is inverted.With NO, the count direction of the actual encoder value is not inverted. (System default)With YES, the count direction of the actual encoder value is inverted.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
DriveAxis
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InvertSetPoint - DriveAxis
The inversion of actuating signal is specified with the structure elements for 'InvertSetPoint'.With an electrical axis, this means the adaptation of the direction of rotation of the drive to the rotati-onal direction of the machine.With a hydraulic axis, this means the inversion of the F-output behind the characteristic curve.
invSetPoint
Specifies the activation status of the manipulated variable inversion.With 'NO', the manipulated variable is output unchanged.With 'YES', the manipulated variable is output inverted.
EnumYesNo
InvertSetPointHydraulicType - DriveAxis
The structure element for 'InvertSetPoint' specifies the inversion of the Q-output value after the cha-racteristic.
invert
Specifies the activation status.With NO, the Q-output value behind the characteristic curve is output unchanged.With YES, the Q-output value behind the characteristic curve is output inverted.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
NO (91) No
YES (173) Yes
DriveAxis
1-84 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
LinearMotorDriveData - DriveAxis
The structure elements of 'LinearMotorDriveData' specify key drive values for linear motors.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
forceReductionGranularity
Specifies the fine resolution of the force reduction.
forceReference
Selection setting for scaling: Reference force or maximum force.
maxForce
Specifies the maximum force.
maxSpeed
Specifies the maximum traversing velocity.
nominalForce
Specifies the maximum force.
nominalSpeed
Specifies the reference velocity.
Data type: EnumAxisTorqueForceReductionGranularity
Changeable online: Yes, active after restart
System default: BASIC
Data type: EnumAxisReferenceMaxNominal
Changeable online: Yes, active after restart
System default: MAX_VALUE
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1000.0 N
Data type: LREAL
Changeable online: No
System default: 3000.0 1/min
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1000.0 N
Data type: LREAL
Changeable online: No
System default: 3000.0 1/min
DriveAxis
1-85SIMOTION Technology Packages Configuration DataList Manual, 11/2010
speedReference
Selection setting for scaling: Reference velocity or maximum velocity.
EnumAxisTorqueForceReductionGranularity
EnumAxisReferenceMaxNominal
Data type: EnumAxisReferenceMaxNominal
Changeable online: Yes, active after restart
System default: MAX_VALUE
STANDARD (0) Resolution 1/100
BASIC (16) Resolution 1/16384
MAX_VALUE (0) Maximum value
NOMINAL_VALUE (1) Nominal value
DriveAxis
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LinearStepMotorDriveDataType - DriveAxis
The structure elements of 'LinearStepMotorDriveData' specify key drive values for stepper motors.
maxFrequency
Specifies the maximum frequency for motor steps.
stepMotorResolution
Specifies the number of motor steps per revolution.
Data type: LREAL
Changeable online: No
System default: 50000.0 Hz
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1000
DriveAxis
1-87SIMOTION Technology Packages Configuration DataList Manual, 11/2010
MaxAcceleration - DriveAxis
The structure elements of 'MaxAcceleration' define the maximum permissible acceleration and the monitoring mode for the change of the manipulated variable.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enableSetPointMonitoring
Specifies the activation status of the monitoring of the manipulated variable changeWith 'NO', the monitoring is deactivated.With 'YES', the monitoring is activated. The change of the manipulated variable is monitored but not limited.The value specified in 'maxAcceleration.maximum' is converted into the value for the maximum change of the manipulated variable.
maximum
Specifies the maximum permissible acceleration.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 3600000.0 1/min²
NO (91) No
YES (173) Yes
DriveAxis
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MaxForceCommandData - DriveAxis
The structure elements for 'MaxForceCommandData' are used to configure the type of setpoint gene-ration.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
maximum
Specifies the maximum force/pressure setpoint.
maximumDerived
Specifies the maximum rise of the maximum force/pressure setpoint.
MaxJerk - DriveAxis
The structure element of 'MaxJerk' defines the maximum permissible jerk.
NoteFurther information is provided:Function Manual "TO Axis Electric/Hydraulic, External Encoder".SIMOTION Basic Functions Function ManualOnline help
maximum
Specifies the maximum possible jerk.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1000.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10000.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 4320000000.0 1/min³
DriveAxis
1-89SIMOTION Technology Packages Configuration DataList Manual, 11/2010
MaxVelocity - DriveAxis
The structure element of 'MaxVelocity' defines the maximum permissible velocity.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
maximum
Specifies the maximum permissible velocity.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 3000.0 1/min
DriveAxis
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NeutralBand - DriveAxis
The structure elements of 'NeutralBand' specify the parameters for neutral band compensation.
centreValue
Specifies the center point of the neutral band.
enable
Specifies the activation status of neutral band compensation.With NO, the neutral band compensation is not activated.With YES, the neutral band compensation is activated.
range
Specifies the range of the neutral band.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
NO (91) No
YES (173) Yes
DriveAxis
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NumberOfAdditionalSensors - DriveAxis
The structure elements for 'NumberOfAdditionalSensors' are used to configure the additional enco-ders.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
number
Specifies the number of encoders for a force-controlled axis
Associated parameters (maximum):
Data type: UDINT
Changeable online: No
System default: 1
AdditionalSensor_1(AdditionalSensorMain)
Encoder 1
AdditionalSensor_2(AdditionalSensorMain)
Encoder 2
AdditionalSensor_3(AdditionalSensorMain)
Encoder 3
AdditionalSensor_4(AdditionalSensorMain)
Encoder 4
AdditionalSensor_5(AdditionalSensorMain)
Encoder 5
AdditionalSensor_6(AdditionalSensorMain)
Encoder 6
AdditionalSensor_7(AdditionalSensorMain)
Encoder 7
AdditionalSensor_8(AdditionalSensorMain)
Encoder 8
DriveAxis
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NumberOfDataSets - DriveAxis
The structure elements for 'NumberOfDataSets' specify the number of data sets.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
changeMode
Specifies the mode for data set change.With 'NEVER', data record switchover does not take place.With 'IN_POSITION', the data record switchover takes place when the positioning window is reached.With 'IN_STANDSTILL', the data record switchover takes place when the standstill signal is present.With 'IMMEDIATELY', data record switchover takes place immediately.
initDataSet
Specifies the initialization data set.
numberOfDataSets
Specifies the number of data sets.
smoothingTimeByChangeDifference
The time constant parameterizes a PT1 element that smoothes abrupt changes in the manipulated variable. Such jumps occur, for example, as a result of Kv changes.
This filter is not effective for changes in the Kv factor.This filter is effective for data record changes.
EnumChangeMode
Data type: EnumChangeMode
Changeable online: Yes, active after restart
System default: IN_STANDSTILL
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: No
System default: 1
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
NEVER (0) No switchover
IN_POSITION (1) Switchover when axis in positioning window
IN_STANDSTILL (3) Switchover when axis below standstill velocity
IMMEDIATELY (7) Immediate switchover
DriveAxis
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Associated parameters (maximum):
DataSet_1(DataSetMain)
Data record 1
DataSet_10(DataSetMain)
Data record 10
DataSet_11(DataSetMain)
Data record 11
DataSet_12(DataSetMain)
Data record 12
DataSet_13(DataSetMain)
Data record 13
DataSet_14(DataSetMain)
Data record 14
DataSet_15(DataSetMain)
Data record 15
DataSet_16(DataSetMain)
Data record 16
DataSet_2(DataSetMain)
Data record 2
DataSet_3(DataSetMain)
Data record 3
DataSet_4(DataSetMain)
Data record 4
DataSet_5(DataSetMain)
Data record 5
DataSet_6(DataSetMain)
Data record 6
DataSet_7(DataSetMain)
Data record 7
DataSet_8(DataSetMain)
Data record 8
DataSet_9(DataSetMain)
Data record 9
DriveAxis
1-94 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
NumberOfEncoders - DriveAxis
The structure element of 'NumberOfEncoders' sets the number of encoders.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
dscEncoderNumber
Specifies the DSC encoder.
numberOfEncoders
Specifies the number of encoders.
Associated parameters (maximum):
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 0
Encoder_1(EncoderMain)
Encoder 1
Encoder_2(EncoderMain)
Encoder 2
Encoder_3(EncoderMain)
Encoder 3
Encoder_4(EncoderMain)
Encoder 4
Encoder_5(EncoderMain)
Encoder 5
Encoder_6(EncoderMain)
Encoder 6
Encoder_7(EncoderMain)
Encoder 7
Encoder_8(EncoderMain)
Encoder 8
DriveAxis
1-95SIMOTION Technology Packages Configuration DataList Manual, 11/2010
OutputLimits - DriveAxis
The structure element 'OutputLimits' is used to configure the manipulated variable limitation.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
_max
Specifies the maximum output value for the force controller.
_min
Specifies the minimum output value for the force controller.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 500.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: -500.0
DriveAxis
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PID_ControllerForce - DriveAxis
The structure element 'PID_Controller' is used to configure the PID controller.
decayTime
Delay time constant of D-action component
enableAntiWindup
Specifies the activation status of the integrator limitation.With 'NO', the integrator limitation is not activated.With 'YES', the integrator limitation is activated.
integratorFeedbackTimeConstant
Specifies the time constant to deactivate the I component.
kd
Specifies the D component gain.
ki
Specifies the I component gain.
kp
Specifies the P component gain.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0
DriveAxis
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kpc
Specifies the pre-control factor.
preCon
Specifies the activation status of the precontrol system.With 'NO', the precontrol is not activated.With 'YES', the precontrol is activated.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 100.0 %
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
DriveAxis
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PID_ControllerPos - DriveAxis
The structure element 'PID_Controller' is used to configure the PID controller.
balanceFilterMode
Specifies the balancing filter.
decayTime
Specifies the delay time constant of the D component.
enableAntiWindup
Activation of the integrator limitation.
kd
Specifies the D component gain.
ki
Specifies the I component gain.
kp
Specifies the P component gain.
Data type: EnumBalanceFilterMode
Changeable online: Yes, active after restart
System default: MODE_1
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 1/s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0
DriveAxis
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kpc
Specifies the pre-control factor.
preCon
Specifies the activation status of the precontrol system.With 'NO', the precontrol is not activated.With 'YES', the precontrol is activated.
EnumBalanceFilterMode
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 100.0 %
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
OFF (0) Balancing filter not active
MODE_1 (1) Balancing filter active
MODE_2 (2) Expanded balancing filter active
NO (91) No
YES (173) Yes
DriveAxis
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ProcessModel - DriveAxis
The structure elements of 'ProcessModel' set the parameters for the process model.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
T1
Specifies the first time constant.
T2
Specifies the second time constant.
ks
Specifies the transmission factor.
Range - DriveAxis
The 'Range' structure elements are used to configure the definition range of the read encoder values.
_max
Specifies the maximum value.
_min
Specifies the minimum value.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.003 s
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0001 s
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.00000095367431640625
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10000.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: -10000.0
DriveAxis
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RestartConditionInfo - DriveAxis
'RestartConditionInfo' is used to set the state in which axis restart is possible.
restartAxisCondition
Specifies the condition for restart.With 'NO_CONSTRAINTS', restart takes place irrespective of the axis state.With 'STANDSTILL', restart takes place only when a standstill signal is present.With 'AXIS_DISABLED', restart only takes place if there are no enables set on the axis.
EnumRestartAxisCondition
Data type: EnumRestartAxisCondition
Changeable online: Yes, active after restart
System default: AXIS_DISABLED
NO_CONSTRAINTS (0) Restart without constraints
STANDSTILL (1) Restart during standstill
AXIS_DISABLED (2) Restart only when no enables are set
DriveAxis
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RestartInfo - DriveAxis
'RestartInfo' is used to enable technology object restart with system variables and/or by command or just by command.
behaviorInvalidSysvarAccess
If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology object is restarted or deactivated.The values stored in the image are supplied when system variables are accessed during the techno-logy object restart or deactivation phase.
restartActivationSetting
With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with system variables and/or by command.With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
EnumToRestartActivationSetting
Data type: EnumToInvalidSysvarAccess
Changeable online: No
System default: LAST_VALUE
Data type: EnumToRestartActivationSetting
Changeable online: Yes, active after restart
System default: RESTART_BY_SYSVAR_AND_COMMAND
DEFAULT_VALUE (2) Supply substitute value from default value
STOP_DEVICE (3) No substitute value, switch to STOP mode
LAST_VALUE (338) Supply substitute value from last valid value
RESTART_BY_SYSVAR_AND_COMMAND (0) Allow restart via system variable and/or com-mand
RESTART_BY_COMMAND (1) Allow restart only via command
DriveAxis
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SensorControlConfig - DriveAxis
The tolerance of an encoder error is specified with the structure elements for 'SensorControlConfig'.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
tolerateSensorDefect
Specifies whether a failure of an encoder not involved in the closed-loop control should be tolerated.With 'NO', a failure is not tolerated.With 'YES', a failure is tolerated.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
DriveAxis
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SensorSetActualValue - DriveAxis
The structure elements of 'SensorSetActualValue' specify the parameters for actual value read-in via system variable.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
maxFailures
Specifies the number of permissible failures with reference to the update cycle.
updateCycle
Specifies the actual value update cycle via system variable.
EnumAxisUpdateCycle
Data type: UDINT
Changeable online: Yes, active immediately
System default: 1
Data type: EnumAxisUpdateCycle
Changeable online: Yes, active after restart
System default: IPO
IPO (0) IPO
IPO_2 (1) IPO_2
SERVO (2) Servo
IPO_FAST (3) IPO_fast
SERVO_FAST (4) Servo_fast
DriveAxis
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SetPointDriverInfo - DriveAxis
The structure elements of 'SetPointDriverInfo' specify the driver information for the drive interface.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
actorType
Specifies the type of drive.With NO_TYPE, there is no interface specification.With 'ANALOG', the interface is configured for analog drives.With 'STEPMOTOR', the interface is configured for stepper motors.
interfaceAllocation
Selects the interface behavior.With EXCLUSIVE, the driver can only be used on this technology object.With NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED, the driver can be used on this or any other technology object. The driver is deactivated on the technology object after system startup.With NON_EXCLUSIVE_AND_STARTUP_ACTIVATED, the driver can be used on this or any other technology object. The driver is activated on the technology object after system startup.
lifeSignCheck
Specifies the activation status of life sign monitoring.With NO, the sign of life monitoring is not activated.With YES, the sign of life monitoring is activated.
logAddressIn
Specifies the logical address for the input data area.
Data type: EnumAxisDioActorType
Changeable online: No
System default: NO_TYPE
Data type: EnumAxisActuatorInterfaceAllocationConfig
Changeable online: No
System default: EXCLUSIVE
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: UDINT
Changeable online: No
System default: 65535
DriveAxis
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logAddressOut
Specifies the logical address for the output data area.
maxSetPointVoltage
Specifies the standard voltage with which the analog drive reaches its rated speed.
mode
Specifies the type of drive interface.With SIMULATION, actuator and encoder are short-circuited via a delay element.With ONBOARD, the ONBOARD interfaces are used.With DPMASTER, the drive coupling is performed via PROFIBUS DP..
motorType
Specifies the motor type.With STANDARD_MOTORTYPE, operation with a standard motor is configured.With LINEAR_MOTORTYPE, operation with a linear motor is configured.
outputNumberOnDevice
Not used
Data type: UDINT
Changeable online: No
System default: 65535
Data type: LREAL
Changeable online: Yes, active after restart
System default: 10.0 V
Data type: EnumAxisDriverMode
Changeable online: No
System default: SIMULATION
Data type: EnumAxisMotorType
Changeable online: No
System default: STANDARD_MOTORTYPE
Data type: UDINT
Changeable online: No
System default: 0
DriveAxis
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telegramType
Specifies the PROFIBUS message frame type.With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set up.With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set up.With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one encoder) is set up.With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with two encoders) is set up.With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives with one encoder and DSC) is set up.With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled drives with two encoders and DSC) is set up.
The message frames DP_TEL81_STANDARD (81) to DP_TEL83_STANDARD (83) are not relevant for DriveAxis.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7 for velocity-controlled drives without encoders is set up.With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for velocity-controlled drives with one encoder is set up.With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for velocity-controlled drives with two encoders is set up.With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for velocity-controlled drives with one encoder and DSC is set up.With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for velocity-controlled drives with two encoders and DSC is set up.
The message frames DP_TEL125_SIEM_DSC_1_ENCODER_SPLINE (125) and DP_TEL126_SIEM_DSC_2_ENCODER_SPLINE (126) are not supported for he SIMOTION Version V4.2.
EnumAxisDioActorType
EnumAxisActuatorInterfaceAllocationConfig
EnumYesNo
Data type: EnumAxisTelegramType
Changeable online: No
System default: DP_TEL102_611U_POSCTRL_1_ENCODER
NO_TYPE (0) No type
ANALOG (1) Analog
STEPMOTOR (2) Step mode
EXCLUSIVE (939) Technology object (TO) exclusive
NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED (940)
TO non-exclusive and deactivated
NON_EXCLUSIVE_AND_STARTUP_ACTIVATED (941)
TO non-exclusive and active
NO (91) No
YES (173) Yes
DriveAxis
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EnumAxisDriverMode
EnumAxisMotorType
EnumAxisTelegramType
Associated parameters (maximum):
SIMULATION (0) Simulation
ONBOARD (1) Onboard
DPMASTER (2) DP Master
STANDARD_MOTORTYPE (0) Standard motor
LINEAR_MOTORTYPE (1) Linear motor
NO_TELEGRAM (0) No message frame
DP_TEL1_STANDARD (1) Standard message frame 1, PZD-2/2
DP_TEL2_STANDARD (2) Standard message frame 2, PZD-4/4
DP_TEL3_STANDARD (3) Standard message frame 3, PZD-5/9
DP_TEL4_STANDARD (4) Standard message frame 4, PZD-6/14
DP_TEL5_STANDARD (5) Standard message frame 5, PZD-9/9
DP_TEL6_STANDARD (6) Standard message frame 6, PZD-10/14
DP_TEL81_STANDARD (81) Standard message frame 81, PZD-2/6
DP_TEL83_STANDARD (83) Standard message frame 83, PZD-2/8
DP_TEL101_611U_VELCTRL_NO_ENCODER (101)
SIEMENS message frame 101, PZD-6/7
DP_TEL102_611U_POSCTRL_1_ENCODER (102)
SIEMENS message frame 102, PZD-6/10
DP_TEL103_611U_POSCTRL_2_ENCODER (103)
SIEMENS message frame 103, PZD-7/15
DP_TEL105_611U_DSC_1_ENCODER (105) SIEMENS message frame 105, PZD-10/10
DP_TEL106_611U_DSC_2_ENCODER (106) SIEMENS message frame 106/107, PZD-11/15
DriveData(DriveData)
Drive characteristics for standard motors
InvertSetPoint(InvertSetPoint)
Direction of rotation adaptation
LinearMotorDriveData(LinearMotorDriveData)
Drive characteristics for linear motors
LinearStepMotorDriveData(LinearStepMotorDriveDataType)
Drive characteristics for stepper motors
StepMotorDriveData(StepMotorDriveDataType)
Drive characteristics for stepper motors
DriveAxis
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SimulationInfo - DriveAxis
The structure elements of 'SimulationInfo' are used to set a process interface. Simulation mode is not available at present.
simulationMode
Simulation mode activation.With 'Simulation mode = NO', process connection is set.'Simulation mode = YES' is not available.
EnumYesNo
Data type: EnumYesNo
Changeable online: No
System default: NO
NO (91) No
YES (173) Yes
DriveAxis
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SmoothingFilter - DriveAxis
The structure elements for 'SmoothingFilter' specify actual velocity filtering. The filtered actual velocity is displayed in 'motionStateData.actualVelocity'.'timeConstant':- Time constant for PT1 smoothing.- Time constant for averaging.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies filter functionality.With NO, the filter functionality is deactivated.With YES, the filter functionality is activated.
mode
Specifies criterion for actual value smoothing.With 'DEFAULT_MODE', the ratio of interpolator cycle clock to position servo cycle clock is used.With 'AVERAGING', an average over time is used.With 'PT1', a filter set via 'timeConstant' is used.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
EnumAxisFilterMode
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumAxisFilterMode
Changeable online: Yes, active after restart
System default: DEFAULT_MODE
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
DEFAULT_MODE (0) No filter
AVERAGING (1) Form mean value
PT1 (2) PT1 filter
DriveAxis
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StandStillSignal - DriveAxis
The structure elements of 'StandStillSignal' specify the parameters for the velocity-dependent stand-still signal.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
delayTimeToActivate
Specifies the delay time to activation of the velocity-dependent standstill signal.
filterDegree
Specifies the filter degree.
filterFrequency
Specifies the filter frequency.
maxVeloStandStill
Specifies the velocity limit below which the velocity-dependent standstill signal is active.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: UINT
Changeable online: Yes, active immediately
System default: 0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 Hz
Data type: LREAL
Changeable online: Yes, active immediately
System default: 30.0 mm/min
DriveAxis
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StepMotorDriveDataType - DriveAxis
The structure elements of 'StepMotorDriveData' specify key drive values for stepper motors.
maxFrequency
Specifies the maximum frequency for motor steps.
stepMotorResolution
Specifies the number of motor steps per revolution.
Data type: LREAL
Changeable online: No
System default: 50000.0 Hz
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1000
DriveAxis
1-113SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StepMotorMonitoringType - DriveAxis
The structure elements belonging to 'StepMotorMonitoring' are used to set the rotation monitoring for step motor operation.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
beroCycleDistance
Specifies the maximum allowed deviation of motor steps per revolution.
beroCycleTolerance
Specifies a tolerance range around beroCycleDistance.
enable
Specifies the activation status of the step motor monitoring.
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2048
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2048
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
DriveAxis
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StructAxisAdditionalOffset - DriveAxis
The structure elements belonging to 'AdditionalOffset' are used to set the offset application for traver-sal of the axis with motion/force control.The offset is applied during traversal of the axis with motion control related to the velocity setpoint.For force/pressure specification, the offset application is based on the actual velocity value.
enable
Specifies the activation status of the offset application.With NO, the offset application is not activated.With YES , the offset application is activated.
forceControlLowerLimit
Specifies the activation threshold for 'offsetForceControlPositive/Negative'.The offset acts when the 'forceControlLowerLimit' value has been exceeded.
offsetForceControlNegative
Specifies the offset for traversal with force specification and negative direction of movement.
offsetForceControlPositive
Specifies the offset for traversal with force control and positive direction of movement.
offsetMotionControlNegative
Specifies the offset for traversal with motion control and negative direction of movement.
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm/s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm/s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm/s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm/s
DriveAxis
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offsetMotionControlPositive
Specifies the offset for traversal with motion control and positive direction of movement.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm/s
NO (91) No
YES (173) Yes
DriveAxis
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StructAxisDriveControlConfig - DriveAxis
Settings for the drive are specified with the 'DriveControlConfig' configuration data.
dataAdaption
The 'dataAdaption' configuration data activates the adaptation of the drive data.With 'YES', is the adaptation active.With 'NO', is the adaptation deactivated.
pulsesEnabledEvaluation
The 'PulsesEnabledEvaluation' configuration data describes the behavior of the axis for a drive-inde-pendent stop response.With 'YES', the Pulses-Enabled bit is always processed.With 'COMPATIBILITY_MODE', the Pulses-Enabled bit is only processed for selected safety data block.
releaseDisableMode
The behavior of the drive during the RELEASE_DISABLE error response is specified with the 'release-DisableMode' configuration data.
Specifies the values of bits 0 - 6 to be reset in the PROFIDrive protocol.The bits are negated by the system and ANDed with the existing control word. The specified bits are reset.
Meaning of the bits in the PROFIdrive protocol:Bit0 - ONBit1 - No Coast StopBit2 - No Quick StopBit3 - Enable OperationBit4 - Enable Ramp GeneratorBit5 - Unfreeze Ramp GeneratorBit6 - Enable Setpoint
EnumYesNo
EnumAxisPulsesEnabledEvaluation
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumAxisPulsesEnabledEvaluation
Changeable online: Yes, active after restart
System default: COMPATIBILITY_MODE
Data type: UDINT
Changeable online: Yes, active immediately
System default: 127
NO (91) No
YES (173) Yes
YES (173) Pulses-Enabled bit is always processed
COMPATIBILITY_MODE (959) The Pulses-Enabled bit is only processed for selected safety data block
DriveAxis
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Associated parameters (maximum):
pulsesEnabled(StructAxisPulsesEnabledConfig)
Position of PulsesEnabled bit
DriveAxis
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StructAxisDriveSafetyExtendedFunctionsInfoDataIn - DriveAxis
Specifies the logical address for the communication with the drive.
logAddress
Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data in the cyclic message frame from the drive.
Data type: UDINT
Changeable online: No
System default: 65535
DriveAxis
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StructAxisFilterForceControlConfig - DriveAxis
The filter at the output of the force controller is configured with the structure element 'FilterForceCon-trol'.
T1
Specifies the T1 time constant of the PT2 filter.
T2
Specifies the T2 time constant of the PT2 filter.
_type
With 'PT2', a PT2 filter is selected.
enable
This data element activates the filter
EnumForceControllerFilterType
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
Data type: EnumForceControllerFilterType
Changeable online: Yes, active after restart
System default: PT2
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
PT2 (909) PT2
NO (91) No
YES (173) Yes
DriveAxis
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StructAxisInvertFOutput - DriveAxis
The structure element for 'InvertF' specifies the inversion of the F-output value in front of the charac-teristic.
invSetPoint
Specifies the activation status.With 'NO', the F output value in front of the characteristic curve (logical manipulated variable) is output unchanged.With 'YES', the F output value in front of the characteristic curve (logical manipulated variable) is out-put inverted.
EnumYesNo
StructAxisInvertQOutput - DriveAxis
The structure element for 'InvertQ' specifies the inversion of the Q-output value in front of the charac-teristic.
invSetPoint
Specifies the activation status.With 'NO', the Q output value in front of the characteristic curve (logical manipulated variable) is output unchanged.With 'YES', the Q output value in front of the characteristic curve (logical manipulated variable) is out-put inverted.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
DriveAxis
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StructAxisNistDriverConfig - DriveAxis
The parameters for the actual speed value hardware are specified with the structure elements for 'NistDriverConfig' .
logAddress
Specifies the logical address for the actual speed value.
Data type: UDINT
Changeable online: No
System default: 65535
DriveAxis
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StructAxisOperatingDataInInfo - DriveAxis
Specifies the configuration of the operating character data block.
enableActivePower
Specifies the activation of the effective power display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableActualCurrent
Specifies the activation of the actual current value display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableActualTorqueOrForce
Specifies the activation of the torque / force actual value display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableMotorTemperature
Specifies the activation of the motor temperature display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableTorqueOrForceUtilization
Specifies the activation of the torque utilization display.With 'NO', the display is not activated.With 'YES', the display is activated.
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
DriveAxis
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logAddress
Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data in the cyclic message frame from the drive.
EnumYesNo
Data type: UDINT
Changeable online: No
System default: 65535
NO (91) No
YES (173) Yes
DriveAxis
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StructAxisPulsesEnabledConfig - DriveAxis
The bit position for pulsesEnable is defined with the configuration data in 'StructAxisPulsesEnabled-Config'.
bitNumber
Specifies the bit number for pulse enable.
pzdNumber
Specifies the PZD number for pulse enable.
StructAxisServoMonitoringConfig - DriveAxis
The structure elements for 'ServoMonitoring' are used to set the activation status of the control loop monitoring for activated limitation by the Q/P valve.
motionMonitoringWhenExternalForceLimiting
Activation of the control loop monitoring with an active pressure limiting command.With 'YES', the monitoring is active.With 'NO', the monitoring is not active.
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 13
Data type: UDINT
Changeable online: Yes, active after restart
System default: 5
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
DriveAxis
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StructAxisSetpointFilter - DriveAxis
The 'setpointFilter' structure element is used to configure a PT1 filter in the manipulated variable branch.
T1
Specifies the T1 time constant of the PT1 filter.
enable
This data element activates the filter
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
DriveAxis
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StructAxisSlidingFriction - DriveAxis
The structure elements of 'Sliding Friction' specify sliding friction compensation.
enable
Specifies the activation status of friction torque compensation.With 'NO', the sliding friction compensation is not activated.With 'YES', the sliding friction compensation is activated.
factorForceControl
Factor for the sliding friction compensation relative to the actual velocity whentraversing via force/pressure control.
factorMotionControl
Factor for the sliding friction compensation relative to the setpoint velocity whentraversing via motion control.
maxSlidingFrictionForceControl
Specifies the upper limit for the sliding friction component for pressure control.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
NO (91) No
YES (173) Yes
DriveAxis
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StructAxisSpeedLimitation - DriveAxis
Parameters for asymmetric manipulated variable limitation. This function is also referred to as a back-stop.
enable
Specifies the activation status of the velocity range limit..With 'NO', the velocity limit is not activated.With 'YES', the velocity limit is activated.
maxSpeed
Specifies the upper limit for the manipulated variable range.
minSpeed
Specifies the lower limit for the manipulated variable range.
EnumYesNo
StructAxisSystemDeadTimeData - DriveAxis
The structure elements belonging to 'SystemDeadTimeData' allow the correction of system-related dead times.
additionalTime
Correction value for system-related dead times.
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 1/min
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 1/min
NO (91) No
YES (173) Yes
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 s
DriveAxis
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StructAxisTechnologicalData - DriveAxis
The structure elements belonging to TechnologicalData are used to specify addresses for additional data exchange between drive and control unit.
driveSafetyExtendedFunctionsEnabled
Specifies the activation status of the SINAMICS Safety Integrated Extended Functions data.With 'NO', the data are not activated.With 'YES', the data are activated.
enable
Specifies the activation status of the technological data.With 'NO', the technology data are not activated.With 'YES', the technology data are activated.
EnumYesNo
Associated parameters (maximum):
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
NO (91) No
YES (173) Yes
DriveSafetyExtendedFunctionsInfoDataIn(StructAxisDriveSafetyExtendedFunctionsInfo-DataIn)
Drive interface for SINAMICS Safety Integrated Extended Functions data
OperatingDataInInfo(StructAxisOperatingDataInInfo)
Drive interface for operating characteristics
TechnologicalDataInInfo(StructAxisTechnologicalDataInInfo)
Drive interface for specific actual values
TechnologicalDataOutInfo(StructAxisTechnologicalDataOutInfo)
Drive interface for specific setpoints
DriveAxis
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StructAxisTechnologicalDataInInfo - DriveAxis
Specifies the logical address for the communication with the drive.
logAddress
Specifies the logical address for the transfer of specific parameters in the cyclical message frame from the drive.
StructAxisTechnologicalDataOutInfo - DriveAxis
Specifies the logical address for the communication with the drive.
logAddress
Specifies the logical address for the transfer of specific parameters in the cyclical message frame to the drive.
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: No
System default: 65535
DriveAxis
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StructControllerOutput - DriveAxis
Configures the controller for a hydraulic axis.
outputType
Type of output interface.With 'DIRECT_OUTPUT', the output takes place via the analog interface.With 'DRIVE_INTERFACE', the output takes place via the onboard interface or via PROFIdrive.
EnumAxisControllerOutput
Associated parameters (maximum):
Data type: EnumAxisControllerOutput
Changeable online: No
System default: DIRECT_OUTPUT
DIRECT_OUTPUT (1) Analog interface
DRIVE_INTERFACE (2) Onboard interface or PROFIdrive
DirectOutputDriverInfo(StructDirectOutputDriverInfo)
Parameters of the analog driver
DriveInterfaceDriverInfo(StructDriveInterfaceDriverInfo)
Parameters of the driver for the drive interface
EnableBit(StructEnableBit)
Enable bit
InvertF(StructAxisInvertFOutput)
Inversion of the F-output in front of the characte-ristic curve
InvertFOutput(InvertSetPoint)
Inversion of the F-output behind the characteris-tic curve
DriveAxis
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StructDaxDynamicQFData - DriveAxis
The structure elements belonging to 'DynamicQFData' specify the dynamic data of the cascade con-trol system.
qOutputTimeConstant
Specifies the equivalent time constant of the torque control system.
velocityTimeConstant
Specifies the equivalent time constant of the velocity control system.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.00005 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0005 s
DriveAxis
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StructDirectOutputDriverInfo - DriveAxis
The structure elements of 'DirectOutputDriverInfo' are used to configure the controller for a hydraulic axis.
format
Specifies the format of the actual value.
logAddress
Specifies the address.
maxOutputVoltage
Not used
resolution
Specifies the number of relevant bits.
EnumActualValueFormat
Data type: EnumActualValueFormat
Changeable online: Yes, active after restart
System default: VALUE_LEFT_MARGIN
Data type: UDINT
Changeable online: No
System default: 65535
Data type: LREAL
Changeable online: Yes, active after restart
System default: 10.0 V
Data type: UDINT
Changeable online: Yes, active after restart
System default: 15
VALUE_RIGHT_MARGIN (0) Right-justified
VALUE_LEFT_MARGIN (1) Left-justified
VALUE_LEFT_MARGIN_WITHOUT_SIGN (2) Left-justified without sign
VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3) Right-justified without sign
DriveAxis
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StructDriveInterfaceDriverInfo - DriveAxis
The structure elements of 'DriveInterfaceDriverInfo' are used to configure the controller for a hydraulic axis.
actorType
Specifies the type of drive.With NO_TYPE, there is no interface specification.With ANALOG, the interface is configured for analog drives.With STEPMOTOR, the interface is configured for stepper motors.
lifeSignCheck
Specifies the activation status of life sign monitoring.With 'NO', the sign of life monitoring is not activated.With 'YES', the sign of life monitoring is activated.
logAddressIn
Specifies the logical address for the input data area.
logAddressOut
Specifies the logical address for the output data area.
maxOutputVoltage
Specifies the standard voltage on which the analog drive reaches its maximum speed.
Data type: EnumAxisDioActorType
Changeable online: No
System default: NO_TYPE
Data type: EnumYesNo
Changeable online: No
System default: YES
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: No
System default: 65535
Data type: LREAL
Changeable online: No
System default: 10.0 V
DriveAxis
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mode
Specifies the type of drive interface.With 'ONBOARD', an onboard analog interface is used.With 'DPMASTER', an onboard PROFIBUS DP interface is used.With 'SIMULATION', a drive interface is simulated.
outputNumberOnDevice
Reserved
telegramType
Specifies the PROFIBUS message frame type.With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set up.With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set up.With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one encoder) is set up.With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with two encoders) is set up.With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives with one encoder and DSC) is set up.With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled drives with two encoders and DSC) is set up.With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7 for velocity-controlled drives without encoders is set up.With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for velocity-controlled drives with one encoder is set up.With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for velocity-controlled drives with two encoders is set up.With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for velocity-controlled drives with one encoder and DSC is set up.With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for velocity-controlled drives with two encoders and DSC is set up.
EnumAxisDioActorType
Data type: EnumAxisDriverMode
Changeable online: No
System default: SIMULATION
Data type: DINT
Changeable online: No
System default: 0
Data type: EnumAxisTelegramType
Changeable online: No
System default: DP_TEL102_611U_POSCTRL_1_ENCODER
NO_TYPE (0) No type
ANALOG (1) Analog
STEPMOTOR (2) Step mode
DriveAxis
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EnumYesNo
EnumAxisDriverMode
EnumAxisTelegramType
NO (91) No
YES (173) Yes
SIMULATION (0) Simulation
ONBOARD (1) Onboard
DPMASTER (2) DP Master
NO_TELEGRAM (0) No message frame
DP_TEL1_STANDARD (1) Standard message frame 1, PZD-2/2
DP_TEL2_STANDARD (2) Standard message frame 2, PZD-4/4
DP_TEL3_STANDARD (3) Standard message frame 3, PZD-5/9
DP_TEL4_STANDARD (4) Standard message frame 4, PZD-6/14
DP_TEL5_STANDARD (5) Standard message frame 5, PZD-9/9
DP_TEL6_STANDARD (6) Standard message frame 6, PZD-10/14
DP_TEL81_STANDARD (81) Standard message frame 81, PZD-2/6
DP_TEL83_STANDARD (83) Standard message frame 83, PZD-2/8
DP_TEL101_611U_VELCTRL_NO_ENCODER (101)
SIEMENS message frame 101, PZD-6/7
DP_TEL102_611U_POSCTRL_1_ENCODER (102)
SIEMENS message frame 102, PZD-6/10
DP_TEL103_611U_POSCTRL_2_ENCODER (103)
SIEMENS message frame 103, PZD-7/15
DP_TEL105_611U_DSC_1_ENCODER (105) SIEMENS message frame 105, PZD-10/10
DP_TEL106_611U_DSC_2_ENCODER (106) SIEMENS message frame 106/107, PZD-11/15
DriveAxis
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StructDriverInfoDirectIncremental - DriveAxis
The parameters for the direct incremental encoder hardware are specified with the structure elements for 'DriverInfoDirectIncremental' .
logAddress
Specifies the logical address of the communication module.
resolution
Specifies the number of bits of the incremental encoder.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
Data type: UDINT
Changeable online: Yes, active after restart
System default: 16
DriveAxis
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StructEnableBit - DriveAxis
The structure elements for 'EnableBit' can be used to configure an output bit for indicating the enables.
bitNumberOnDevice
Specifies the I/O bit number within the I/O byte specified by the logical address.
enable
Specifies whether the output cam result is output.With 'NO', the output bit is not used to display the enables.With 'YES', the output bit is used to display the enables.
logAddress
Specifies the address.
EnumYesNo
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: UDINT
Changeable online: No
System default: 65535
NO (91) No
YES (173) Yes
DriveAxis
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StructPressureDifferenceMeasurement - DriveAxis
The structure element 'PressureDifferenceMeasurement' is used to configure the parameters for the differential pressure measurement.
areaA
Specifies the area parameter for pressure sensor A.
areaB
Specifies the area parameter for pressure sensor B.
factor
Specifies a normalization factor for the determined difference value.
invert
Specifies whether the sign of the differential value should be inverted.With NO, the sign is not inverted.With YES, the sign is inverted.
numberSensorA
Specifies the sensor number for detecting the pA pressure.
numberSensorB
Specifies the sensor number for detecting the pB pressure.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2
DriveAxis
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EnumYesNo
Associated parameters (maximum):
NO (91) No
YES (173) Yes
Filter(Filter)
Differential value smoothing
Range(Range)
Differential value limitation
DriveAxis
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StructSensorDriverInfo - DriveAxis
The elements of this structure are used to configure the I/O module of the additional encoder.
errorToleranceTime
Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Specifies the logical address of the communication module.
maxValue
Specifies the maximum digitalized measured value for the additional encoder.
minValue
Specifies the minimal digitalized measured value for the additional encoder.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1 s
Data type: EnumActualValueFormat
Changeable online: Yes, active after restart
System default: VALUE_LEFT_MARGIN
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
Data type: DINT
Changeable online: Yes, active immediately
System default: 32511
Data type: DINT
Changeable online: Yes, active immediately
System default: -32512
DriveAxis
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resolution
Specifies the number of relevant bits for the additional encoder.
EnumActualValueFormat
Data type: UDINT
Changeable online: Yes, active after restart
System default: 15
VALUE_RIGHT_MARGIN (0) Right-justified
VALUE_LEFT_MARGIN (1) Left-justified
VALUE_LEFT_MARGIN_WITHOUT_SIGN (2) Left-justified without sign
VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3) Right-justified without sign
DriveAxis
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TypeOfAxisInfo - DriveAxis
The structure elements of 'TypeOfAxis' specify the axis parameters.
typeOfAxis
Specifies the type of axis configured.
With REAL_AXIS, the axis is connected to a real process.
REAL_QFAXIS corresponds to an axis with quantity and force control.
REAL_QFAXIS_WITH_OPEN_LOOP_FORCE_CONTROL corresponds to an axis with open-loop force control by way of a separate force/pressure limitation valve.
REAL_QFAXIS_WITH_CLOSED_LOOP_FORCE_CONTROL corresponds to an axis with closed-loop force/pressure specification via Q-valve.
EnumAxisIdentification
Associated parameters (maximum):
Data type: EnumAxisIdentification
Changeable online: No
System default: REAL_AXIS
REAL_AXIS (0) Real electric axis
VIRTUAL_AXIS (1) Virtual axis
REAL_AXIS_WITH_FORCE_CONTROL (2) Real electric axis with force/pressure control
REAL_QFAXIS (3) Real hydraulic axis (Q-valve)
REAL_QFAXIS_WITH_OPEN_LOOP_FORCE_CONTROL (4)
Real hydraulic axis with force/pressure specifi-cation (Q-valve and P-valve)
REAL_QFAXIS_WITH_CLOSED_LOOP_FORCE_CONTROL (5)
Real hydraulic axis with force/pressure control (Q-valve)
REAL_QFAXIS_WITH_OPEN_LOOP_FORCE_CONTROL_ONLY (6)
Real hydraulic axis with force/pressure specifi-cation (P-valve)
REAL_AXIS_WITH_SIGNAL_OUTPUT (7) Real electric axis with master value output via encoder signal simulation
ActualVelocityMonitoring(ActualVelocityMonitoring)
Actual velocity monitoring
AdditionalOffset(StructAxisAdditionalOffset)
Offset injection for axis traversing with motion/force control
DecodingConfig(DecodingConfig)
Command processing
Drift(Drift)
Drift compensation
DriveControlConfig(StructAxisDriveControlConfig)
Drive-related settings
EmergencyRampGenerator(EmergencyRampGenerator)
Emergency ramp generator
FOutput(StructControllerOutput)
Manipulated variable interface for F output
FineInterpolator(FineInterpolator)
Fine interpolator
DriveAxis
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ForceControlHeldValueMonitoring(ForceControlHeldValueMonitoring)
Force/pressure end value monitoring
ForceControlRunningInWindowMonitoring(ForceControlRunningInWindowMonitoring)
Force/pressure entry monitoring
Friction(Friction)
Friction torque compensation
HWEndPos(HWEndPos)
Hardware limit switches
MaxAcceleration(MaxAcceleration)
Maximum acceleration
MaxForceCommandData(MaxForceCommandData)
Limitations for force/pressure setpoint
MaxJerk(MaxJerk)
Maximum jerk
MaxVelocity(MaxVelocity)
Maximum velocity
NeutralBand(NeutralBand)
Neutral band compensation
NumberOfAdditionalSensors(NumberOfAdditionalSensors)
Configured encoder of a force-controlled axis
NumberOfDataSets(NumberOfDataSets)
Data records for the controller configuration
NumberOfEncoders(NumberOfEncoders)
Configured encoder
QOutput(StructControllerOutput)
Manipulated variable interface for Q output
ServoMonitoring(StructAxisServoMonitoringConfig)
Activate control loop monitoring with active pres-sure limiting command
SetPointDriverInfo(SetPointDriverInfo)
Drive interface
SetpointFilter(StructAxisSetpointFilter)
Manipulated variable filter
SlidingFriction(StructAxisSlidingFriction)
Sliding friction compensation
SmoothingFilter(SmoothingFilter)
Actual value smoothing
SpeedLimitation(StructAxisSpeedLimitation)
Manipulated variable limitation
StandStillSignal(StandStillSignal)
Standstill signal
SystemDeadTimeData(StructAxisSystemDeadTimeData)
System-dependent dead times
TechnologicalData(StructAxisTechnologicalData)
Drive interface for specific parameters
DriveAxis
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ExternalEncoderType 2Associated parameters (maximum):
• Execution (ExecutionConfigInfo)• LeadScrew (LeadScrewInfo)• Modulo (ModuloInfo)• Restart (RestartInfo)• TypeOfAxis (TypeOfAxisInfo)
AbsEncoder - ExternalEncoderType
The structure elements of 'AbsEncoder' specify the parameters for an absolute encoder.
NoteFurther information about the following parameters and on fine resolution can be found inFunction Manual "TO Axis Electric/Hydraulic, External Encoder".or in the online help
absBaudRate
Specifies the baud rate data for detecting the actual value of the absolute encoder.Baudrate_5 sets a baud rate of 3 Mbaud.Baudrate_4 sets a baud rate of 1.5 Mbaud.Baudrate_3 sets a baud rate of 750 Kbaud.Baudrate_2 sets a baud rate of 375 Kbaud.Baudrate_1 sets a baud rate of 187.5 Kbaud.
absDataLength
Specifies the number of data bits of the absolute encoder range (packet length).The number of data bits is calculated from the number of steps per revolution multiplied by the number of revolutions.For example: 2048 incr./rev. * rev.= data bit length 23
Data type: EnumAbsBaudrate
Changeable online: No
System default: Baudrate_3
Data type: UDINT
Changeable online: Yes, active after restart
System default: 24
ExternalEncoderType
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absMessageFormat
Specifies a message frame format for the absolute encoder.With RIGHT_MARGIN, the protocol format is right-justified.With PINETREE, the pine tree format is selected.
absMessageLength
Specifies the message frame length for detecting the actual value of the absolute encoder.With LENGTH_13, a protocol length of 13 bits is selected.With LENGTH_21, a protocol length of 21 bits is selected.With LENGTH_25, a protocol length of 25 bits is selected.
absResolution
Specifies the number of increments per encoder revolution specified on the encoder rating plate.
absResolutionMultiplierAbsolute
Specifies the multiplication factor of the actual value of the absolute encoder.Evaluation of the absolute encoder during request by the absolute encoder (GxIST2).
absResolutionMultiplierCyclic
Specifies the multiplication factor of the cyclic actual value of the encoder.Evaluation of the incremental signal of the absolute encoder during operation (GxIST1).
Data type: EnumAbsMsgFormat
Changeable online: No
System default: PINETREE
Data type: EnumAbsMsgLength
Changeable online: No
System default: LENGTH_25
Data type: UDINT
Changeable online: Yes, active after restart
System default: 4096
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 0
ExternalEncoderType
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absState
Specifies a protocol format for the actual value of the absolute encoder.With BIN_CODE, a binary code is selected.With GRAY_CODE, GRAY code is selected.
enableAbsMonitoring
Specifies the monitoring mode of the permissible changes of the actual value for the absolute encoder.
With YES (system default), monitoring of the permissible changes of the actual value for the absolute encoder is activated.
Actual value changes of the absolute encoder greater than or equal to the possible change in accor-dance with the maximum velocity (maxVelocity.maximum) are limited to the change in accordance with the current velocity, i.e. the velocity of the previous cycle.
Incorrect actual values, e.g. due to transmission errors, are adjusted.If the actual value changes are impermissibly high in 5 subsequent cycles, alarm 20005, reason 0, is issued.
With NO, monitoring of the permissible changes of the actual value for the absolute encoder is not activated, i.e., incorrect actual values due to transmission errors, for example, are also not changed and processed as they are.No technological alarm is issued.
NoteSwitch the monitoring function off at your own risk.
After the deactivation of the monitoring, it can no longer be guaranteed that the magnitude of the cal-culated velocity lies within the limits defined by the user.
The position and the velocity and all derived quantities are also displayed and processed also taking account of any measured values recognized as being incorrect (control, stop ramps, interpolations, positioning).
EnumAbsBaudrate
EnumAbsMsgFormat
Data type: EnumAbsState
Changeable online: No
System default: GRAY_CODE
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: YES
Baudrate_5 (16#01) 3 Mbaud
Baudrate_4 (16#02) 1.5 Mbaud
Baudrate_3 (16#04) 750 Kbaud
Baudrate_2 (16#08) 375 Kbaud
Baudrate_1 (16#10) 187.5 Kbaud
RIGHT_MARGIN (0) Right-justified
PINETREE (1) Pine tree format
ExternalEncoderType
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EnumAbsMsgLength
EnumAbsState
EnumYesNo
LENGTH_13 (13) 13 bits
LENGTH_21 (21) 21 bits
LENGTH_25 (25) 25 bits
BIN_CODE (16#00) Binary
GRAY_CODE (16#01) Gray Code
NO (91) No
YES (173) Yes
ExternalEncoderType
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AbsHomingEncoder - ExternalEncoderType
The structure elements of 'AbsHomingEncoder' specify the synchronization data for an absolute enco-der.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
absShift
Specifies the offset of the absolute encoder.
setOffsetOfAbsoluteEncoder
Specifies the effect of the absolute encoder offset set in the 'absshift' configuration data (V3.2 and hig-her).
With RELATIVE, the offset is set as an addition (default response).Actual axis value = actual encoder value + (previous offset already in effect + absshift)(new) offset = previous offset + absshift'absshift' is added to the existing absolute encoder offset whenever the _homing() function is called.
With ABSOLUTE, the offset is set as an absolute value (V3.2 and higher).'absshift' is set as the absolute encoder offset whenever the _homing() function is called.Actual axis value = actual encoder value + absshift
EnumAbsoluteRelative
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
Data type: EnumAbsoluteRelative
Changeable online: Yes, active after restart
System default: RELATIVE
ABSOLUTE (1) Absolute
RELATIVE (115) Relative
ExternalEncoderType
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ActualVelocityMonitoring - ExternalEncoderType
The structure elements of 'ActualVelocityMonitoring' specify the monitoring mode for the maximum actual velocity.
enable
Specifies the monitoring mode for the maximum actual velocity.With NO, monitoring of the actual velocity does not take place.With YES, the actual velocity is monitored for the maximum permissible value.When the maximum value is exceeded, the system variable 'sensordata.sensormonitoring.velocity' is output as 'limitexceeded'.The velocity is not limited to this value.
maximum
Specifies the maximum permissible actual velocity.
EnumYesNo
AdaptDrive - ExternalEncoderType
The structure elements of 'AdaptDrive' specify the gear ratio parameters for drive-mounted encoders.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
denFactor
Specifies the denominator of the gear ratio for a measuring gear.
numFactor
Specifies the numerator of the gear ratio for a measuring gear.
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm/s
NO (91) No
YES (173) Yes
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
ExternalEncoderType
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AdaptExtern - ExternalEncoderType
The structure elements of 'AdaptExtern' specify the gear ratio parameters for the EXTERN mounting type.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
denFactor
Specifies the denominator of the gear ratio for a measuring gear.
numFactor
Specifies the numerator of the gear ratio for a measuring gear.
AdaptLoad - ExternalEncoderType
The structure elements of 'AdaptLoad' specify the gear ratio parameters for load-side encoders.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
denFactor
Specifies the denominator of the gear ratio for a measuring gear.
numFactor
Specifies the numerator of the gear ratio for a measuring gear.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
ExternalEncoderType
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AnalogConversionDataType - ExternalEncoderType
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder values read.
_type
Specifies the interpretation type for the digitalized measured value.
factor
Specifies the weighting factor for the analog measured value. The weighting factor specifies the rela-tion between distance/velocity per bit.
offset
Specifies the offset for the analog measured value.
EnumConversionDataType
Data type: EnumConversionDataType
Changeable online: No
System default: LINEAR_CONVERSIONDATA
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
LINEAR_CONVERSIONDATA (1) Linear relationship
ExternalEncoderType
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AnalogSensorType - ExternalEncoderType
The structure elements of 'AnalogSensor' specify actual value smoothing.
Associated parameters (maximum):
ConversionData(AnalogConversionDataType)
Conversion factors between analog input value and actual position value
DriverInfo(StructSensorDriverInfo)
Driver data
ErrorStateMonitoring(StructAxisAnalogSensorErrorStateMonitoring)
Error-state monitoring
LogAddress(StructLogAddressIoBitType)
Logical address of analog sensor
PositionFilter(PositionFilterType)
Actual position value filter
ReadyStateMonitoring(StructAxisAnalogSensorReadyStateMonito-ring)
Ready-state monitoring
UpdateCounter(StructAxisActualValueUpdateCounter)
Evaluation of actual value update
ExternalEncoderType
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AssemblyBase - ExternalEncoderType
The structure elements of 'AssemblyBase' specify the parameters for the encoder mounting type.
assemblyBase
Specifies the assembly base of the encoder.With ASSEMBLY_BASE_DRIVE, the encoder is a drive-side assembly type.With ASSEMBLY_BASE_LOAD, the encoder is a load-side assembly type.With ASSEMBLY_BASE_EXTERN, the encoder is an external assembly type.With ASSEMBLY_BASE_LINEAR, the encoder is a linear assembly type.
EnumAxisEncoderAssemblyType
DecodingConfig - ExternalEncoderType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
NoteAdditional information is available at:Function Manual "TO Axis Electric/Hydraulic, External Encoder".SIMOTION MCC Motion Control Chart Programming and Operating ManualFunction Manual: Basic Functionsor in the online help
numberOfMaxBufferedCommandId
Specifies the maximum number of command IDs active simultaneously whose status can be reques-ted at the end of the relevant command.A command ID is added to the list with the ST command '_bufferAxisCommandId'.Removal from the list takes place with the ST command '_removeBufferedAxisCommandId'.
Data type: EnumAxisEncoderAssemblyType
Changeable online: Yes, active after restart
System default: ASSEMBLY_BASE_DRIVE
ASSEMBLY_BASE_DRIVE (0) Drive side
ASSEMBLY_BASE_LOAD (1) Load side
ASSEMBLY_BASE_EXTERN (2) External
ASSEMBLY_BASE_LINEAR (3) Linear
Data type: DINT
Changeable online: Yes, active after restart
System default: 100
ExternalEncoderType
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DistributedMotionInfo - ExternalEncoderType
The structure elements for 'DistributedMotion' set the sign-of-life failure tolerance.
enableDelayOfCommandValueOutput
Specifies the master-side output delay.With 'NO', the master-side output delay is deactivated.With 'YES', the master-side output delay is activated.
enableLifeSignMonitoring
Specifies life sign monitoring.With 'NO', the sign of life monitoring is deactivated.With 'YES', the sign of life monitoring is activated.
enableOffsetCompensation
Specifies offset compensation.With 'NO', the compensation of the cycle offset is deactivated.With 'YES', the compensation of the cycle offset is activated.
numberOfLifeSignFailures
Specifies the maximum number of life sign failures tolerated.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
NO (91) No
YES (173) Yes
ExternalEncoderType
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DriverInfo - ExternalEncoderType
The structure elements of 'DriverInfo' specify the parameters for the encoder hardware.
NoteAdditional information is available at:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Technology Objects Synchronous Operation, Cam Function Manualor in the online help
encoderNumberOnDevice
Specifies the number of the encoder actual value for message frames with several actual values, e.g. DP_TEL106_611U_DSC_2_ENCODER.
lifeSignCheck
Specifies the monitoring mode for the PROFIBUS DP sign of life between nodes.With 'NO', the sign of life monitoring is switched off.With 'YES', the sign of life monitoring is activated.
logAddressIn
Specifies the logical address for the input data area.
logAddressOut
Specifies the logical address for the output data area.
Data type: DINT
Changeable online: No
System default: 0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: No
System default: 65535
ExternalEncoderType
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telegramType
Specifies a PROFIdrive message frame type.With NO_TELEGRAM, a message frame is not specified.With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set up.With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set up.With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one encoder) is set up.With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with two encoders) is set up.With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives with one encoder and DSC) is set up.With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled drives with two encoders and DSC) is set up.
With DP_TEL81_STANDARD, the standard message frame 81, PZD-2/6 for an encoder is set up.With DP_TEL82_STANDARD, the standard message frame 82, PZD-2/7 for an encoder is set up.With DP_TEL83_STANDARD, the standard message frame 83, PZD-2/8 for an encoder is set up.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7 for velocity-controlled drives without encoders is set up.With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for velocity-controlled drives with one encoder is set up.With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for velocity-controlled drives with two encoders is set up.With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for velocity-controlled drives with one encoder and DSC is set up.With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for velocity-controlled drives with two encoders and DSC is set up.
EnumYesNo
EnumAxisTelegramType
Data type: EnumAxisTelegramType
Changeable online: No
System default: DP_TEL81_STANDARD
NO (91) No
YES (173) Yes
NO_TELEGRAM (0) No message frame
DP_TEL1_STANDARD (1) Standard message frame 1, PZD-2/2
DP_TEL2_STANDARD (2) Standard message frame 2, PZD-4/4
DP_TEL3_STANDARD (3) Standard message frame 3, PZD-5/9
DP_TEL4_STANDARD (4) Standard message frame 4, PZD-6/14
DP_TEL5_STANDARD (5) Standard message frame 5, PZD-9/9
DP_TEL6_STANDARD (6) Standard message frame 6, PZD-10/14
DP_TEL81_STANDARD (81) Standard message frame 81, PZD-2/6
DP_TEL83_STANDARD (83) Standard message frame 83, PZD-2/8
ExternalEncoderType
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DP_TEL101_611U_VELCTRL_NO_ENCODER (101)
SIEMENS message frame 101, PZD-6/7
DP_TEL102_611U_POSCTRL_1_ENCODER (102)
SIEMENS message frame 102, PZD-6/10
DP_TEL103_611U_POSCTRL_2_ENCODER (103)
SIEMENS message frame 103, PZD-7/15
DP_TEL105_611U_DSC_1_ENCODER (105) SIEMENS message frame 105, PZD-10/10
DP_TEL106_611U_DSC_2_ENCODER (106) SIEMENS message frame 106/107, PZD-11/15
ExternalEncoderType
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EncoderMain - ExternalEncoderType
The structure elements of 'Encoder' specify the parameters of the encoder.
dataAdaption
Selects the behaviorFor YES, the selected encoder configuration parameters will be modified by the drive.For NO, the encoder configuration parameters are configured by the user.
encoderIdentification
Specifies the encoder identification (encoder interface).With SIMULATION, the circuit between the motor and encoder is closed by means of software. Enco-der measured values are calculated from the simulated actual speed or velocity of the axis. It is not necessary to use a real encoder when simulating encoder operation.With ONBOARD, the encoder is connected to an ONBOARD encoder interface of the controller (e.g. C230, C240, etc.).With DPMASTER, the encoder is connected to an external module. Encoder data is provided via the DP interface.With DIRECT, the encoder is connected to the inputs of a digital or analog input module.With SET_ACTUAL_VALUE, the encoder measured value is provided via the 'sensorsetting.actual-value' system variable. The measured value is updated cyclically in a user program.
encoderMode
Specifies the encoder mode (encoder signal type).RECTANGLE_TTL should be selected if the incremental position is to be measured by evaluating a rectangular encoder signal.SINUS_1VPP should be selected if the incremental position is to be measured by evaluating a sinu-soidal encoder signal.RESOLVER should be selected if the incremental position is to be measured by evaluating a resol-ver's encoder signal.STEPMOT should be selected, if the incremental position is to be determined by taking a set incre-mental position for a stepper motor without an encoder.INTERVAL_COUNTER should be selected if the velocity/speed is to be measured by using an addi-tional module to count intervals between two pulses.PROFIDRIVE_NIST_A should be selected if the velocity/speed is to be determined by reading actual speed value data (16 bits wide) from the PROFIDrive message frame.PROFIDRIVE_NIST_B should be selected if the velocity/speed is to be determined by reading actual speed value data (32 bits wide) from the PROFIDrive message frame.SSI_MODE should be selected if the incremental position is to be transferred to the controller in accor-dance with the specifications of the SSI protocol (absolute encoder).ENDAT should be selected if the incremental position is to be transferred to the controller in accor-dance with the specifications of the EnDat protocol (incremental/absolute encoder).
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumAxisEncoderIdentification
Changeable online: No
System default: SIMULATION
Data type: EnumAxisEncoderMode
Changeable online: No
System default: RECTANGLE_TTL
ExternalEncoderType
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encoderSystem
Specifies the encoder system.With ROTARY, a rotary encoder system is used.With LINEAR, a linear encoder system is used.
encoderType
Specifies the encoder type.With SENSOR_INCREMENTAL, the encoder is treated as an incremental encoder.With SENSOR_ABSOLUTE, the encoder is treated as an absolute encoder.With SENSOR_CYCLIC_ABSOLUTE, the encoder is treated as an absolute encoder. The number of encoder overflows is also stored in the controller after disabling.With SENSOR_POSITION_DIFFERENCE_MEASUREMENT, an encoder is configured to allow dif-ferential measurement of position and velocity of two definable encoders.
encoderValueType
Specifies the actual value type from which the encoder value is calculated.With POSITION, the actual value is calculated for both the position and the velocity/speed.With VELOCITY, the actual value for the velocity/speed is calculated.With POSITION_AND_PROFIDRIVE_NIST_B, the actual value is calculated for the position and the actual value of the velocity/speed is read from the PROFIDrive message frame.With POSITION_AND_DIRECT_NIST_B, the actual value is calculated for the position, and the actual value for the velocity/speed is read from an area to be addressed in the process image of the inputs and outputs.
EnumYesNo
EnumAxisEncoderIdentification
Data type: EnumAxisEncoderSystem
Changeable online: No
System default: ROTATORY_SYSTEM
Data type: EnumAxisEncoderType
Changeable online: No
System default: SENSOR_INCREMENTAL
Data type: EnumAxisEncoderValueType
Changeable online: No
System default: POSITION
NO (91) No
YES (173) Yes
SIMULATION (0) Simulation
ONBOARD (1) Onboard
DPMASTER (2) DPMaster
DIRECT (4) Encoder supplies the value directly
SET_ACTUAL_VALUE (5) Actual value via system variable
ExternalEncoderType
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EnumAxisEncoderMode
EnumAxisEncoderSystem
EnumAxisEncoderType
EnumAxisEncoderValueType
RECTANGLE_TTL (1) Rectangle
SSI_MODE (2) SSI
STEPMOTOR (3) Stepper motor
ENDAT (4) Endat
SINUS_1VPP (5) Sine
RESOLVER (6) Resolver
SENSOR_ANALOG (7) Analog encoder
INTERVAL_COUNTER (8) Encoder mode for interval counter
PROFIDRIVE_NIST_A (9) Velocity value 16-bit
PROFIDRIVE_NIST_B (10) Velocity value 32-bit
PROFIDRIVE (11) PROFIdrive profile
ROTATORY_SYSTEM (0) Rotary encoder system
LINEAR_SYSTEM (1) Linear encoder system (linear scale)
SENSOR_INCREMENTAL (1) Incremental encoder
SENSOR_ABSOLUTE (2) Absolute encoder
SENSOR_CYCLIC_ABSOLUTE (3) Absolute encoder cyclic absolute
SENSOR_POSITION_DIFFERENCE_MEASUREMENT (4)
Differential position
POSITION (0) Calculate actual position value
VELOCITY (1) Calculate actual velocity value
POSITION_AND_PROFIDRIVE_NIST_B (2) Calculate actual position values and velocity from DP protocol
POSITION_AND_DIRECT_NIST_B (3) Calculate actual position values and actual velo-city value from I/O
POSITION_AND_PROFIDRIVE_ENCODER_NIST_B (4)
Calculate actual position values and velocity from DP protocol (standard message frame 83)
ExternalEncoderType
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Associated parameters (maximum):
AbsEncoder(AbsEncoder)
Absolute encoder
AbsHomingEncoder(AbsHomingEncoder)
Homing for absolute measuring system
AdaptDrive(AdaptDrive)
Gear ratio of the measuring system for a drive-side assembly type
AdaptExtern(AdaptExtern)
Gear ratio of the measuring system for an exter-nal assembly type
AdaptLoad(AdaptLoad)
Gear ratio of the measuring system for a load-side assembly type
AnalogSensor(AnalogSensorType)
Analog measuring system
AssemblyBase(AssemblyBase)
Assembly type of the measuring system
DriverInfo(DriverInfo)
Actual value interface
DriverInfoDirectIncremental(StructDriverInfoDirectIncremental)
Actual value interface of the direct incremental encoder
Filter(Filter)
Actual value filter
FrequencyLimit(FrequencyLimit)
Limit frequency of the measuring system
IncEncoder(IncEncoder)
Incremental encoder
IncHomingEncoder(IncHomingEncoder)
Homing for incremental measuring system
IntervalCounterConversionData(IntervalCounterConversionDataType)
Interval counter
InversCountDirection(InversCountDirection)
Inverse count direction
NistDriverConfig(StructAxisNistDriverConfig)
Actual speed value
PathPerRevolution(PathPerRevolution)
Path per revolution
PositionFilter(PT2PositionFilterType)
Position filter
Resolution(Resolution)
Resolution
SensorControlConfig(SensorControlConfig)
Encoder error tolerance
SensorNist(SensorNist)
Actual speed value extrapolation
SensorSetActualValue(SensorSetActualValue)
Actual value via system variable
StepMotorMonitoring(StepMotorMonitoringType)
Stepper motor
ExternalEncoderType
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ExecutionConfigInfo - ExternalEncoderType
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
NoteFurther information is provided:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Technology Objects Synchronous Operation, Cam Function ManualOnline help
executionlevel
Specifies the task level at which the interpolator task of the technology object is running.With IPO, the task is executed in the fast interpolator cycle clock.With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel
Data type: EnumToExecutionLevel
Changeable online: Yes, active after restart
System default: IPO
IPO (0) IPO
IPO_2 (1) IPO_2
SERVO (2) Servo
IPO_FAST (3) IPO_fast
SERVO_FAST (4) Servo_fast
ExternalEncoderType
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ExtrapolationPositionFilterType - ExternalEncoderType
The structure elements belonging to 'ExtrapolationPositionFilter' are used to set the filter for the actual position on the master value axis.
T1
Time constant T1 of the filter for the actual position.
T2
Time constant T2 of the filter for the actual position.
enable
Specifies the activation status of the PT2 filter for the actual position.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
ExternalEncoderType
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Filter - ExternalEncoderType
The structure elements of 'Filter' specify actual value smoothing.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies filter functionality.With 'NO', the filter functionality is deactivated.With 'YES', the filter functionality is activated.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
ExternalEncoderType
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FrequencyLimit - ExternalEncoderType
The structure elements of 'FrequencyLimit' specify the frequency limit of the encoder.
encoderFrequencyLimit
Specifies the frequency limit of the encoder.
Gear - ExternalEncoderType
The structure elements of 'Gear' specify the gear ratio of the load gearbox. The gear ratio is only active for the 'ASSEMBLY_DRIVE' mounting type.
denFactor
Specifies the number of load revolutions.
numFactor
Specifies the number of motor revolutions.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 400000.0 Hz
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
ExternalEncoderType
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IncEncoder - ExternalEncoderType
The structure elements of 'IncEncoder' specify the parameters for an incremental encoder.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enableZeroMonitoring
Specifies the activation status of monitoring of the number of increments between two encoder zero marks.With 'NO', monitoring of the number of increments between two encoder zero marks is not activated.With 'YES', monitoring of the number of increments between two encoder zero marks is activated.
incResolution
Specifies the number of increments per encoder revolution specified on the encoder rating plate.
incResolutionMultiplierCyclic
Specifies the multiplication factor of the cyclic actual value.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2048
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
NO (91) No
YES (173) Yes
ExternalEncoderType
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IncHomingEncoder - ExternalEncoderType
The structure elements of 'IncHomingEncoder' specify the parameters for an incremental encoder.
NoteAdditional information is available at:Function Manual "TO Axis Electric/Hydraulic, External Encoder".SIMOTION MCC Motion Control Chart Programming and Operating Manualor in the online help
enableZeroMarkDistance
Specifies the monitoring mode for the path after leaving the reference cam until the encoder zero mark is reached.With NO, the monitoring of the path after leaving the reference cam until the encoder zero mark is rea-ched is not activated.With YES, the monitoring of the path after leaving the reference cam until the encoder zero mark is reached is activated.
passiveApproachDirection
Specifies the expected approach direction for the passive homing.
For the setting 'passiveHomingMode:=ZM_PASSIVE' or 'passiveHoming-Mode:=CAM_AND_ZM_PASSIVE', this configuration data items specifies the approach direction of the encoder zero mark.With 'passiveHomingMode:=ZM_PASSIVE', the encoder zero mark is expected in the configured direction.With 'passiveHomingMode:=CAM_AND_ZM_PASSIVE', the encoder zero mark is expected in the configured direction after the approach of the reference cam.
With APPROACH_NEGATIVE_PASSIVE, the negative approach direction is expected.With APPROACH_POSITIVE_PASSIVE, the positive approach direction is expected.With ACTUAL_DIRECTION_PASSIVE, both approach directions are possible.
With EDGE_POS_SIDE_NEG_PASSIVE, a rising edge on the negative side of the external zero mark is expected.With EDGE_POS_SIDE_POS_PASSIVE, a rising edge on the positive side of the external zero mark is expected.With EDGE_NEG_SIDE_POS_PASSIVE, a falling edge on the positive side of the external zero mark is expected.With EDGE_NEG_SIDE_NEG_PASSIVE, a falling edge on the negative side of the external zero mark is expected.
passiveBitNumberBero
Specifies the bit number of the reference cam during passive homing and for homing mode CAM_AND_ZM_PASSIVE or REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE.
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumAxisPassiveApproachDirection
Changeable online: Yes, active immediately
System default: ACTUAL_DIRECTION_PASSIVE
Data type: UDINT
Changeable online: No
System default: 0
ExternalEncoderType
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passiveHomingMode
Specifies the homing mode.With CAM_AND_ZM_PASSIVE, homing mode reference cam with encoder zero mark is selected.With ZM_PASSIVE, the homing mode with encoder zero mark only is selected.With CAM_PASSIVE, the homing mode with external zero mark only is selected.With DEFAULT_PASSIVE, the homing mode ZM_PASSIVE or CAM_PASSIVE is preset with or wit-hout the encoder zero mark, depending on the encoder type.REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE is not available.
passiveLogAddressBero
Specifies the address of the reference cam during passive homing and for homing mode CAM_AND_ZM_PASSIVE or REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE.
zeroMarkDistance
Specifies the maximum length of the path after leaving the reference cam until the encoder zero mode is reached in homing mode MODE_CAM_AND_ZM.Specifies the maximum length until the encoder zero mark in homing mode MODE_ZM.
EnumYesNo
EnumAxisPassiveApproachDirection
Data type: EnumAxisPassiveHomingMode
Changeable online: Yes, active after restart
System default: DEFAULT_PASSIVE
Data type: UDINT
Changeable online: No
System default: 65535
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
NO (91) No
YES (173) Yes
APPROACH_NEGATIVE_PASSIVE (0) Approach direction encoder zero mark negative
APPROACH_POSITIVE_PASSIVE (1) Approach direction encoder zero mark positive
EDGE_POS_SIDE_NEG_PASSIVE (2) Rising edge negative side external zero mark
EDGE_POS_SIDE_POS_PASSIVE (3) Rising edge positive side external zero mark
EDGE_NEG_SIDE_POS_PASSIVE (4) Falling edge positive side external zero mark
EDGE_NEG_SIDE_NEG_PASSIVE (5) Falling edge negative side external zero mark
ACTUAL_DIRECTION_PASSIVE (6) Next edge
ExternalEncoderType
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EnumAxisPassiveHomingMode
CAM_AND_ZM_PASSIVE (1) Reference cam and encoder zero mark
ZM_PASSIVE (2) Encoder zero mark only
CAM_PASSIVE (3) External zero mark only
DEFAULT_PASSIVE (4) Default setting depends on encoder type (with/without encoder zero mark)
REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE (5)
Reference cam and external zero mark
ExternalEncoderType
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IntervalCounterConversionDataType - ExternalEncoderType
The structure elements of 'IntervalCounterConversionData' are used to configure the encoder as an interval counter.
The 'Interval counter' encoder type is used to determine the speed using an interval duration and the number of intervals per encoder revolution.An interval is the time between two successive encoder pulses that are recorded by an encoder module.The duration (interval) between the encoder pulses is measured by the module and provided in the I/O area.
incResolution
Specifies the increments or the number of intervals or encoder pulses per encoder revolution.
referenceTime
Specifies the reference time for the measurement of the interval duration.The reference time is the time after which the counter in the encoder module used to determine the interval duration is incremented by one (interval duration = count * reference time).
Associated parameters (maximum):
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0005 ms
DriverInfo(StructSensorDriverInfo)
AnalogDriverInfo (Only the logical address 'logAddress' of the reference value for the inter-val duration stored by the encoder module in the I/O area has to be specified. The other elements of the 'StructSensorDriverInfo' structure are not taken into account for the configuration of the interval counter.)
ExternalEncoderType
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InversCountDirection - ExternalEncoderType
The structure elements of 'InversCountDirection' specify the counting direction of the actual encoder value.
encoderFeedbackPolarity
Specifies whether the counting direction of the actual encoder value is inverted.With NO, the count direction of the actual encoder value is not inverted. (System default)With YES, the count direction of the actual encoder value is inverted.
EnumYesNo
LeadScrewInfo - ExternalEncoderType
The structure elements of 'LeadScrew' set the leadscrew pitch.
efficiency
Efficiency of the spindle/nut combination.
pitchVal
Specifies the leadscrew pitch per spindle revolution.
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
Data type: LREAL
Changeable online: Yes, active after restart
System default: 10.0 mm/rot
ExternalEncoderType
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ModuloInfo - ExternalEncoderType
The structure elements of 'Modulo' specify the modulo information.
length
Specifies modulo length.The minimum modulo length that can be set depends on the available resolution!
startValue
Specifies the initial value.
state
Specifies modulo activation.With ACTIVE, a modulo status is activated.With INACTIVE, the modulo status is not activated.
EnumActiveInactive
Data type: LREAL
Changeable online: Yes, active after restart
System default: 360.0 °
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
Data type: EnumActiveInactive
Changeable online: Yes, active after restart
System default: INACTIVE
ACTIVE (4) Active
INACTIVE (61) Inactive
ExternalEncoderType
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PT2PositionFilterType - ExternalEncoderType
The structure elements of 'PositionFilter' specify the parameters of the position filter.
T1
Time constant T1 of the position filter.
T2
Time constant T2 of the position filter.
enable
Specifies the activation status of the position filter.
EnumYesNo
PathPerRevolution - ExternalEncoderType
The structure elements of 'PathPerRevolution' specify the distance of one revolution for the EXTERN assembly base.
length
Specifies the path length of an encoder revolution for EXTERNAL mount type.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
Data type: LREAL
Changeable online: Yes, active after restart
System default: 100.0 mm
ExternalEncoderType
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PositionFilterType - ExternalEncoderType
The structure elements of 'PositionFilter' specify actual value smoothing. The settings take effect on the actual position values in the servo cycle clock.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies filter functionality.With 'NO', the filter functionality is deactivated.With 'YES', the filter functionality is activated.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
ExternalEncoderType
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Resolution - ExternalEncoderType
'Resolution' is used to configure the parameters of a linear encoder system (linear scale).
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
distance
Distance between two encoder increments.
NoteThe minimum value that can be set results from the maximum resolution of the TO axis or TO external encoder. Consequently, for an excessive lower limit, the unit for the 'Increments/Position' physical quantity must be varied appropriately.
multiplierCyclic
Incremental resolution
Data type: LREAL
Changeable online: No
System default: 0.001 mm
Data type: UDINT
Changeable online: No
System default: 0
ExternalEncoderType
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RestartInfo - ExternalEncoderType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or just by command.
behaviorInvalidSysvarAccess
If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology object is restarted or deactivated.The values stored in the image are supplied when system variables are accessed during the techno-logy object restart or deactivation phase.
restartActivationSetting
With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with system variables and/or by command.With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
EnumToRestartActivationSetting
Data type: EnumToInvalidSysvarAccess
Changeable online: No
System default: LAST_VALUE
Data type: EnumToRestartActivationSetting
Changeable online: Yes, active after restart
System default: RESTART_BY_SYSVAR_AND_COMMAND
DEFAULT_VALUE (2) Supply substitute value from default value
STOP_DEVICE (3) No substitute value, switch to STOP mode
LAST_VALUE (338) Supply substitute value from last valid value
RESTART_BY_SYSVAR_AND_COMMAND (0) Allow restart via system variable and/or com-mand
RESTART_BY_COMMAND (1) Allow restart only via command
ExternalEncoderType
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SensorControlConfig - ExternalEncoderType
The tolerance of an encoder error is specified with the structure elements for 'SensorControlConfig'.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
tolerateSensorDefect
Specifies whether a failure of an encoder not involved in the closed-loop control should be tolerated.With 'NO', a failure is not tolerated.With 'YES', a failure is tolerated.
EnumYesNo
SensorNist - ExternalEncoderType
The structure elements of 'SensorNist' specify the parameters for the actual speed value from the I/O area.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
logAddress
Specifies the address of the actual speed value in the I/O area.
referenceValue
Specifies the reference time for the interval measurement.
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
Data type: UDINT
Changeable online: No
System default: 65535
Data type: LREAL
Changeable online: Yes, active after restart
System default: 3000.0
ExternalEncoderType
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SensorSetActualValue - ExternalEncoderType
The structure elements of 'SensorSetActualValue' specify the parameters for actual value read-in via system variable.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
maxFailures
Specifies the number of permissible failures with reference to the update cycle.
updateCycle
Specifies the actual value update cycle via system variable.
EnumAxisUpdateCycle
Data type: UDINT
Changeable online: Yes, active immediately
System default: 1
Data type: EnumAxisUpdateCycle
Changeable online: Yes, active after restart
System default: IPO
IPO (0) IPO
IPO_2 (1) IPO_2
SERVO (2) Servo
IPO_FAST (3) IPO_fast
SERVO_FAST (4) Servo_fast
ExternalEncoderType
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SmoothingFilter - ExternalEncoderType
The structure elements for 'SmoothingFilter' specify actual velocity filtering. The filtered actual velocity is displayed in 'motionStateData.actualVelocity'.'timeConstant':- Time constant for PT1 smoothing.- Time constant for averaging.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies filter functionality.With NO, the filter functionality is deactivated.With YES, the filter functionality is activated.
mode
Specifies criterion for actual value smoothing.With 'DEFAULT_MODE', the ratio of interpolator cycle clock to position servo cycle clock is used.With 'AVERAGING', an average over time is used.With 'PT1', a filter set via 'timeConstant' is used.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
EnumAxisFilterMode
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumAxisFilterMode
Changeable online: Yes, active after restart
System default: DEFAULT_MODE
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
DEFAULT_MODE (0) No filter
AVERAGING (1) Form mean value
PT1 (2) PT1 filter
ExternalEncoderType
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StandStillSignal - ExternalEncoderType
The structure elements of 'StandStillSignal' specify the parameters for the velocity-dependent stand-still signal.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
delayTimeToActivate
Specifies the delay time to activation of the velocity-dependent standstill signal.
filterDegree
Specifies the filter degree.
filterFrequency
Specifies the filter frequency.
maxVeloStandStill
Specifies the velocity limit below which the velocity-dependent standstill signal is active.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: UINT
Changeable online: Yes, active immediately
System default: 0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 Hz
Data type: LREAL
Changeable online: Yes, active immediately
System default: 50.0 mm/min
ExternalEncoderType
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StepMotorMonitoringType - ExternalEncoderType
The structure elements belonging to 'StepMotorMonitoring' are used to set the rotation monitoring for step motor operation.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
beroCycleDistance
Specifies the maximum allowed deviation of motor steps per revolution.
beroCycleTolerance
Specifies a tolerance range around beroCycleDistance.
enable
Specifies the activation status of the step motor monitoring.
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2048
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2048
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
ExternalEncoderType
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StructAxisActualValueUpdateCounter - ExternalEncoderType
The structure elements of 'UpdateCounter' are used to set the parameters for evaluation of the actual value update.
bitNumber
Specifies the first bit number of the update counter.
enableCounter
Specifies whether the actual value update is evaluated.With NO, the actual value update is not evaluated.With YES, the actual value update is evaluated.
logAddress
Specifies the logical address of the update counter.
maxFailure
Specifies the number of permissible value failures before an error is output.
quantityOfBits
Specifies the number of bits in the update counter.
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
ExternalEncoderType
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updateCycle
Specifies the ratio of the actual value update.
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
NO (91) No
YES (173) Yes
ExternalEncoderType
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StructAxisAnalogSensorErrorStateMonitoring - ExternalEncoderType
The structure elements of 'ErrorStateMonitoring' are used to set the parameters for evaluation of the error bit.
bitNumber
Specifies the bit number of the error bit.
bitSemantics
Specifies the evaluation of the error bit.With TRUE, the error bit is evaluated as 1.With FALSE, the error bit is evaluated as 0.
enable
Specifies whether the error bit monitoring is performed.With NO, the logical address is not used.With YES, the logical address is used.
logAddress
Specifies the logical address of the error bit.
EnumTrueFalse
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: EnumTrueFalse
Changeable online: Yes, active after restart
System default: _TRUE
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
_TRUE (405) true
_FALSE (406) false
NO (91) No
YES (173) Yes
ExternalEncoderType
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StructAxisAnalogSensorReadyStateMonitoring - ExternalEncoderType
The structure elements of 'ReadyStateMonitoring' are used to set the parameters for evaluation of the ready bit.
bitNumber
Specifies the bit number of the ready bit.
bitSemantics
Specifies the evaluation of the ready bit.With TRUE, the ready bit is evaluated as 1.With FALSE, the ready bit is evaluated as 0.
enable
Specifies whether the ready bit monitoring is performed.With NO, the logical address is not used.With YES, the logical address is used.
logAddress
Specifies the logical address of the ready bit.
EnumTrueFalse
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: EnumTrueFalse
Changeable online: Yes, active after restart
System default: _TRUE
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
_TRUE (405) true
_FALSE (406) false
NO (91) No
YES (173) Yes
ExternalEncoderType
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StructAxisDriveControlConfig - ExternalEncoderType
Settings for the drive are specified with the 'DriveControlConfig' configuration data.
dataAdaption
The 'dataAdaption' configuration data activates the adaptation of the drive data.With 'YES', is the adaptation active.With 'NO', is the adaptation deactivated.
pulsesEnabledEvaluation
The 'PulsesEnabledEvaluation' configuration data describes the behavior of the axis for a drive-inde-pendent stop response.With 'YES', the Pulses-Enabled bit is always processed.With 'COMPATIBILITY_MODE', the Pulses-Enabled bit is only processed for selected safety data block.
releaseDisableMode
The behavior of the drive during the RELEASE_DISABLE error response is specified with the 'release-DisableMode' configuration data.
Specifies the values of bits 0 - 6 to be reset in the PROFIDrive protocol.The bits are negated by the system and ANDed with the existing control word. The specified bits are reset.
Meaning of the bits in the PROFIdrive protocol:Bit0 - ONBit1 - No Coast StopBit2 - No Quick StopBit3 - Enable OperationBit4 - Enable Ramp GeneratorBit5 - Unfreeze Ramp GeneratorBit6 - Enable Setpoint
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumAxisPulsesEnabledEvaluation
Changeable online: Yes, active after restart
System default: COMPATIBILITY_MODE
Data type: UDINT
Changeable online: Yes, active immediately
System default: 127
ExternalEncoderType
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EnumYesNo
EnumAxisPulsesEnabledEvaluation
Associated parameters (maximum):
NO (91) No
YES (173) Yes
YES (173) Pulses-Enabled bit is always processed
COMPATIBILITY_MODE (959) The Pulses-Enabled bit is only processed for selected safety data block
pulsesEnabled(StructAxisPulsesEnabledConfig)
Position of PulsesEnabled bit
ExternalEncoderType
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StructAxisDriveSafetyExtendedFunctionsInfoDataIn - ExternalEncoderType
Specifies the logical address for the communication with the drive.
logAddress
Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data in the cyclic message frame from the drive.
StructAxisNistDriverConfig - ExternalEncoderType
The parameters for the actual speed value hardware are specified with the structure elements for 'NistDriverConfig' .
logAddress
Specifies the logical address for the actual speed value.
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: No
System default: 65535
ExternalEncoderType
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StructAxisOperatingDataInInfo - ExternalEncoderType
Specifies the configuration of the operating character data block.
enableActivePower
Specifies the activation of the effective power display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableActualCurrent
Specifies the activation of the actual current value display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableActualTorqueOrForce
Specifies the activation of the torque / force actual value display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableMotorTemperature
Specifies the activation of the motor temperature display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableTorqueOrForceUtilization
Specifies the activation of the torque utilization display.With 'NO', the display is not activated.With 'YES', the display is activated.
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
ExternalEncoderType
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logAddress
Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data in the cyclic message frame from the drive.
EnumYesNo
Data type: UDINT
Changeable online: No
System default: 65535
NO (91) No
YES (173) Yes
ExternalEncoderType
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StructAxisPulsesEnabledConfig - ExternalEncoderType
The bit position for pulsesEnable is defined with the configuration data in 'StructAxisPulsesEnabled-Config'.
bitNumber
Specifies the bit number for pulse enable.
pzdNumber
Specifies the PZD number for pulse enable.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 13
Data type: UDINT
Changeable online: Yes, active after restart
System default: 5
ExternalEncoderType
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StructAxisSpeedLimitation - ExternalEncoderType
Parameters for asymmetric manipulated variable limitation. This function is also referred to as a back-stop.
enable
Specifies the activation status of the velocity range limit..With 'NO', the velocity limit is not activated.With 'YES', the velocity limit is activated.
maxSpeed
Specifies the upper limit for the manipulated variable range.
minSpeed
Specifies the lower limit for the manipulated variable range.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 1/min
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 1/min
NO (91) No
YES (173) Yes
ExternalEncoderType
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StructAxisTechnologicalData - ExternalEncoderType
The structure elements belonging to TechnologicalData are used to specify addresses for additional data exchange between drive and control unit.
driveSafetyExtendedFunctionsEnabled
Specifies the activation status of the SINAMICS Safety Integrated Extended Functions data.With 'NO', the data are not activated.With 'YES', the data are activated.
enable
Specifies the activation status of the technological data.With 'NO', the technology data are not activated.With 'YES', the technology data are activated.
EnumYesNo
Associated parameters (maximum):
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
NO (91) No
YES (173) Yes
DriveSafetyExtendedFunctionsInfoDataIn(StructAxisDriveSafetyExtendedFunctionsInfo-DataIn)
Drive interface for SINAMICS Safety Integrated Extended Functions data
OperatingDataInInfo(StructAxisOperatingDataInInfo)
Drive interface for operating characteristics
TechnologicalDataInInfo(StructAxisTechnologicalDataInInfo)
Drive interface for specific actual values
TechnologicalDataOutInfo(StructAxisTechnologicalDataOutInfo)
Drive interface for specific setpoints
ExternalEncoderType
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StructAxisTechnologicalDataInInfo - ExternalEncoderType
Specifies the logical address for the communication with the drive.
logAddress
Specifies the logical address for the transfer of specific parameters in the cyclical message frame from the drive.
StructAxisTechnologicalDataOutInfo - ExternalEncoderType
Specifies the logical address for the communication with the drive.
logAddress
Specifies the logical address for the transfer of specific parameters in the cyclical message frame to the drive.
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: No
System default: 65535
ExternalEncoderType
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StructDriverInfoDirectIncremental - ExternalEncoderType
The parameters for the direct incremental encoder hardware are specified with the structure elements for 'DriverInfoDirectIncremental' .
logAddress
Specifies the logical address of the communication module.
resolution
Specifies the number of bits of the incremental encoder.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
Data type: UDINT
Changeable online: Yes, active after restart
System default: 16
ExternalEncoderType
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StructExtrapolation - ExternalEncoderType
The structure elements belonging to 'Extrapolation' are used to set the extrapolation time on the mas-ter value axis.
extrapolatedVelocitySwitch
Used to select the velocity master value for master value extrapolation.
extrapolationTime
Time specification for extrapolation. With 0.0, there is no extrapolation.
EnumAxisExtrapolatedVelocitySwitch
Associated parameters (maximum):
Data type: EnumAxisExtrapolatedVelocitySwitch
Changeable online: Yes, active immediately
System default: DIFFERENTIATION
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
DIFFERENTIATION (408) Differentiation of extrapolated master value
TRANSFER (409) Transfer of extrapolated velocity
ExtrapolationPositionFilter(ExtrapolationPositionFilterType)
Filter for actual position
Filter(StructExtrapolationFilter)
Filter for actual velocity
ToleranceRange(StructToleranceRange)
Tolerance range
ExternalEncoderType
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StructExtrapolationFilter - ExternalEncoderType
The structure elements belonging to 'Filter' are used to set the filter for the actual velocity on the mas-ter value axis.
enable
Specifies filter functionality.With 'NO', the filter functionality is deactivated.With 'YES', the filter functionality is activated.
mode
Specifies criterion for actual value smoothing.With 'DEFAULT_MODE', the actual speed is not smoothed.With 'AVERAGING', an average over time is used.With 'PT1', a filter set via 'timeConstant' is used.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
EnumAxisFilterMode
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumAxisFilterMode
Changeable online: Yes, active after restart
System default: DEFAULT_MODE
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
DEFAULT_MODE (0) No filter
AVERAGING (1) Form mean value
PT1 (2) PT1 filter
ExternalEncoderType
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StructLogAddressIoBitType - ExternalEncoderType
The structure elements of 'LogAddress' are used to set the logical address.
bitNumber
Specifies the bit number of the measuring input input.
enable
Specifies whether the indicated logical address should be used.With NO, the logical address is not used.With YES, the logical address is used.
logAddress
Specifies the logical base address of the measuring input input.
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
NO (91) No
YES (173) Yes
ExternalEncoderType
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StructSensorDriverInfo - ExternalEncoderType
The elements of this structure are used to configure the I/O module of the additional encoder.
errorToleranceTime
Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Specifies the logical address of the communication module.
maxValue
Specifies the maximum digitalized measured value for the additional encoder.
minValue
Specifies the minimal digitalized measured value for the additional encoder.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1 s
Data type: EnumActualValueFormat
Changeable online: Yes, active after restart
System default: VALUE_LEFT_MARGIN
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
Data type: DINT
Changeable online: Yes, active immediately
System default: 32511
Data type: DINT
Changeable online: Yes, active immediately
System default: -32512
ExternalEncoderType
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resolution
Specifies the number of relevant bits for the additional encoder.
EnumActualValueFormat
Data type: UDINT
Changeable online: Yes, active after restart
System default: 15
VALUE_RIGHT_MARGIN (0) Right-justified
VALUE_LEFT_MARGIN (1) Left-justified
VALUE_LEFT_MARGIN_WITHOUT_SIGN (2) Left-justified without sign
VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3) Right-justified without sign
ExternalEncoderType
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StructToleranceRange - ExternalEncoderType
The structure elements belonging to 'ToleranceRange' are used to set a tolerance window around the actual position of the master value axis.
enable
Activation of the tolerance range.With 'NO', the tolerance range is deactivated.With 'YES', the tolerance range is activated.
value
Specifies the tolerance window around the actual position value of the master axis.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
NO (91) No
YES (173) Yes
ExternalEncoderType
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TypeOfAxisInfo - ExternalEncoderType
The structure elements of 'TypeOfAxis' specify the axis parameters.
typeOfAxis
Specifies the type of encoder configured.
With REAL_AXIS, the encoder is connected to a real process.
EnumEncoderIdentification
Associated parameters (maximum):
Data type: EnumEncoderIdentification
Changeable online: No
System default: REAL_AXIS
REAL_AXIS (0) Real external encoder
ActualVelocityMonitoring(ActualVelocityMonitoring)
Actual velocity monitoring
DecodingConfig(DecodingConfig)
Command processing
DistributedMotion(DistributedMotionInfo)
Distributed motion control
Encoder_1(EncoderMain)
Measuring system
Extrapolation(StructExtrapolation)
Actual value smoothing
Gear(Gear)
Load gearbox
SmoothingFilter(SmoothingFilter)
Actual value smoothing
StandStillSignal(StandStillSignal)
Standstill signal
ExternalEncoderType
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PosAxis 3Associated parameters (maximum):
• Execution (ExecutionConfigInfo)• LeadScrew (LeadScrewInfo)• Modulo (ModuloInfo)• Restart (RestartInfo)• RestartCondition (RestartConditionInfo)• Simulation (SimulationInfo)• TypeOfAxis (TypeOfAxisInfo)
AbsBackLash - PosAxis
The structure elements of 'AbsBackLash' specify the backlash compensation for the absolute enco-der.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
_type
Specifies the direction in which backlash compensation is calculated.With 'POSITIVE', the backlash compensation is applied in the positive direction.With 'NEGATIVE', the backlash compensation is applied in the negative direction.
enable
Specifies the monitoring mode for backlash compensation on the absolute encoder.With 'NO', the backlash compensation is not enabled.With 'YES', the backlash compensation is enabled.
length
Specifies the backlash compensation value.
Data type: EnumBackLashType
Changeable online: Yes, active immediately
System default: POSITIVE
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
PosAxis
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startUpDifference
Specifies the preferred orientation for backlash compensation.With POSITIVE_DIRECTION, the backlash compensation is applied in the positive direction during the first traversing motion.With NEGATIVE_DIRECTION, the backlash compensation is applied in the negative direction during the first traversing motion.
velocity
Specifies the velocity at which backlash compensation is stopped. If the value is 0, the backlash is calculated without limits.
EnumBackLashType
EnumYesNo
EnumBackLashDiff
Data type: EnumBackLashDiff
Changeable online: Yes, active immediately
System default: DIFF_POSITIVE
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm/s
POSITIVE (0) positive
NEGATIVE (1) negative
NO (91) No
YES (173) Yes
DIFF_POSITIVE (0) positive
DIFF_NEGATIVE (1) negative
PosAxis
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AbsEncoder - PosAxis
The structure elements of 'AbsEncoder' specify the parameters for an absolute encoder.
NoteFurther information about the following parameters and on fine resolution can be found inFunction Manual "TO Axis Electric/Hydraulic, External Encoder".or in the online help
absBaudRate
Specifies the baud rate data for detecting the actual value of the absolute encoder.Baudrate_5 sets a baud rate of 3 Mbaud.Baudrate_4 sets a baud rate of 1.5 Mbaud.Baudrate_3 sets a baud rate of 750 Kbaud.Baudrate_2 sets a baud rate of 375 Kbaud.Baudrate_1 sets a baud rate of 187.5 Kbaud.
absDataLength
Specifies the number of data bits of the absolute encoder range (packet length).The number of data bits is calculated from the number of steps per revolution multiplied by the number of revolutions.For example: 2048 incr./rev. * rev.= data bit length 23
absMessageFormat
Specifies a message frame format for the absolute encoder.With RIGHT_MARGIN, the protocol format is right-justified.With PINETREE, the pine tree format is selected.
absMessageLength
Specifies the message frame length for detecting the actual value of the absolute encoder.With LENGTH_13, a protocol length of 13 bits is selected.With LENGTH_21, a protocol length of 21 bits is selected.With LENGTH_25, a protocol length of 25 bits is selected.
Data type: EnumAbsBaudrate
Changeable online: No
System default: Baudrate_3
Data type: UDINT
Changeable online: Yes, active after restart
System default: 24
Data type: EnumAbsMsgFormat
Changeable online: No
System default: PINETREE
Data type: EnumAbsMsgLength
Changeable online: No
System default: LENGTH_25
PosAxis
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absResolution
Specifies the number of increments per encoder revolution specified on the encoder rating plate.
absResolutionMultiplierAbsolute
Specifies the multiplication factor of the actual value of the absolute encoder.Evaluation of the absolute encoder during request by the absolute encoder (GxIST2).
absResolutionMultiplierCyclic
Specifies the multiplication factor of the cyclic actual value of the encoder.Evaluation of the incremental signal of the absolute encoder during operation (GxIST1).
absState
Specifies a protocol format for the actual value of the absolute encoder.With BIN_CODE, a binary code is selected.With GRAY_CODE, GRAY code is selected.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 4096
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumAbsState
Changeable online: No
System default: GRAY_CODE
PosAxis
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enableAbsMonitoring
Specifies the monitoring mode of the permissible changes of the actual value for the absolute encoder.
With YES (system default), monitoring of the permissible changes of the actual value for the absolute encoder is activated.
Actual value changes of the absolute encoder greater than or equal to the possible change in accor-dance with the maximum velocity (maxVelocity.maximum) are limited to the change in accordance with the current velocity, i.e. the velocity of the previous cycle.
Incorrect actual values, e.g. due to transmission errors, are adjusted.If the actual value changes are impermissibly high in 5 subsequent cycles, alarm 20005, reason 0, is issued.
With NO, monitoring of the permissible changes of the actual value for the absolute encoder is not activated, i.e., incorrect actual values due to transmission errors, for example, are also not changed and processed as they are.No technological alarm is issued.
NoteSwitch the monitoring function off at your own risk.
After the deactivation of the monitoring, it can no longer be guaranteed that the magnitude of the cal-culated velocity lies within the limits defined by the user.
The position and the velocity and all derived quantities are also displayed and processed also taking account of any measured values recognized as being incorrect (control, stop ramps, interpolations, positioning).
EnumAbsBaudrate
EnumAbsMsgFormat
EnumAbsMsgLength
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: YES
Baudrate_5 (16#01) 3 Mbaud
Baudrate_4 (16#02) 1.5 Mbaud
Baudrate_3 (16#04) 750 Kbaud
Baudrate_2 (16#08) 375 Kbaud
Baudrate_1 (16#10) 187.5 Kbaud
RIGHT_MARGIN (0) Right-justified
PINETREE (1) Pine tree format
LENGTH_13 (13) 13 bits
LENGTH_21 (21) 21 bits
LENGTH_25 (25) 25 bits
PosAxis
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EnumAbsState
EnumYesNo
BIN_CODE (16#00) Binary
GRAY_CODE (16#01) Gray Code
NO (91) No
YES (173) Yes
PosAxis
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AbsHomingEncoder - PosAxis
The structure elements of 'AbsHomingEncoder' specify the synchronization data for an absolute enco-der.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
absShift
Specifies the offset of the absolute encoder.
setOffsetOfAbsoluteEncoder
Specifies the effect of the absolute encoder offset set in the 'absshift' configuration data (V3.2 and hig-her).
With RELATIVE, the offset is set as an addition (default response).Actual axis value = actual encoder value + (previous offset already in effect + absshift)(new) offset = previous offset + absshift'absshift' is added to the existing absolute encoder offset whenever the _homing() function is called.
With ABSOLUTE, the offset is set as an absolute value (V3.2 and higher).'absshift' is set as the absolute encoder offset whenever the _homing() function is called.Actual axis value = actual encoder value + absshift
EnumAbsoluteRelative
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
Data type: EnumAbsoluteRelative
Changeable online: Yes, active after restart
System default: RELATIVE
ABSOLUTE (1) Absolute
RELATIVE (115) Relative
PosAxis
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ActualAccelerationMonitoring - PosAxis
The structure elements of 'ActualAccelerationMonitoring' specify the monitoring of actual acceleration.
enable
Activation of actual acceleration monitoring.
maximum
Maximum actual acceleration.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 m/min
NO (91) No
YES (173) Yes
PosAxis
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ActualVelocityMonitoring - PosAxis
The structure elements of 'ActualVelocityMonitoring' specify the monitoring mode for the maximum actual velocity.
enable
Specifies the monitoring mode for the maximum actual velocity.With NO, monitoring of the actual velocity does not take place.With YES, the actual velocity is monitored for the maximum permissible value.When the maximum value is exceeded, the system variable 'sensordata.sensormonitoring.velocity' is output as 'limitexceeded'.The velocity is not limited to this value.
maximum
Specifies the maximum permissible actual velocity.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm/s
NO (91) No
YES (173) Yes
PosAxis
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AdaptDrive - PosAxis
The structure elements of 'AdaptDrive' specify the gear ratio parameters for drive-mounted encoders.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
denFactor
Specifies the denominator of the gear ratio for a measuring gear.
numFactor
Specifies the numerator of the gear ratio for a measuring gear.
AdaptExtern - PosAxis
The structure elements of 'AdaptExtern' specify the gear ratio parameters for the EXTERN mounting type.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
denFactor
Specifies the denominator of the gear ratio for a measuring gear.
numFactor
Specifies the numerator of the gear ratio for a measuring gear.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
PosAxis
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AdaptLoad - PosAxis
The structure elements of 'AdaptLoad' specify the gear ratio parameters for load-side encoders.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
denFactor
Specifies the denominator of the gear ratio for a measuring gear.
numFactor
Specifies the numerator of the gear ratio for a measuring gear.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
PosAxis
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AdditionalSensorDriverInfo - PosAxis
The elements of this structure are used to configure the I/O module of an encoder.
errorToleranceTime
Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Specifies the logical address of the communication module.
maxValue
Specifies the maximum digitalized measured value for the additional encoder.
minValue
Specifies the minimal digitalized measured value for the additional encoder.
resolution
Specifies the number of relevant bits for the additional encoder.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1 s
Data type: EnumActualValueFormat
Changeable online: Yes, active after restart
System default: VALUE_LEFT_MARGIN
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
Data type: DINT
Changeable online: Yes, active immediately
System default: 32511
Data type: DINT
Changeable online: Yes, active immediately
System default: -32512
Data type: UDINT
Changeable online: Yes, active after restart
System default: 15
PosAxis
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EnumActualValueFormat
VALUE_RIGHT_MARGIN (0) Right-justified
VALUE_LEFT_MARGIN (1) Left-justified
VALUE_LEFT_MARGIN_WITHOUT_SIGN (2) Left-justified without sign
VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3) Right-justified without sign
PosAxis
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AdditionalSensorMain - PosAxis
The structure element 'AdditionalSensor' is used to configure an additional encoder.
additionalSensorType
Specifies the interpretation of the encoder values.With STANDARD, the digitalized measured value is interpreted as an absolute actual force/pressure value of an individual encoder.With PRESSURE_DIFFERENCE_MEASUREMENT, the differential pressure measurement between two different encoders is set.With SET_ACTUAL_VALUE, the value is specified with a system variable.
interfaceActivation
Specification to activate the digitized measured values.With STARTUP_ACTIVATED the driver is activated on the technology object following system star-tup.With STARTUP_DEACTIVATED the driver is deactivated on the technology object following system startup.
EnumAxisAdditionalSensorType
EnumAxisInterfaceActivationConfig
Associated parameters (maximum):
Data type: EnumAxisAdditionalSensorType
Changeable online: No
System default: STANDARD
Data type: EnumAxisInterfaceActivationConfig
Changeable online: No
System default: STARTUP_ACTIVATED
STANDARD (0) Pressure measurement
PRESSURE_DIFFERENCE_MEASUREMENT (1)
Differential pressure measurement
SET_ACTUAL_VALUE (2) Actual pressure value via system variable
STARTUP_DEACTIVATED (942) Deactivated after startup
STARTUP_ACTIVATED (943) Active after startup
ConversionData(ConversionData)
Interpretation of the encoder values
DriverInfo(AdditionalSensorDriverInfo)
Analog input module
Filter(Filter)
Filter for actual value smoothing
PressureDifferenceMeasurement(StructPressureDifferenceMeasurement)
Parameters for differential pressure measure-ment
Range(Range)
Definition range of the encoder values
PosAxis
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AdditionalSensorNumber - PosAxis
The structure element 'AdditionalSensorNumber' is used to configure the assignment of data set to additional encoder.
number
Specifies the encoder number.
AnalogConversionDataType - PosAxis
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder values read.
_type
Specifies the interpretation type for the digitalized measured value.
factor
Specifies the weighting factor for the analog measured value. The weighting factor specifies the rela-tion between distance/velocity per bit.
offset
Specifies the offset for the analog measured value.
EnumConversionDataType
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: EnumConversionDataType
Changeable online: No
System default: LINEAR_CONVERSIONDATA
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
LINEAR_CONVERSIONDATA (1) Linear relationship
PosAxis
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AnalogSensorType - PosAxis
The structure elements of 'AnalogSensor' specify actual value smoothing.
Associated parameters (maximum):
AssemblyBase - PosAxis
The structure elements of 'AssemblyBase' specify the parameters for the encoder mounting type.
assemblyBase
Specifies the assembly base of the encoder.With ASSEMBLY_BASE_DRIVE, the encoder is a drive-side assembly type.With ASSEMBLY_BASE_LOAD, the encoder is a load-side assembly type.With ASSEMBLY_BASE_EXTERN, the encoder is an external assembly type.With ASSEMBLY_BASE_LINEAR, the encoder is a linear assembly type.
EnumAxisEncoderAssemblyType
ConversionData(AnalogConversionDataType)
Conversion factors between analog input value and actual position value
DriverInfo(StructSensorDriverInfo)
Driver data
ErrorStateMonitoring(StructAxisAnalogSensorErrorStateMonitoring)
Error-state monitoring
LogAddress(StructLogAddressIoBitType)
Logical address of analog sensor
PositionFilter(PositionFilterType)
Actual position value filter
ReadyStateMonitoring(StructAxisAnalogSensorReadyStateMonito-ring)
Ready-state monitoring
UpdateCounter(StructAxisActualValueUpdateCounter)
Evaluation of actual value update
Data type: EnumAxisEncoderAssemblyType
Changeable online: Yes, active after restart
System default: ASSEMBLY_BASE_DRIVE
ASSEMBLY_BASE_DRIVE (0) Drive side
ASSEMBLY_BASE_LOAD (1) Load side
ASSEMBLY_BASE_EXTERN (2) External
ASSEMBLY_BASE_LINEAR (3) Linear
PosAxis
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ClampingMonitoring - PosAxis
The structure elements of 'ClampingMonitoring' specify the clamping monitoring.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
followingErrorDeviation
Specifies the required following error to detect the end stop.
positionTolerance
Specifies the permissible deviation of the actual value from the setpoint in the clamped state.
recognitionMode
Specifies the type of endstop detection.With 'DO_NOT_CLAMP', the endstop detection is deactivated.With 'CLAMP_BY_FOLLOWING_ERROR_DEVIATION' the endstop detection takes place when the following error specified in 'followingErrorDeviation' is reached.With 'CLAMP_WHEN_TORQUE_LIMIT_REACHED' the endstop detection takes place when the force moment/torque limit value is reached.
EnumRecognitionMode
Data type: LREAL
Changeable online: Yes, active immediately
System default: 20.0 mm
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 mm
Data type: EnumRecognitionMode
Changeable online: Yes, active after restart
System default: DO_NOT_CLAMP
DO_NOT_CLAMP (0) No detection
CLAMP_BY_FOLLOWING_ERROR_DEVIATION (1)
By following error
CLAMP_WHEN_TORQUE_LIMIT_REACHED (2)
By force moment/torque
PosAxis
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ControllerDynamic - PosAxis
The structure elements of 'ControllerDynamic' specify the reference model monitoring.
NoteThe function of the 'ControllerDynamic' (monitoring of actual speed) configuration data element on a drive axis can only be used when a message frame type that also supplies an actual position value to the controller is used.
enable
Specifies the activation status of the reference model monitoring.With 'NO', the monitoring is not activated.With 'YES', the monitoring is activated.
maxVeloTolerance
Specifies the maximum deviation between model and process with reference to maximum velocity.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 2.0 %
NO (91) No
YES (173) Yes
PosAxis
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ControllerStruct - PosAxis
The structure elements of 'ControllerStruct' set the controller structure.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
conType
Specifies the controller type.NODEF has no significance.With PD, a PD controller is used.With PV, a P controller with precontrol is used.With PID, a PID controller is used.With PID_ACTUAL, a PID controller with actual value-dependent D-component is used.
EnumAxisControllerType
Associated parameters (maximum):
ControllerSwitchData - PosAxis
The structure elements for 'ControllerSwitchData' are used to configure digital inputs for force or pres-sure control.
Associated parameters (maximum):
Data type: EnumAxisControllerType
Changeable online: No
System default: PV
NODEF (0) No significance
DIRECT (1) Control only
PD (2) PID controller
PV (3) PV controller
PID (4) PID controller
PID_ACTUAL (5) PID controller with actual value-dependent D-component
PD_Controller(PD_Controller)
PID controller
PID_Controller(PID_ControllerPos)
PID controller
PV_Controller(PV_Controller)
P-controller with precontrol
NumberOfDigitalInputs(NumberOfDigitalInputs)
Digital inputs
PosAxis
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ConversionData - PosAxis
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder values read.
NoteFurther information is provided:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Supplementary Technology Objects Function ManualOnline help
_type
Specifies the interpretation type for the digitalized measured value.
factor
Specifies the evaluation type for the digitalized measured value.
invert
Specifies whether or not the sign of the measured value should be inverted.With NO, the sign is not inverted.With YES, the sign is inverted.
offset
Specifies the offset for the digitalized measured value.
EnumConversionDataType
EnumYesNo
Data type: EnumConversionDataType
Changeable online: No
System default: LINEAR_CONVERSIONDATA
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 Pa
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 Pa
LINEAR_CONVERSIONDATA (1) Linear relationship
NO (91) No
YES (173) Yes
PosAxis
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DataSetMain - PosAxis
The structure elements belonging to "DataSet_(n)" are used to set the data set (n).
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
Associated parameters (maximum):
AdditionalSensorNumber(AdditionalSensorNumber)
Assignment of a force/pressure sensor to this data record
ClampingMonitoring(ClampingMonitoring)
Clamping monitoring
ControllerDynamic(ControllerDynamic)
Reference model monitoring
ControllerStruct(ControllerStruct)
Controller parameters
DynamicComp(DynamicComp)
Dynamic compensation
DynamicData(DynamicData)
Dynamic data of the cascaded control loop sys-tem
DynamicFollowing(DynamicFollowing)
Dynamic following error monitoring
DynamicQFData(StructPaxDynamicQFData)
Dynamic data of the hydraulic process
EncoderNumber(EncoderNumber)
Assignment of an encoder to this data record
ForceControllerData(ForceControllerData)
Force/pressure controller
ForceControllerDifference(ForceControllerDifference)
System deviation monitoring of the force/pres-sure control loop
Gear(Gear)
Ratio of the load gearbox
InvertQ(StructAxisInvertQOutput)
Inversion of the Q-output in front of the characte-ristic curve
InvertSetPoint(InvertSetPointHydraulicType)
Inversion of the Q-output behind the characteri-stic curve
ProcessModel(ProcessModel)
Process model
PosAxis
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DecodingConfig - PosAxis
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
NoteAdditional information is available at:Function Manual "TO Axis Electric/Hydraulic, External Encoder".SIMOTION MCC Motion Control Chart Programming and Operating ManualFunction Manual: Basic Functionsor in the online help
behaviourAtTheEndOfProfile
Specifies the behavior at the end of the profile.
With MOVE_WITH_CONSTANT_SPEED, the axis moves at a constant velocity.In terms of interpolation status, the final condition acts in the same way as the system function _move. If the physical variable is not equal to 0, setpoint generation will not be completed.
With STOP_IN_PROFILE_END, the profile end is the target of the positioning movement, that is, at the target, 'velocity:=0'.
With STOP_WHEN_PROFILE_END_REACHED, the axis is stopped only after the profile end has been reached.
cyclicSetUpInForceLimiting
Specifies how cyclic resetting to the setpoints should occur with active force/pressure limiting.With 'NONE' cyclic resetting does not occur.With 'POSITION_BASED' cyclic resetting is to the setpoint position after allowing for the pressure limi-ting component.With 'POSITION_AND_DYNAMIC_BASED' cyclic resetting is to the setpoint position and setpoint velocity after allowing for the pressure limiting component.
decodeSequentialMotionCommand
Specifies the cycle in which the next 'SEQUENTIAL' or 'NEXT_MOTION' command is transferred to the interpolator.
Data type: EnumEndBehaviourOfProfile
Changeable online: Yes, active immediately
System default: STOP_WHEN_PROFILE_END_REACHED
Data type: EnumAxisCyclicSetUpInForceLimiting
Changeable online: Yes, active immediately
System default: NONE
Data type: EnumDecodeSequentialMotionCommand
Changeable online: Yes, active immediately
System default: IMMEDIATELY
PosAxis
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directionDynamic
Specifies the acceleration model used.With NO, the non-direction-related acceleration model is used.With YES, the direction-related acceleration model is used.
disableMotionOperation
Specifies the behavior for motion commands stopped with 'stopMode := STOP_WITHOUT_ABORT' after the enables have been removed.With 'YES' the motion commands are canceled and cannot be resumed.With 'NO' the motion commands are not canceled and can be resumed after the enables are reset.
numberOfImmediateCommands
Specifies the number of commands, programmed with the IMMEDIATELY command parameter, which can be active simultaneously on one axis.
numberOfMaxBufferedCommandId
Specifies the maximum number of command IDs active simultaneously whose status can be reques-ted at the end of the relevant command.A command ID is added to the list with the ST command '_bufferAxisCommandId'.Removal from the list takes place with the ST command '_removeBufferedAxisCommandId'.
numberOfQueueCommands
Specifies the maximum number of commands which can be active simultaneously on one axis.
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: YES
Data type: DINT
Changeable online: Yes, active after restart
System default: 6
Data type: DINT
Changeable online: Yes, active after restart
System default: 100
Data type: DINT
Changeable online: Yes, active after restart
System default: 6
PosAxis
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profileDynamicsLimiting
Specifies the active limits for dynamic parameters.
With 'COMMAND_DYNAMICS' the system ramps up to the profile or the values specified in the Moti-onIn vector using the minimum of the dynamic parameters specified in the command or the configured maximum values in 'MaxJerk', 'MaxAcceleration', and 'MaxVelocity' and is then limited during the course of the profile to the minimum of the programmed values and the configured maximum values.
With 'MAX_CONFIGURED_DYNAMICS' the system ramps up to the profile or the values specified in the MotionIn vector using the minimum of the dynamic parameters specified in the command and the configured maximum values in 'MaxJerk', 'MaxAcceleration', and 'MaxVelocity' and is then limited during the course of the profile to the configured maximum values.
speedModeSetPointZero
Specifies how the axis is traversed to zero velocity when the enables are set.
With 'No', the axis is traversed to zero via a braking ramp with the maximum axis dynamic response.
With 'Yes', the velocity setpoint (and acceleration) is set directly to 0 without ramp.
stopWithJerk
Details of the behavior for a local stop response. This configuration applies only to interpolatory stops.With 'YES' the local stop response is executed with the value from 'Max.Jerk.maximum'.With 'NO', the local stop response is executed without jerk limiting.
transferSuperimposedPosition
Specifies when the coordinate system of the superimposed motion is reset (to 0).
With 'TRANSFER_STANDSTILL' the position of the superimposed coordinate system is reset to 0 after termination of the setpoint generation of the axis or when programming a motion command with mergeMode:=IMMEDIATELY or when the axis is reset.
With 'TRANSFER_MERGE' the position of the superimposed coordinate system is reset to 0 when programming a motion command with mergeMode:=IMMEDIATELY or when the axis is reset.
With ''AXIS_RESET' the position of the superimposed coordinate system is reset to 0 when the axis is reset.
Data type: EnumProfileDynamicsLimiting
Changeable online: Yes, active immediately
System default: COMMAND_DYNAMICS
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumTransferSuperimposedPosition
Changeable online: Yes, active after restart
System default: TRANSFER_STANDSTILL
PosAxis
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EnumEndBehaviourOfProfile
EnumAxisCyclicSetUpInForceLimiting
EnumDecodeSequentialMotionCommand
EnumYesNo
EnumProfileDynamicsLimiting
EnumTransferSuperimposedPosition
MOVE_WITH_CONSTANT_SPEED (0) Motion at constant speed
STOP_IN_PROFILE_END (1) Deceleration to the endpoint / velocity 0
STOP_WHEN_PROFILE_END_REACHED (2) Deceleration after profile completed
NONE (0) No cyclic resetting
POSITION_BASED (1) Cyclic resetting to the setpoint position
POSITION_AND_DYNAMIC_BASED (2) Cyclic resetting to the setpoint position and set-point velocity
IMMEDIATELY (0) Switch to next command immediately
NEXT_IPO_CYCLE (1) Switch to next command in next cycle
NO (91) No
YES (173) Yes
COMMAND_DYNAMICS (0) Limiting of dynamic parameters using the mini-mum value of the configured and programmed values
MAX_CONFIGURED_DYNAMICS (1) Limiting of dynamic parameters using configu-red values
TRANSFER_STANDSTILL (0) Switch to next command at standstill, reset, or according to merge mode
TRANSFER_MERGE (1) Switch to next command at reset, or according to merge mode
TRANSFER_RESET (2) Switch to next command at reset
PosAxis
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DigitalInputMain - PosAxis
The structure elements belonging to 'DigitalInput_(n)' are used to configure a digital input or to assign it to the axis.
bitNumber
Specifies the I/O bit number within the I/O byte specified by the logical address.
logAddress
Specifies the logical address of the communication module.
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 65535
PosAxis
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DistributedMotionInfo - PosAxis
The structure elements for 'DistributedMotion' set the sign-of-life failure tolerance.
enableDelayOfCommandValueOutput
Specifies the master-side output delay.With 'NO', the master-side output delay is deactivated.With 'YES', the master-side output delay is activated.
enableLifeSignMonitoring
Specifies life sign monitoring.With 'NO', the sign of life monitoring is deactivated.With 'YES', the sign of life monitoring is activated.
enableOffsetCompensation
Specifies offset compensation.With 'NO', the compensation of the cycle offset is deactivated.With 'YES', the compensation of the cycle offset is activated.
numberOfLifeSignFailures
Specifies the maximum number of life sign failures tolerated.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
NO (91) No
YES (173) Yes
PosAxis
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Drift - PosAxis
The structure elements of 'Drift' specify drift compensation.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies the activation status of drift compensation.With 'NO', the drift compensation is not activated.With 'YES', the drift compensation is activated.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
NO (91) No
YES (173) Yes
PosAxis
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DriveData - PosAxis
The structure elements for 'DriveData' specify the key drive values.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
maxSpeed
Specifies the maximum speed.
maxTorque
Specifies the maximum torque of the drive.
nominalSpeed
Specifies the reference speed.
nominalTorque
Specifies the nominal torque of the drive.
speedReference
Selection setting for scaling: reference speed or maximum speed.
torqueReductionGranularity
Specifies the fine resolution of the torque reduction.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 3000.0 1/min
Data type: LREAL
Changeable online: Yes, active after restart
System default: 3.2 Nm
Data type: LREAL
Changeable online: Yes, active after restart
System default: 3000.0 1/min
Data type: LREAL
Changeable online: Yes, active after restart
System default: 3.2 Nm
Data type: EnumAxisReferenceMaxNominal
Changeable online: Yes, active after restart
System default: MAX_VALUE
Data type: EnumAxisTorqueForceReductionGranularity
Changeable online: Yes, active after restart
System default: BASIC
PosAxis
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torqueReference
Selection setting for scaling: Nominal torque or maximum torque.
EnumAxisReferenceMaxNominal
EnumAxisTorqueForceReductionGranularity
Data type: EnumAxisReferenceMaxNominal
Changeable online: Yes, active after restart
System default: MAX_VALUE
MAX_VALUE (0) Maximum value
NOMINAL_VALUE (1) Nominal value
STANDARD (0) Resolution 1/100
BASIC (16) Resolution 1/16384
PosAxis
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DriverInfo - PosAxis
The structure elements of 'DriverInfo' specify the parameters for the encoder hardware.
NoteAdditional information is available at:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Technology Objects Synchronous Operation, Cam Function Manualor in the online help
encoderNumberOnDevice
Specifies the number of the encoder actual value for message frames with several actual values, e.g. DP_TEL106_611U_DSC_2_ENCODER.
lifeSignCheck
Specifies the monitoring mode for the PROFIBUS DP sign of life between nodes.With 'NO', the sign of life monitoring is switched off.With 'YES', the sign of life monitoring is activated.
logAddressIn
Specifies the logical address for the input data area.
logAddressOut
Specifies the logical address for the output data area.
Data type: DINT
Changeable online: No
System default: 0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: No
System default: 65535
PosAxis
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telegramType
Specifies a PROFIdrive message frame type.With NO_TELEGRAM, a message frame is not specified.With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set up.With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set up.With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one encoder) is set up.With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with two encoders) is set up.With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives with one encoder and DSC) is set up.With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled drives with two encoders and DSC) is set up.
With DP_TEL81_STANDARD, the standard message frame 81, PZD-2/6 for an encoder is set up.With DP_TEL82_STANDARD, the standard message frame 82, PZD-2/7 for an encoder is set up.With DP_TEL83_STANDARD, the standard message frame 83, PZD-2/8 for an encoder is set up.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7 for velocity-controlled drives without encoders is set up.With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for velocity-controlled drives with one encoder is set up.With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for velocity-controlled drives with two encoders is set up.With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for velocity-controlled drives with one encoder and DSC is set up.With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for velocity-controlled drives with two encoders and DSC is set up.
EnumYesNo
EnumAxisTelegramType
Data type: EnumAxisTelegramType
Changeable online: No
System default: DP_TEL102_611U_POSCTRL_1_ENCODER
NO (91) No
YES (173) Yes
NO_TELEGRAM (0) No message frame
DP_TEL1_STANDARD (1) Standard message frame 1, PZD-2/2
DP_TEL2_STANDARD (2) Standard message frame 2, PZD-4/4
DP_TEL3_STANDARD (3) Standard message frame 3, PZD-5/9
DP_TEL4_STANDARD (4) Standard message frame 4, PZD-6/14
DP_TEL5_STANDARD (5) Standard message frame 5, PZD-9/9
DP_TEL6_STANDARD (6) Standard message frame 6, PZD-10/14
DP_TEL81_STANDARD (81) Standard message frame 81, PZD-2/6
DP_TEL83_STANDARD (83) Standard message frame 83, PZD-2/8
PosAxis
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DP_TEL101_611U_VELCTRL_NO_ENCODER (101)
SIEMENS message frame 101, PZD-6/7
DP_TEL102_611U_POSCTRL_1_ENCODER (102)
SIEMENS message frame 102, PZD-6/10
DP_TEL103_611U_POSCTRL_2_ENCODER (103)
SIEMENS message frame 103, PZD-7/15
DP_TEL105_611U_DSC_1_ENCODER (105) SIEMENS message frame 105, PZD-10/10
DP_TEL106_611U_DSC_2_ENCODER (106) SIEMENS message frame 106/107, PZD-11/15
PosAxis
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DynamicComp - PosAxis
The structure elements of 'DynamicComp' specify dynamic compensation.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
T1
Specifies the first time constant.
T2
Specifies the second time constant.
deadTime
Specifies the dead time.
enable
Specifies the activation status of compensation.With 'NO', the compensation is not activated.With 'YES', the compensation is activated.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
PosAxis
3-239SIMOTION Technology Packages Configuration DataList Manual, 11/2010
DynamicData - PosAxis
The structure elements of 'DynamicData' specify the dynamic data of the cascade control system.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
positionTimeConstant
Specifies the equivalent time constant of the position control system.
torqueTimeConstant
Not used.
velocityTimeConstant
Specifies the equivalent time constant of the velocity control system.
NoteThis value can only be checked after download.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.00005 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0005 s
PosAxis
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DynamicFollowing - PosAxis
The structure elements of 'DynamicFollowing' set the dynamic following error monitoring system.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies the activation status of dynamic following error monitoring.With 'NO', the monitoring is not activated.With 'YES', the monitoring is activated.
maxPositionTolerance
Specifies the maximum permissible following error at maximum axis velocity.
minPositionTolerance
Specifies the maximum permissible following error for axis velocities between zero and the velocity from which the maximum permissible following error begins to rise in proportion to velocity.
minVelocity
Specifies the axis velocity from which the maximum permissible following error begins to rise in pro-portion to velocity.
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: LREAL
Changeable online: Yes, active immediately
System default: 100.0 mm
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 mm
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 mm/s
PosAxis
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warningLimit
Specifies the percentage value, relative to the maximum permissible following error calculated, which triggers a warning if exceeded.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 100.0 %
NO (91) No
YES (173) Yes
PosAxis
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EmergencyRampGenerator - PosAxis
The structure element of 'EmergencyRampGenerator' sets the parameter of the emergency stop ramp generator.
maxDeceleration
Specifies the deceleration of the braking ramp.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10000.0 m/s²
PosAxis
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EncoderMain - PosAxis
The structure elements of 'Encoder' specify the parameters of the encoder.
dataAdaption
Selects the behaviorFor YES, the selected encoder configuration parameters will be modified by the drive.For NO, the encoder configuration parameters are configured by the user.
encoderIdentification
Specifies the encoder identification (encoder interface).With SIMULATION, the circuit between the motor and encoder is closed by means of software. Enco-der measured values are calculated from the simulated actual speed or velocity of the axis. It is not necessary to use a real encoder when simulating encoder operation.With ONBOARD, the encoder is connected to an ONBOARD encoder interface of the controller (e.g. C230, C240, etc.).With DPMASTER, the encoder is connected to an external module. Encoder data is provided via the DP interface.With DIRECT, the encoder is connected to the inputs of a digital or analog input module.With SET_ACTUAL_VALUE, the encoder measured value is provided via the 'sensorsetting.actual-value' system variable. The measured value is updated cyclically in a user program.
encoderMode
Specifies the encoder mode (encoder signal type).RECTANGLE_TTL should be selected if the incremental position is to be measured by evaluating a rectangular encoder signal.SINUS_1VPP should be selected if the incremental position is to be measured by evaluating a sinu-soidal encoder signal.RESOLVER should be selected if the incremental position is to be measured by evaluating a resol-ver's encoder signal.STEPMOT should be selected, if the incremental position is to be determined by taking a set incre-mental position for a stepper motor without an encoder.INTERVAL_COUNTER should be selected if the velocity/speed is to be measured by using an addi-tional module to count intervals between two pulses.PROFIDRIVE_NIST_A should be selected if the velocity/speed is to be determined by reading actual speed value data (16 bits wide) from the PROFIDrive message frame.PROFIDRIVE_NIST_B should be selected if the velocity/speed is to be determined by reading actual speed value data (32 bits wide) from the PROFIDrive message frame.SSI_MODE should be selected if the incremental position is to be transferred to the controller in accor-dance with the specifications of the SSI protocol (absolute encoder).ENDAT should be selected if the incremental position is to be transferred to the controller in accor-dance with the specifications of the EnDat protocol (incremental/absolute encoder).
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumAxisEncoderIdentification
Changeable online: No
System default: SIMULATION
Data type: EnumAxisEncoderMode
Changeable online: No
System default: RECTANGLE_TTL
PosAxis
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encoderSystem
Specifies the encoder system.With ROTARY, a rotary encoder system is used.With LINEAR, a linear encoder system is used.
encoderType
Specifies the encoder type.With SENSOR_INCREMENTAL, the encoder is treated as an incremental encoder.With SENSOR_ABSOLUTE, the encoder is treated as an absolute encoder.With SENSOR_CYCLIC_ABSOLUTE, the encoder is treated as an absolute encoder. The number of encoder overflows is also stored in the controller after disabling.With SENSOR_POSITION_DIFFERENCE_MEASUREMENT, an encoder is configured to allow dif-ferential measurement of position and velocity of two definable encoders.
encoderValueType
Specifies the actual value type from which the encoder value is calculated.With POSITION, the actual value is calculated for both the position and the velocity/speed.With VELOCITY, the actual value for the velocity/speed is calculated.With POSITION_AND_PROFIDRIVE_NIST_B, the actual value is calculated for the position and the actual value of the velocity/speed is read from the PROFIDrive message frame.With POSITION_AND_DIRECT_NIST_B, the actual value is calculated for the position, and the actual value for the velocity/speed is read from an area to be addressed in the process image of the inputs and outputs.
interfaceAllocation
Selects the interface behavior.With EXCLUSIVE, the driver can only be used on this technology object.With NON_EXCLUSIVE_AND_STARTUP_ACTIVATED, the driver can be used on this and any other technology object. The driver is activated on the technology object after system startup.With NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED, the driver can be used on this and any other technology object. The driver is deactivated on the technology object after system startup.
EnumYesNo
Data type: EnumAxisEncoderSystem
Changeable online: No
System default: ROTATORY_SYSTEM
Data type: EnumAxisEncoderType
Changeable online: No
System default: SENSOR_INCREMENTAL
Data type: EnumAxisEncoderValueType
Changeable online: No
System default: POSITION
Data type: EnumAxisSensorInterfaceAllocationConfig
Changeable online: No
System default: EXCLUSIVE
NO (91) No
YES (173) Yes
PosAxis
3-245SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumAxisEncoderIdentification
EnumAxisEncoderMode
EnumAxisEncoderSystem
EnumAxisEncoderType
EnumAxisEncoderValueType
SIMULATION (0) Simulation
ONBOARD (1) Onboard
DPMASTER (2) DPMaster
DIRECT (4) Encoder supplies the value directly
SET_ACTUAL_VALUE (5) Actual value via system variable
RECTANGLE_TTL (1) Rectangle
SSI_MODE (2) SSI
STEPMOTOR (3) Stepper motor
ENDAT (4) Endat
SINUS_1VPP (5) Sine
RESOLVER (6) Resolver
SENSOR_ANALOG (7) Analog encoder
INTERVAL_COUNTER (8) Encoder mode for interval counter
PROFIDRIVE_NIST_A (9) Velocity value 16-bit
PROFIDRIVE_NIST_B (10) Velocity value 32-bit
PROFIDRIVE (11) PROFIdrive profile
ROTATORY_SYSTEM (0) Rotary encoder system
LINEAR_SYSTEM (1) Linear encoder system (linear scale)
SENSOR_INCREMENTAL (1) Incremental encoder
SENSOR_ABSOLUTE (2) Absolute encoder
SENSOR_CYCLIC_ABSOLUTE (3) Absolute encoder cyclic absolute
SENSOR_POSITION_DIFFERENCE_MEASUREMENT (4)
Differential position
POSITION (0) Calculate actual position value
VELOCITY (1) Calculate actual velocity value
POSITION_AND_PROFIDRIVE_NIST_B (2) Calculate actual position values and velocity from DP protocol
POSITION_AND_DIRECT_NIST_B (3) Calculate actual position values and actual velo-city value from I/O
POSITION_AND_PROFIDRIVE_ENCODER_NIST_B (4)
Calculate actual position values and velocity from DP protocol (standard message frame 83)
PosAxis
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EnumAxisSensorInterfaceAllocationConfig
Associated parameters (maximum):
EXCLUSIVE (939) Exclusive
NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED (940)
Non-exclusive and deactivated
NON_EXCLUSIVE_AND_STARTUP_ACTIVATED (941)
Non-exclusive and active
AbsBackLash(AbsBackLash)
Backlash compensation for absolute measuring system
AbsEncoder(AbsEncoder)
Absolute encoder
AbsHomingEncoder(AbsHomingEncoder)
Homing for absolute measuring system
AdaptDrive(AdaptDrive)
Gear ratio of the measuring system for a drive-side assembly type
AdaptExtern(AdaptExtern)
Gear ratio of the measuring system for an exter-nal assembly type
AdaptLoad(AdaptLoad)
Gear ratio of the measuring system for a load-side assembly type
AnalogSensor(AnalogSensorType)
Analog measuring system
AssemblyBase(AssemblyBase)
Assembly type of the measuring system
DriverInfo(DriverInfo)
Actual value interface
DriverInfoDirectIncremental(StructDriverInfoDirectIncremental)
Actual value interface of the direct incremental encoder
Filter(Filter)
Actual value filter
FrequencyLimit(FrequencyLimit)
Limit frequency of the measuring system
IncBackLash(IncBackLash)
Backlash compensation for incremental measu-ring system
IncEncoder(IncEncoder)
Incremental encoder
IncHomingEncoder(IncHomingEncoder)
Homing for incremental measuring system
IntervalCounterConversionData(IntervalCounterConversionDataType)
Interval counter
InversCountDirection(InversCountDirection)
Inverse count direction
NistDriverConfig(StructAxisNistDriverConfig)
Actual speed value
PathPerRevolution(PathPerRevolution)
Path per revolution
PositionDifferenceMeasurement(StructPositionDifferenceMeasurement)
PositionDifferenceMeasurement
PosAxis
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PositionFilter(PT2PositionFilterType)
Position filter
Resolution(Resolution)
Resolution
SensorControlConfig(SensorControlConfig)
Encoder error tolerance
SensorNist(SensorNist)
Actual speed value extrapolation
SensorSetActualValue(SensorSetActualValue)
Actual value via system variable
Slippage(Slippage)
Slippage
StepMotorMonitoring(StepMotorMonitoringType)
Stepper motor
PosAxis
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EncoderNumber - PosAxis
The assignment between data record number and measuring system number of the position or velo-city sensor is specified with the structure elements for 'EncoderNumber'.
EncoderNumber
Specifies which encoder is assigned to this data set.
ExecutionConfigInfo - PosAxis
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
NoteFurther information is provided:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Technology Objects Synchronous Operation, Cam Function ManualOnline help
executionlevel
Specifies the task level at which the interpolator task of the technology object is running.With IPO, the task is executed in the fast interpolator cycle clock.With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: EnumToExecutionLevel
Changeable online: Yes, active after restart
System default: IPO
IPO (0) IPO
IPO_2 (1) IPO_2
SERVO (2) Servo
IPO_FAST (3) IPO_fast
SERVO_FAST (4) Servo_fast
PosAxis
3-249SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ExtrapolationPositionFilterType - PosAxis
The structure elements belonging to 'ExtrapolationPositionFilter' are used to set the filter for the actual position on the master value axis.
T1
Time constant T1 of the filter for the actual position.
T2
Time constant T2 of the filter for the actual position.
enable
Specifies the activation status of the PT2 filter for the actual position.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
PosAxis
3-250 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Filter - PosAxis
The structure elements of 'Filter' specify actual value smoothing.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies filter functionality.With 'NO', the filter functionality is deactivated.With 'YES', the filter functionality is activated.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
PosAxis
3-251SIMOTION Technology Packages Configuration DataList Manual, 11/2010
FineInterpolator - PosAxis
The structure element of 'FineInterpolator' specifies the parameter of the fine interpolator.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
_type
Specifies the type of fine interpolator used.With DIRECT_MODE, fine interpolation does not take place.With LINEAR_MODE, a linear fine interpolation takes place.With CUBIC_MODE, acceleration-continuous setpoints are generated.With QUADRATIC_MODE, velocity-continuous setpoints are generated.
EnumAxisFineInterpolatorMode
ForceControlHeldValueMonitoring - PosAxis
The force/pressure final value monitoring is set with the structure elements for 'ForceControlHeldVa-lueMonitoring'.
delayTimeToActivate
Specifies the delay between the time when the actual value exceeds the tolerance window and acti-vation of the message.
tolerance
Specifies the permissible force/pressure value tolerance with a constant setpoint.
Data type: EnumAxisFineInterpolatorMode
Changeable online: Yes, active after restart
System default: LINEAR_MODE
DIRECT_MODE (0) No interpolation
LINEAR_MODE (1) Linear interpolation
CUBIC_MODE (2) Acceleration-continuous interpolation
QUADRATIC_MODE (3) Velocity-continuous interpolation
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 20.0 Pa
PosAxis
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ForceControlRunningInWindowMonitoring - PosAxis
The parameters of the force entry window monitoring are specified with the structure elements for 'ForceControlRunningIn WindowMonitoring'.
maxDelayTime
Specifies the delay time from the arrival of the force/pressure actual value in the tolerance window until the activation of the force/pressure value monitoring.
tolerance
Permissible deviation between setpoint and actual value.
winTolTime
Specifies the delay time from the activation of the monitoring until the actual value reaches the tole-rance window.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 Pa
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
PosAxis
3-253SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ForceControllerData - PosAxis
The structure elements of 'ForceControllerData' parameterize the force controller.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
_type
Controller type for the force controller
invertControlValue
With YES, the manipulated variable of the force controller is inverted.With NO, the manipulated variable of the force controller is not inverted.
typeOfSensorData
UNI_DIRECTION means that negative actual values cannot be measured.BOTH_DIRECTION means negative actual values will be measured.
EnumForceControllerType
EnumYesNo
Data type: EnumForceControllerType
Changeable online: Yes, active after restart
System default: PID
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumSensorDataType
Changeable online: Yes, active after restart
System default: UNI_DIRECTION
PID (1) PID controller
PID_ACTUAL (2) PID controller with actual value-dependent D-component
NO (91) No
YES (173) Yes
PosAxis
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EnumSensorDataType
Associated parameters (maximum):
UNI_DIRECTION (1) Unidirectional
BOTH_DIRECTION (2) Bidirectional
FilterForceControl(StructAxisFilterForceControlConfig)
Manipulated variable limitation
OutputLimits(OutputLimits)
Manipulated variable limitation
PID_Controller(PID_ControllerForce)
Parameters for the PID controller
PosAxis
3-255SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ForceControllerDifference - PosAxis
The controller differential monitoring is set with the structure elements for 'ForceControllerDifference'.
enable
With 'YES', the control deviation monitoring of the force controller is activated.With 'NO', the control deviation monitoring of the force controller remains deactivated (system default).
maxForceTolerance
Specifies the maximum permissible control deviation.
EnumYesNo
FrequencyLimit - PosAxis
The structure elements of 'FrequencyLimit' specify the frequency limit of the encoder.
encoderFrequencyLimit
Specifies the frequency limit of the encoder.
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 Pa
NO (91) No
YES (173) Yes
Data type: LREAL
Changeable online: Yes, active immediately
System default: 400000.0 Hz
PosAxis
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Friction - PosAxis
The structure elements of 'Friction' specify the friction torque compensation.
amplitude
Specifies the maximum value of the friction torque compensation characteristic.
decayTime
Specifies the delay time constant.
delayTimeStandStill
Specifies the delay time for activation of the standstill signal.
enable
Specifies the activation status of friction torque compensation.With NO, the friction torque compensation is not activated.With YES, the friction torque compensation is activated.
maxVeloStandStill
Specifies the maximum velocity at which the standstill signal is active.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 5.0 mm/s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.05 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.2 mm/s
NO (91) No
YES (173) Yes
PosAxis
3-257SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Gear - PosAxis
The structure elements of 'Gear' specify the gear ratio of the load gearbox. The gear ratio is only active for the 'ASSEMBLY_DRIVE' mounting type.
denFactor
Specifies the number of load revolutions.
numFactor
Specifies the number of motor revolutions.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
PosAxis
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HWEndPos - PosAxis
The structure elements of 'HWEndPos' are used to specify the monitoring mode of the hardware limit switches.
bitNumberNegative
Specifies the I/O bit number within the I/O byte specified by the logical address.
bitNumberPositive
Specifies the I/O bit number within the I/O byte specified by the logical address.
enable
Specifies the activation status of the hardware limit switches.For 'NO', the hardware limit switches are deactivated.For 'YES', the hardware limit switches are activated.
interfaceActivation
Selects the interface behavior.With STARTUP_DEACTIVATED the driver is deactivated on the technology object following system startup.With STARTUP_ACTIVATED the driver is activated on the technology object following system star-tup.
logAddressNegative
Specifies the logical address of the negative hardware limit switch.
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumAxisInterfaceActivationConfig
Changeable online: No
System default: STARTUP_ACTIVATED
Data type: UDINT
Changeable online: No
System default: 65535
PosAxis
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logAddressPositive
Specifies the logical address of the positive hardware limit switch.
mode
Specifies the position of the hardware limit switch relative to the axis traversing range.With 'END_MOUNTED_SWITCH', the hardware limit switches outside of the permissible traversing range are always active.With 'FLEXIBLE_MOUNTED_SWITCH', the hardware limit switches can be crossed in the direction of the impermissible traversing range.
EnumYesNo
EnumAxisInterfaceActivationConfig
EnumMountSwitch
Data type: UDINT
Changeable online: No
System default: 65535
Data type: EnumMountSwitch
Changeable online: Yes, active after restart
System default: END_MOUNTED_SWITCH
NO (91) No
YES (173) Yes
STARTUP_DEACTIVATED (942) Deactivated after startup
STARTUP_ACTIVATED (943) Active after startup
END_MOUNTED_SWITCH (0) Limit switch outside of the permissible traversing range always active
FLEXIBLE_MOUNTED_SWITCH (1) Limit switch can be crossed
PosAxis
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Homing - PosAxis
The structure elements of 'Homing' specify the parameters for homing the axis.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
beroDistance
Specifies the maximum distance from the current position to the homing cam or to the external zero mark.
direction
Specifies the direction of approach for active homing.With POSITIVE, the approach direction for homing is selected in the positive direction.With NEGATIVE, the approach direction for homing is selected in the negative direction.
enableBeroDistance
Specifies the monitoring mode of the traversing path from the current position until the reference cam or the external zero mark.With NO, the monitoring is switched off.With 'YES', the monitoring is activated.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
Data type: EnumDirectionType
Changeable online: Yes, active immediately
System default: POSITIVE
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
PosAxis
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referencingNecessary
Specifies whether homing is necessary before commands with absolute position data. Commands with absolute position data can always be traversed without homing.With NO, homing is not necessary for commands with absolute position specifications.With YES, homing is necessary for commands with absolute position specifications.
EnumDirectionType
EnumYesNo
Associated parameters (maximum):
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
POSITIVE (0) Start in positive direction
NEGATIVE (1) Start in negative direction
POSITIVE_ALL_HOMING (2) Positive direction only
NEGATIVE_ALL_HOMING (3) Negative direction only
NO (91) No
YES (173) Yes
ReverseCamNegative(ReverseCamNegative)
Negative reversing cam
ReverseCamPositive(ReverseCamPositive)
Positive reversing cam
PosAxis
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IncBackLash - PosAxis
The structure elements of 'IncBackLash' specify the backlash compensation for the incremental enco-der.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
_type
Specifies the direction in which backlash compensation is calculated.With 'POSITIVE', the backlash compensation is applied in the positive direction.With 'NEGATIVE', the backlash compensation is applied in the negative direction.
enable
Specifies the activation status of backlash compensation for the incremental encoder.With 'NO', the backlash compensation is not enabled.With 'YES', the backlash compensation is enabled.
length
Specifies the backlash compensation value.
velocity
Specifies the velocity at which backlash compensation is stopped.If the value is 0, the backlash is calculated without limits.
EnumBackLashType
EnumYesNo
Data type: EnumBackLashType
Changeable online: Yes, active immediately
System default: POSITIVE
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm/s
POSITIVE (0) positive
NEGATIVE (1) negative
NO (91) No
YES (173) Yes
PosAxis
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IncEncoder - PosAxis
The structure elements of 'IncEncoder' specify the parameters for an incremental encoder.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enableZeroMonitoring
Specifies the activation status of monitoring of the number of increments between two encoder zero marks.With 'NO', monitoring of the number of increments between two encoder zero marks is not activated.With 'YES', monitoring of the number of increments between two encoder zero marks is activated.
incResolution
Specifies the number of increments per encoder revolution specified on the encoder rating plate.
incResolutionMultiplierCyclic
Specifies the multiplication factor of the cyclic actual value.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2048
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
NO (91) No
YES (173) Yes
PosAxis
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IncHomingEncoder - PosAxis
The structure elements of 'IncHomingEncoder' specify the parameters for an incremental encoder.
NoteAdditional information is available at:Function Manual "TO Axis Electric/Hydraulic, External Encoder".SIMOTION MCC Motion Control Chart Programming and Operating Manualor in the online help
approachDirection
Specifies the approach direction of the encoder zero mark with the following homing modes: 'homing-Mode:=MODE_ZM' or 'homingMode:=MODE_CAM_AND_ZM'.
With APPROACH_NEGATIVE, the encoder zero mark is approached in negative direction.With APPROACH_POSITIVE, the encoder zero mark is approached in positive direction.
Specifies the edge and side of the external zero mark with the following homing modes: 'homing-Mode:=MODE_CAM' or 'homingMode:=MODE_REFERENCE_CAM_AND_EXTERNAL_ZM'.
With EDGE_POS_SIDE_NEG, homing is carried out with the positive edge on the negative side of the external zero mark. Homing is therefore carried out when the external zero mark is crossed in positive direction.
With EDGE_POS_SIDE_POS, homing is carried out with the positive edge on the positive side of the external zero mark. Homing is therefore carried out when the external zero mark is crossed in negative direction.
With EDGE_NEG_SIDE_POS, homing is carried out with the negative edge on the positive side of the external zero mark. Homing is therefore carried out when the external zero mark is crossed in positive direction.
With EDGE_NEG_SIDE_NEG, homing is carried out with the negative edge on the negative side of the external zero mark. Homing is therefore carried out when the external zero mark is crossed in negative direction.
With 'homingMode:=MODE_ZM', the encoder zero mark is approached immediately in the configured direction.With 'homingMode:=MODE_CAM_AND_ZM', the encoder zero mark is approached in the configured direction after the approach of the reference cam.With 'homingMode:=MODE_CAM' or 'homing-Mode:=MODE_REFERENCE_CAM_AND_EXTERNAL_ZM', the edge and side of the external zero mark are evaluated.
bitNumberBero
Specifies the bit number of the reference cam for homing mode CAM_AND_ZM or MODE_REFERENCE_CAM_AND_EXTERNAL_ZM.
Data type: EnumAxisApproachDirection
Changeable online: Yes, active immediately
System default: APPROACH_NEGATIVE
Data type: UDINT
Changeable online: No
System default: 0
PosAxis
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enableZeroMarkDistance
Specifies the monitoring mode for the path after leaving the reference cam until the encoder zero mark is reached.With NO, the monitoring of the path after leaving the reference cam until the encoder zero mark is rea-ched is not activated.With YES, the monitoring of the path after leaving the reference cam until the encoder zero mark is reached is activated.
homingMode
Specifies the homing mode.With MODE_NO_REFERENCE, a homing mode is not selected.With MODE_CAM_AND_ZM, the homing mode reference cam with encoder zero mark is selected.With MODE_ZM, the homing mode with encoder zero mark only is selected.With MODE_CAM, the homing mode with external zero mark only is selected.MODE_REFERENCE_CAM_AND_EXTERNAL_ZM is not available.
logAddressBero
Specifies the address of the reference cam for homing mode CAM_AND_ZM or MODE_REFERENCE_CAM_AND_EXTERNAL_ZM.
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumAxisHomingMode
Changeable online: Yes, active after restart
System default: MODE_NO_REFERENCE
Data type: UDINT
Changeable online: No
System default: 65535
PosAxis
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passiveApproachDirection
Specifies the expected approach direction for the passive homing.
For the setting 'passiveHomingMode:=ZM_PASSIVE' or 'passiveHoming-Mode:=CAM_AND_ZM_PASSIVE', this configuration data items specifies the approach direction of the encoder zero mark.With 'passiveHomingMode:=ZM_PASSIVE', the encoder zero mark is expected in the configured direction.With 'passiveHomingMode:=CAM_AND_ZM_PASSIVE', the encoder zero mark is expected in the configured direction after the approach of the reference cam.
With APPROACH_NEGATIVE_PASSIVE, the negative approach direction is expected.With APPROACH_POSITIVE_PASSIVE, the positive approach direction is expected.With ACTUAL_DIRECTION_PASSIVE, both approach directions are possible.
With EDGE_POS_SIDE_NEG_PASSIVE, a rising edge on the negative side of the external zero mark is expected.With EDGE_POS_SIDE_POS_PASSIVE, a rising edge on the positive side of the external zero mark is expected.With EDGE_NEG_SIDE_POS_PASSIVE, a falling edge on the positive side of the external zero mark is expected.With EDGE_NEG_SIDE_NEG_PASSIVE, a falling edge on the negative side of the external zero mark is expected.
passiveBitNumberBero
Specifies the bit number of the reference cam during passive homing and for homing mode CAM_AND_ZM_PASSIVE or REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE.
passiveHomingMode
Specifies the homing mode.With CAM_AND_ZM_PASSIVE, homing mode reference cam with encoder zero mark is selected.With ZM_PASSIVE, the homing mode with encoder zero mark only is selected.With CAM_PASSIVE, the homing mode with external zero mark only is selected.With DEFAULT_PASSIVE, the homing mode ZM_PASSIVE or CAM_PASSIVE is preset with or wit-hout the encoder zero mark, depending on the encoder type.REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE is not available.
Data type: EnumAxisPassiveApproachDirection
Changeable online: Yes, active immediately
System default: ACTUAL_DIRECTION_PASSIVE
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumAxisPassiveHomingMode
Changeable online: Yes, active after restart
System default: DEFAULT_PASSIVE
PosAxis
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passiveLogAddressBero
Specifies the address of the reference cam during passive homing and for homing mode CAM_AND_ZM_PASSIVE or REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE.
proceedShiftPos
Specifies the home position offset.
referenceCamType
Selects the reference cam for referencing mode MODE_CAM_AND_ZM.With HARDWARE_LIMIT_SWITCH_POSITIVE, the positive limit switch is used as the reference cam.With HARDWARE_LIMIT_SWITCH_NEGATIVE, the negative limit switch is used as the reference cam.With STANDARD, the reference cam defined in "typeOfAxis.Encoder_x.incHomingEncoder" is used.
zeroMarkDistance
Specifies the maximum length of the path after leaving the reference cam until the encoder zero mode is reached in homing mode MODE_CAM_AND_ZM.Specifies the maximum length until the encoder zero mark in homing mode MODE_ZM.
EnumAxisApproachDirection
EnumYesNo
Data type: UDINT
Changeable online: No
System default: 65535
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
Data type: EnumAxisReferenceCamType
Changeable online: No
System default: STANDARD
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
APPROACH_NEGATIVE (0) Approach direction encoder zero mark negative
APPROACH_POSITIVE (1) Approach direction encoder zero mark positive
EDGE_POS_SIDE_NEG (2) Rising edge negative side external zero mark
EDGE_POS_SIDE_POS (3) Rising edge positive side external zero mark
EDGE_NEG_SIDE_POS (4) Falling edge positive side external zero mark
EDGE_NEG_SIDE_NEG (5) Falling edge negative side external zero mark
NO (91) No
YES (173) Yes
PosAxis
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EnumAxisHomingMode
EnumAxisPassiveApproachDirection
EnumAxisPassiveHomingMode
EnumAxisReferenceCamType
Associated parameters (maximum):
MODE_NO_REFERENCE (0) No reference mode
MODE_CAM_AND_ZM (1) Reference cam and encoder zero mark
MODE_ZM (2) Encoder zero mark only
MODE_CAM (3) External zero mark only
MODE_REFERENCE_CAM_AND_EXTERNAL_ZM (4)
Reference cam and external zero mark
APPROACH_NEGATIVE_PASSIVE (0) Approach direction encoder zero mark negative
APPROACH_POSITIVE_PASSIVE (1) Approach direction encoder zero mark positive
EDGE_POS_SIDE_NEG_PASSIVE (2) Rising edge negative side external zero mark
EDGE_POS_SIDE_POS_PASSIVE (3) Rising edge positive side external zero mark
EDGE_NEG_SIDE_POS_PASSIVE (4) Falling edge positive side external zero mark
EDGE_NEG_SIDE_NEG_PASSIVE (5) Falling edge negative side external zero mark
ACTUAL_DIRECTION_PASSIVE (6) Next edge
CAM_AND_ZM_PASSIVE (1) Reference cam and encoder zero mark
ZM_PASSIVE (2) Encoder zero mark only
CAM_PASSIVE (3) External zero mark only
DEFAULT_PASSIVE (4) Default setting depends on encoder type (with/without encoder zero mark)
REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE (5)
Reference cam and external zero mark
STANDARD (358) Reference cam
HARDWARE_LIMIT_SWITCH_POSITIVE (389) Reference cam positive limit switch
HARDWARE_LIMIT_SWITCH_NEGATIVE (390)
Reference cam negative limit switch
StateDriveExternalZeroMark(StateDriveExternalZeroMark)
External zero mark status of digital drive
PosAxis
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IntervalCounterConversionDataType - PosAxis
The structure elements of 'IntervalCounterConversionData' are used to configure the encoder as an interval counter.
The 'Interval counter' encoder type is used to determine the speed using an interval duration and the number of intervals per encoder revolution.An interval is the time between two successive encoder pulses that are recorded by an encoder module.The duration (interval) between the encoder pulses is measured by the module and provided in the I/O area.
incResolution
Specifies the increments or the number of intervals or encoder pulses per encoder revolution.
referenceTime
Specifies the reference time for the measurement of the interval duration.The reference time is the time after which the counter in the encoder module used to determine the interval duration is incremented by one (interval duration = count * reference time).
Associated parameters (maximum):
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0005 ms
DriverInfo(StructSensorDriverInfo)
AnalogDriverInfo (Only the logical address 'logAddress' of the reference value for the inter-val duration stored by the encoder module in the I/O area has to be specified. The other elements of the 'StructSensorDriverInfo' structure are not taken into account for the configuration of the interval counter.)
PosAxis
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InversCountDirection - PosAxis
The structure elements of 'InversCountDirection' specify the counting direction of the actual encoder value.
encoderFeedbackPolarity
Specifies whether the counting direction of the actual encoder value is inverted.With NO, the count direction of the actual encoder value is not inverted. (System default)With YES, the count direction of the actual encoder value is inverted.
EnumYesNo
InvertSetPoint - PosAxis
The inversion of actuating signal is specified with the structure elements for 'InvertSetPoint'.With an electrical axis, this means the adaptation of the direction of rotation of the drive to the rotati-onal direction of the machine.With a hydraulic axis, this means the inversion of the F-output behind the characteristic curve.
invSetPoint
Specifies the activation status of the manipulated variable inversion.With 'NO', the manipulated variable is output unchanged.With 'YES', the manipulated variable is output inverted.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
PosAxis
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InvertSetPointHydraulicType - PosAxis
The structure element for 'InvertSetPoint' specifies the inversion of the Q-output value after the cha-racteristic.
invert
Specifies the activation status.With NO, the Q-output value behind the characteristic curve is output unchanged.With YES, the Q-output value behind the characteristic curve is output inverted.
EnumYesNo
LeadScrewInfo - PosAxis
The structure elements of 'LeadScrew' set the leadscrew pitch.
efficiency
Efficiency of the spindle/nut combination.
pitchVal
Specifies the leadscrew pitch per spindle revolution.
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
NO (91) No
YES (173) Yes
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
Data type: LREAL
Changeable online: Yes, active after restart
System default: 10.0 mm/rot
PosAxis
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LinearMotorDriveData - PosAxis
The structure elements of 'LinearMotorDriveData' specify key drive values for linear motors.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
forceReductionGranularity
Specifies the fine resolution of the force reduction.
forceReference
Selection setting for scaling: Reference force or maximum force.
maxForce
Specifies the maximum force.
maxSpeed
Specifies the maximum traversing velocity.
nominalForce
Specifies the maximum force.
nominalSpeed
Specifies the reference velocity.
Data type: EnumAxisTorqueForceReductionGranularity
Changeable online: Yes, active after restart
System default: BASIC
Data type: EnumAxisReferenceMaxNominal
Changeable online: Yes, active after restart
System default: MAX_VALUE
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1000.0 N
Data type: LREAL
Changeable online: No
System default: 3000.0 1/min
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1000.0 N
Data type: LREAL
Changeable online: No
System default: 3000.0 1/min
PosAxis
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speedReference
Selection setting for scaling: Reference velocity or maximum velocity.
EnumAxisTorqueForceReductionGranularity
EnumAxisReferenceMaxNominal
Data type: EnumAxisReferenceMaxNominal
Changeable online: Yes, active after restart
System default: MAX_VALUE
STANDARD (0) Resolution 1/100
BASIC (16) Resolution 1/16384
MAX_VALUE (0) Maximum value
NOMINAL_VALUE (1) Nominal value
PosAxis
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LinearStepMotorDriveDataType - PosAxis
The structure elements of 'LinearStepMotorDriveData' specify key drive values for stepper motors.
maxFrequency
Specifies the maximum frequency for motor steps.
stepMotorResolution
Specifies the number of motor steps per revolution.
Data type: LREAL
Changeable online: No
System default: 50000.0 Hz
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1000
PosAxis
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MaxAcceleration - PosAxis
The structure elements of 'MaxAcceleration' define the maximum permissible acceleration and the monitoring mode for the change of the manipulated variable.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enableSetPointMonitoring
Specifies the activation status of the monitoring of the manipulated variable changeWith 'NO', the monitoring is deactivated.With 'YES', the monitoring is activated. The change of the manipulated variable is monitored but not limited.The value specified in 'maxAcceleration.maximum' is converted into the value for the maximum change of the manipulated variable.
maximum
Specifies the maximum permissible acceleration.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10000.0 mm/s²
NO (91) No
YES (173) Yes
PosAxis
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MaxForceCommandData - PosAxis
The structure elements for 'MaxForceCommandData' are used to configure the type of setpoint gene-ration.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
maximum
Specifies the maximum force/pressure setpoint.
maximumDerived
Specifies the maximum rise of the maximum force/pressure setpoint.
MaxJerk - PosAxis
The structure element of 'MaxJerk' defines the maximum permissible jerk.
NoteFurther information is provided:Function Manual "TO Axis Electric/Hydraulic, External Encoder".SIMOTION Basic Functions Function ManualOnline help
maximum
Specifies the maximum possible jerk.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1000.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10000.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 200000.0 mm/s³
PosAxis
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MaxVelocity - PosAxis
The structure element of 'MaxVelocity' defines the maximum permissible velocity.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
maximum
Specifies the maximum permissible velocity.
ModuloInfo - PosAxis
The structure elements of 'Modulo' specify the modulo information.
length
Specifies modulo length.The minimum modulo length that can be set depends on the available resolution!
startValue
Specifies the initial value.
state
Specifies modulo activation.With ACTIVE, a modulo status is activated.With INACTIVE, the modulo status is not activated.
EnumActiveInactive
Data type: LREAL
Changeable online: Yes, active after restart
System default: 500.0 mm/s
Data type: LREAL
Changeable online: Yes, active after restart
System default: 360.0 °
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
Data type: EnumActiveInactive
Changeable online: Yes, active after restart
System default: INACTIVE
ACTIVE (4) Active
INACTIVE (61) Inactive
PosAxis
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NeutralBand - PosAxis
The structure elements of 'NeutralBand' specify the parameters for neutral band compensation.
centreValue
Specifies the center point of the neutral band.
enable
Specifies the activation status of neutral band compensation.With NO, the neutral band compensation is not activated.With YES, the neutral band compensation is activated.
range
Specifies the range of the neutral band.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
NO (91) No
YES (173) Yes
PosAxis
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NumberOfAdditionalSensors - PosAxis
The structure elements for 'NumberOfAdditionalSensors' are used to configure the additional enco-ders.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
number
Specifies the number of encoders for a force-controlled axis
Associated parameters (maximum):
Data type: UDINT
Changeable online: No
System default: 1
AdditionalSensor_1(AdditionalSensorMain)
Encoder 1
AdditionalSensor_2(AdditionalSensorMain)
Encoder 2
AdditionalSensor_3(AdditionalSensorMain)
Encoder 3
AdditionalSensor_4(AdditionalSensorMain)
Encoder 4
AdditionalSensor_5(AdditionalSensorMain)
Encoder 5
AdditionalSensor_6(AdditionalSensorMain)
Encoder 6
AdditionalSensor_7(AdditionalSensorMain)
Encoder 7
AdditionalSensor_8(AdditionalSensorMain)
Encoder 8
PosAxis
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NumberOfDataSets - PosAxis
The structure elements for 'NumberOfDataSets' specify the number of data sets.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
changeMode
Specifies the mode for data set change.With 'NEVER', data record switchover does not take place.With 'IN_POSITION', the data record switchover takes place when the positioning window is reached.With 'IN_STANDSTILL', the data record switchover takes place when the standstill signal is present.With 'IMMEDIATELY', data record switchover takes place immediately.
initDataSet
Specifies the initialization data set.
numberOfDataSets
Specifies the number of data sets.
smoothingTimeByChangeDifference
The time constant parameterizes a PT1 element that smoothes abrupt changes in the manipulated variable. Such jumps occur, for example, as a result of Kv changes.
This filter is not effective for changes in the Kv factor.This filter is effective for data record changes.
EnumChangeMode
Data type: EnumChangeMode
Changeable online: Yes, active after restart
System default: IN_POSITION
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: No
System default: 1
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
NEVER (0) No switchover
IN_POSITION (1) Switchover when axis in positioning window
IN_STANDSTILL (3) Switchover when axis below standstill velocity
IMMEDIATELY (7) Immediate switchover
PosAxis
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Associated parameters (maximum):
DataSet_1(DataSetMain)
Data record 1
DataSet_10(DataSetMain)
Data record 10
DataSet_11(DataSetMain)
Data record 11
DataSet_12(DataSetMain)
Data record 12
DataSet_13(DataSetMain)
Data record 13
DataSet_14(DataSetMain)
Data record 14
DataSet_15(DataSetMain)
Data record 15
DataSet_16(DataSetMain)
Data record 16
DataSet_2(DataSetMain)
Data record 2
DataSet_3(DataSetMain)
Data record 3
DataSet_4(DataSetMain)
Data record 4
DataSet_5(DataSetMain)
Data record 5
DataSet_6(DataSetMain)
Data record 6
DataSet_7(DataSetMain)
Data record 7
DataSet_8(DataSetMain)
Data record 8
DataSet_9(DataSetMain)
Data record 9
PosAxis
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NumberOfDigitalInputs - PosAxis
The structure elements of 'NumberOfDigitalInputs' are used to configure the number of digital inputs.
number
Specifies the number of inputs.
Associated parameters (maximum):
Data type: UDINT
Changeable online: No
System default: 0
DigitalInput_1(DigitalInputMain)
Digital input 1
DigitalInput_2(DigitalInputMain)
Digital input 2
DigitalInput_3(DigitalInputMain)
Digital input 3
DigitalInput_4(DigitalInputMain)
Digital input 4
DigitalInput_5(DigitalInputMain)
Digital input 5
DigitalInput_6(DigitalInputMain)
Digital input 6
DigitalInput_7(DigitalInputMain)
Digital input 7
DigitalInput_8(DigitalInputMain)
Digital input 8
PosAxis
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NumberOfEncoders - PosAxis
The structure element of 'NumberOfEncoders' sets the number of encoders.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
dscEncoderNumber
Specifies the DSC encoder.
numberOfEncoders
Specifies the number of encoders.
Associated parameters (maximum):
Data type: UDINT
Changeable online: No
System default: 1
Data type: UDINT
Changeable online: No
System default: 1
Encoder_1(EncoderMain)
Encoder 1
Encoder_2(EncoderMain)
Encoder 2
Encoder_3(EncoderMain)
Encoder 3
Encoder_4(EncoderMain)
Encoder 4
Encoder_5(EncoderMain)
Encoder 5
Encoder_6(EncoderMain)
Encoder 6
Encoder_7(EncoderMain)
Encoder 7
Encoder_8(EncoderMain)
Encoder 8
PosAxis
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OutputLimits - PosAxis
The structure element 'OutputLimits' is used to configure the manipulated variable limitation.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
_max
Specifies the maximum output value for the force controller.
_min
Specifies the minimum output value for the force controller.
PD_Controller - PosAxis
The structure elements of 'PD_Controller' specify the parameters of the PD controller.
decayTime
Specifies the delay time constant of the D component.
kd
Specifies the D component gain.
kp
Specifies the P component gain.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 500.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: -500.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 1/s
PosAxis
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PID_ControllerForce - PosAxis
The structure element 'PID_Controller' is used to configure the PID controller.
decayTime
Delay time constant of D-action component
enableAntiWindup
Specifies the activation status of the integrator limitation.With 'NO', the integrator limitation is not activated.With 'YES', the integrator limitation is activated.
integratorFeedbackTimeConstant
Specifies the time constant to deactivate the I component.
kd
Specifies the D component gain.
ki
Specifies the I component gain.
kp
Specifies the P component gain.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 1/s
PosAxis
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kpc
Specifies the pre-control factor.
preCon
Specifies the activation status of the precontrol system.With 'NO', the precontrol is not activated.With 'YES', the precontrol is activated.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 100.0 %
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
PosAxis
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PID_ControllerPos - PosAxis
The structure element 'PID_Controller' is used to configure the PID controller.
balanceFilterMode
Specifies the balancing filter.
decayTime
Specifies the delay time constant of the D component.
enableAntiWindup
Activation of the integrator limitation.
kd
Specifies the D component gain.
ki
Specifies the I component gain.
kp
Specifies the P component gain.
Data type: EnumBalanceFilterMode
Changeable online: Yes, active after restart
System default: MODE_1
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 1/s²
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 1/s
PosAxis
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kpc
Specifies the pre-control factor.
preCon
Specifies the activation status of the precontrol system.With 'NO', the precontrol is not activated.With 'YES', the precontrol is activated.
EnumBalanceFilterMode
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 100.0 %
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
OFF (0) Balancing filter not active
MODE_1 (1) Balancing filter active
MODE_2 (2) Expanded balancing filter active
NO (91) No
YES (173) Yes
PosAxis
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PT2PositionFilterType - PosAxis
The structure elements of 'PositionFilter' specify the parameters of the position filter.
T1
Time constant T1 of the position filter.
T2
Time constant T2 of the position filter.
enable
Specifies the activation status of the position filter.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
PosAxis
3-290 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PV_Controller - PosAxis
The structure elements of 'PV_Controller' specify the parameters of the P controller with precontrol.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
balanceFilterMode
Specifies the balancing filter type.
enableDSC
Specifies the activation status of DSC.With NO, DSC is not activated.With YES, DSC is activated.
kpc
Specifies the pre-control factor.
kv
Specifies the gain factor of the position feedback loop.
Data type: EnumBalanceFilterMode
Changeable online: Yes, active after restart
System default: MODE_1
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 100.0 %
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 1/s
PosAxis
3-291SIMOTION Technology Packages Configuration DataList Manual, 11/2010
preCon
Specifies the activation status of the precontrol system.With NO, the precontrol is not activated.With YES, the precontrol is activated.
EnumBalanceFilterMode
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
OFF (0) Balancing filter not active
MODE_1 (1) Balancing filter active
MODE_2 (2) Expanded balancing filter active
NO (91) No
YES (173) Yes
PosAxis
3-292 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PathPerRevolution - PosAxis
The structure elements of 'PathPerRevolution' specify the distance of one revolution for the EXTERN assembly base.
length
Specifies the path length of an encoder revolution for EXTERNAL mount type.
PathSyncAxisPosTolerance - PosAxis
The setting of the setpoint differential monitoring on the synchronous axis is specified with the struc-ture elements for 'PathSyncAxisPosTolerance'.
Note"Further information can be found in the Path Interpolation Technology Object Function Manual and in online help."
commandValueTolerance
Specifies the permissible setpoint deviation. An alarm is output if the value is exceeded.
enableCommandValue
Specifies the activation status of the setpoint tolerance monitoring system.With NO_ACTIVATE, the tolerance monitoring of the setpoints is not activated.With WITHOUT_JERK, the tolerance monitoring of the setpoints is activated without inclusion of the jerk. An alarm is output if the setpoints are exceeded.With WITH_JERK, the tolerance monitoring of the setpoints is activated with inclusion of the jerk. An alarm is output if the setpoints are exceeded.
EnumAxisPathPosToleranceCommandValue
Data type: LREAL
Changeable online: Yes, active after restart
System default: 100.0 mm
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 mm
Data type: EnumAxisPathPosToleranceCommandValue
Changeable online: Yes, active immediately
System default: WITHOUT_JERK
NO_ACTIVATE (0) No
WITHOUT_JERK (1) Without jerk
WITH_JERK (2) With jerk
PosAxis
3-293SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PositionFilterType - PosAxis
The structure elements of 'PositionFilter' specify actual value smoothing. The settings take effect on the actual position values in the servo cycle clock.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies filter functionality.With 'NO', the filter functionality is deactivated.With 'YES', the filter functionality is activated.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
PosAxis
3-294 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PositionMonitoring - PosAxis
The structure elements of 'PositionMonitoring' specify position monitoring.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
posWinTolDelayTime
Specifies the delay between the time when the actual value reaches the tolerance window and acti-vation of zero speed monitoring.
posWinTolTime
Specifies the delay between activation of monitoring and the time when the actual value reaches the tolerance window.
tolerance
Specifies the width of the positioning window.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm
PosAxis
3-295SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ProcessModel - PosAxis
The structure elements of 'ProcessModel' set the parameters for the process model.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
T1
Specifies the first time constant.
T2
Specifies the second time constant.
ks
Specifies the transmission factor.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.003 s
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0001 s
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.00000095367431640625
PosAxis
3-296 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Range - PosAxis
The 'Range' structure elements are used to configure the definition range of the read encoder values.
_max
Specifies the maximum value.
_min
Specifies the minimum value.
Resolution - PosAxis
'Resolution' is used to configure the parameters of a linear encoder system (linear scale).
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
distance
Distance between two encoder increments.
NoteThe minimum value that can be set results from the maximum resolution of the TO axis or TO external encoder. Consequently, for an excessive lower limit, the unit for the 'Increments/Position' physical quantity must be varied appropriately.
multiplierCyclic
Incremental resolution
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10000.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: -10000.0
Data type: LREAL
Changeable online: No
System default: 0.001 mm
Data type: UDINT
Changeable online: No
System default: 0
PosAxis
3-297SIMOTION Technology Packages Configuration DataList Manual, 11/2010
RestartConditionInfo - PosAxis
'RestartConditionInfo' is used to set the state in which axis restart is possible.
restartAxisCondition
Specifies the condition for restart.With 'NO_CONSTRAINTS', restart takes place irrespective of the axis state.With 'STANDSTILL', restart takes place only when a standstill signal is present.With 'AXIS_DISABLED', restart only takes place if there are no enables set on the axis.
EnumRestartAxisCondition
Data type: EnumRestartAxisCondition
Changeable online: Yes, active after restart
System default: AXIS_DISABLED
NO_CONSTRAINTS (0) Restart without constraints
STANDSTILL (1) Restart during standstill
AXIS_DISABLED (2) Restart only when no enables are set
PosAxis
3-298 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
RestartInfo - PosAxis
'RestartInfo' is used to enable technology object restart with system variables and/or by command or just by command.
behaviorInvalidSysvarAccess
If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology object is restarted or deactivated.The values stored in the image are supplied when system variables are accessed during the techno-logy object restart or deactivation phase.
restartActivationSetting
With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with system variables and/or by command.With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
EnumToRestartActivationSetting
Data type: EnumToInvalidSysvarAccess
Changeable online: No
System default: LAST_VALUE
Data type: EnumToRestartActivationSetting
Changeable online: Yes, active after restart
System default: RESTART_BY_SYSVAR_AND_COMMAND
DEFAULT_VALUE (2) Supply substitute value from default value
STOP_DEVICE (3) No substitute value, switch to STOP mode
LAST_VALUE (338) Supply substitute value from last valid value
RESTART_BY_SYSVAR_AND_COMMAND (0) Allow restart via system variable and/or com-mand
RESTART_BY_COMMAND (1) Allow restart only via command
PosAxis
3-299SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ReverseCamNegative - PosAxis
The structure elements of 'ReverseCamNegative' specify the parameters for a negative reversing cam.
_type
Specifies the reversing cam selection.With NONE, a negative reversing cam is not present.With SPECIFIC, the reversing cam is defined by an address and bit number.With HARDWARE_LIMIT_SWITCH, the negative hardware limit switch is used as the reversing cam.
bitNumber
Specifies the bit umber of the negative reversing cam for the selection SPECIFIC.
logAddress
Specifies the address of the negative reversing cam for the selection SPECIFIC.
EnumAxisHomingReverseCamType
Data type: EnumAxisHomingReverseCamType
Changeable online: No
System default: NONE
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 65535
NONE (93) No reversing cam
SPECIFIC (387) Newly defined reversing cam
HARDWARE_LIMIT_SWITCH (388) Hardware limit switch as reversing cam
PosAxis
3-300 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ReverseCamPositive - PosAxis
The structure elements of 'ReverseCamPositive' specify the parameters for a positive reversing cam.
_type
Specifies the reversing cam selection.With NONE, a positive reversing cam is not present.With SPECIFIC, the reversing cam is defined by an address and bit number.With HARDWARE_LIMIT_SWITCH, the positive hardware limit switch is used as the reversing cam.
bitNumber
Specifies the bit number of the positive reversing cam for the selection SPECIFIC.
logAddress
Specifies the address of the positive reversing cam for the selection SPECIFIC.
EnumAxisHomingReverseCamType
Data type: EnumAxisHomingReverseCamType
Changeable online: No
System default: NONE
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 65535
NONE (93) No reversing cam
SPECIFIC (387) Newly defined reversing cam
HARDWARE_LIMIT_SWITCH (388) Hardware limit switch as reversing cam
PosAxis
3-301SIMOTION Technology Packages Configuration DataList Manual, 11/2010
SensorControlConfig - PosAxis
The tolerance of an encoder error is specified with the structure elements for 'SensorControlConfig'.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
tolerateSensorDefect
Specifies whether a failure of an encoder not involved in the closed-loop control should be tolerated.With 'NO', a failure is not tolerated.With 'YES', a failure is tolerated.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
PosAxis
3-302 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
SensorNist - PosAxis
The structure elements of 'SensorNist' specify the parameters for the actual speed value from the I/O area.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
logAddress
Specifies the address of the actual speed value in the I/O area.
referenceValue
Specifies the reference time for the interval measurement.
Data type: UDINT
Changeable online: No
System default: 65535
Data type: LREAL
Changeable online: Yes, active after restart
System default: 3000.0
PosAxis
3-303SIMOTION Technology Packages Configuration DataList Manual, 11/2010
SensorSetActualValue - PosAxis
The structure elements of 'SensorSetActualValue' specify the parameters for actual value read-in via system variable.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
maxFailures
Specifies the number of permissible failures with reference to the update cycle.
updateCycle
Specifies the actual value update cycle via system variable.
EnumAxisUpdateCycle
Data type: UDINT
Changeable online: Yes, active immediately
System default: 1
Data type: EnumAxisUpdateCycle
Changeable online: Yes, active after restart
System default: IPO
IPO (0) IPO
IPO_2 (1) IPO_2
SERVO (2) Servo
IPO_FAST (3) IPO_fast
SERVO_FAST (4) Servo_fast
PosAxis
3-304 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
SetPointDriverInfo - PosAxis
The structure elements of 'SetPointDriverInfo' specify the driver information for the drive interface.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
actorType
Specifies the type of drive.With NO_TYPE, there is no interface specification.With 'ANALOG', the interface is configured for analog drives.With 'STEPMOTOR', the interface is configured for stepper motors.
interfaceAllocation
Selects the interface behavior.With EXCLUSIVE, the driver can only be used on this technology object.With NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED, the driver can be used on this or any other technology object. The driver is deactivated on the technology object after system startup.With NON_EXCLUSIVE_AND_STARTUP_ACTIVATED, the driver can be used on this or any other technology object. The driver is activated on the technology object after system startup.
lifeSignCheck
Specifies the activation status of life sign monitoring.With NO, the sign of life monitoring is not activated.With YES, the sign of life monitoring is activated.
logAddressIn
Specifies the logical address for the input data area.
Data type: EnumAxisDioActorType
Changeable online: No
System default: NO_TYPE
Data type: EnumAxisActuatorInterfaceAllocationConfig
Changeable online: No
System default: EXCLUSIVE
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: UDINT
Changeable online: No
System default: 65535
PosAxis
3-305SIMOTION Technology Packages Configuration DataList Manual, 11/2010
logAddressOut
Specifies the logical address for the output data area.
maxSetPointVoltage
Specifies the standard voltage with which the analog drive reaches its rated speed.
mode
Specifies the type of drive interface.With SIMULATION, actuator and encoder are short-circuited via a delay element.With ONBOARD, the ONBOARD interfaces are used.With DPMASTER, the drive coupling is performed via PROFIBUS DP..
motorType
Specifies the motor type.With STANDARD_MOTORTYPE, operation with a standard motor is configured.With LINEAR_MOTORTYPE, operation with a linear motor is configured.
outputNumberOnDevice
Not used
Data type: UDINT
Changeable online: No
System default: 65535
Data type: LREAL
Changeable online: Yes, active after restart
System default: 10.0 V
Data type: EnumAxisDriverMode
Changeable online: No
System default: SIMULATION
Data type: EnumAxisMotorType
Changeable online: No
System default: STANDARD_MOTORTYPE
Data type: UDINT
Changeable online: No
System default: 0
PosAxis
3-306 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
telegramType
Specifies the PROFIBUS message frame type.With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set up.With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set up.With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one encoder) is set up.With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with two encoders) is set up.With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives with one encoder and DSC) is set up.With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled drives with two encoders and DSC) is set up.
The message frames DP_TEL81_STANDARD (81) to DP_TEL83_STANDARD (83) are not relevant for DriveAxis.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7 for velocity-controlled drives without encoders is set up.With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for velocity-controlled drives with one encoder is set up.With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for velocity-controlled drives with two encoders is set up.With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for velocity-controlled drives with one encoder and DSC is set up.With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for velocity-controlled drives with two encoders and DSC is set up.
The message frames DP_TEL125_SIEM_DSC_1_ENCODER_SPLINE (125) and DP_TEL126_SIEM_DSC_2_ENCODER_SPLINE (126) are not supported for he SIMOTION Version V4.2.
EnumAxisDioActorType
EnumAxisActuatorInterfaceAllocationConfig
EnumYesNo
Data type: EnumAxisTelegramType
Changeable online: No
System default: DP_TEL102_611U_POSCTRL_1_ENCODER
NO_TYPE (0) No type
ANALOG (1) Analog
STEPMOTOR (2) Step mode
EXCLUSIVE (939) Technology object (TO) exclusive
NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED (940)
TO non-exclusive and deactivated
NON_EXCLUSIVE_AND_STARTUP_ACTIVATED (941)
TO non-exclusive and active
NO (91) No
YES (173) Yes
PosAxis
3-307SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumAxisDriverMode
EnumAxisMotorType
EnumAxisTelegramType
Associated parameters (maximum):
SIMULATION (0) Simulation
ONBOARD (1) Onboard
DPMASTER (2) DP Master
STANDARD_MOTORTYPE (0) Standard motor
LINEAR_MOTORTYPE (1) Linear motor
NO_TELEGRAM (0) No message frame
DP_TEL1_STANDARD (1) Standard message frame 1, PZD-2/2
DP_TEL2_STANDARD (2) Standard message frame 2, PZD-4/4
DP_TEL3_STANDARD (3) Standard message frame 3, PZD-5/9
DP_TEL4_STANDARD (4) Standard message frame 4, PZD-6/14
DP_TEL5_STANDARD (5) Standard message frame 5, PZD-9/9
DP_TEL6_STANDARD (6) Standard message frame 6, PZD-10/14
DP_TEL81_STANDARD (81) Standard message frame 81, PZD-2/6
DP_TEL83_STANDARD (83) Standard message frame 83, PZD-2/8
DP_TEL101_611U_VELCTRL_NO_ENCODER (101)
SIEMENS message frame 101, PZD-6/7
DP_TEL102_611U_POSCTRL_1_ENCODER (102)
SIEMENS message frame 102, PZD-6/10
DP_TEL103_611U_POSCTRL_2_ENCODER (103)
SIEMENS message frame 103, PZD-7/15
DP_TEL105_611U_DSC_1_ENCODER (105) SIEMENS message frame 105, PZD-10/10
DP_TEL106_611U_DSC_2_ENCODER (106) SIEMENS message frame 106/107, PZD-11/15
DriveData(DriveData)
Drive characteristics for standard motors
InvertSetPoint(InvertSetPoint)
Direction of rotation adaptation
LinearMotorDriveData(LinearMotorDriveData)
Drive characteristics for linear motors
LinearStepMotorDriveData(LinearStepMotorDriveDataType)
Drive characteristics for stepper motors
StepMotorDriveData(StepMotorDriveDataType)
Drive characteristics for stepper motors
PosAxis
3-308 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
SimulationInfo - PosAxis
The structure elements of 'SimulationInfo' are used to set a process interface. Simulation mode is not available at present.
simulationMode
Simulation mode activation.With 'Simulation mode = NO', process connection is set.'Simulation mode = YES' is not available.
EnumYesNo
Slippage - PosAxis
Not functional.
slippageLimit
Data type: EnumYesNo
Changeable online: No
System default: NO
NO (91) No
YES (173) Yes
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1000 mm
PosAxis
3-309SIMOTION Technology Packages Configuration DataList Manual, 11/2010
SmoothingFilter - PosAxis
The structure elements for 'SmoothingFilter' specify actual velocity filtering. The filtered actual velocity is displayed in 'motionStateData.actualVelocity'.'timeConstant':- Time constant for PT1 smoothing.- Time constant for averaging.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies filter functionality.With NO, the filter functionality is deactivated.With YES, the filter functionality is activated.
mode
Specifies criterion for actual value smoothing.With 'DEFAULT_MODE', the ratio of interpolator cycle clock to position servo cycle clock is used.With 'AVERAGING', an average over time is used.With 'PT1', a filter set via 'timeConstant' is used.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
EnumAxisFilterMode
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumAxisFilterMode
Changeable online: Yes, active after restart
System default: DEFAULT_MODE
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
DEFAULT_MODE (0) No filter
AVERAGING (1) Form mean value
PT1 (2) PT1 filter
PosAxis
3-310 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StandStillMonitoring - PosAxis
The structure elements of 'StandStillMonitoring' specify zero speed monitoring.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
delayTimeToActivate
Specifies the delay between the time at which the monitoring window is reached and activation of the message.
stillStandTolerance
Specifies the maximum position tolerance at standstill.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm
PosAxis
3-311SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StandStillSignal - PosAxis
The structure elements of 'StandStillSignal' specify the parameters for the velocity-dependent stand-still signal.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
delayTimeToActivate
Specifies the delay time to activation of the velocity-dependent standstill signal.
filterDegree
Specifies the filter degree.
filterFrequency
Specifies the filter frequency.
maxVeloStandStill
Specifies the velocity limit below which the velocity-dependent standstill signal is active.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: UINT
Changeable online: Yes, active immediately
System default: 0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 Hz
Data type: LREAL
Changeable online: Yes, active immediately
System default: 50.0 mm/min
PosAxis
3-312 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StateDriveExternalZeroMark - PosAxis
The structure elements of 'StateDriveExternalZeroMark' specify the parameters for the status of an external zero mark for a digital drive.
available
Specifies that the external zero mark status for a digital drive is available.
bitNumber
Specifies the bit number of the external zero mark for a digital drive.
logAddress
Specifies the address of the external zero mark for a digital drive.
EnumYesNo
StepMotorDriveDataType - PosAxis
The structure elements of 'StepMotorDriveData' specify key drive values for stepper motors.
maxFrequency
Specifies the maximum frequency for motor steps.
stepMotorResolution
Specifies the number of motor steps per revolution.
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 65535
NO (91) No
YES (173) Yes
Data type: LREAL
Changeable online: No
System default: 50000.0 Hz
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1000
PosAxis
3-313SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StepMotorMonitoringType - PosAxis
The structure elements belonging to 'StepMotorMonitoring' are used to set the rotation monitoring for step motor operation.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
beroCycleDistance
Specifies the maximum allowed deviation of motor steps per revolution.
beroCycleTolerance
Specifies a tolerance range around beroCycleDistance.
enable
Specifies the activation status of the step motor monitoring.
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2048
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2048
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
PosAxis
3-314 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisActualValueUpdateCounter - PosAxis
The structure elements of 'UpdateCounter' are used to set the parameters for evaluation of the actual value update.
bitNumber
Specifies the first bit number of the update counter.
enableCounter
Specifies whether the actual value update is evaluated.With NO, the actual value update is not evaluated.With YES, the actual value update is evaluated.
logAddress
Specifies the logical address of the update counter.
maxFailure
Specifies the number of permissible value failures before an error is output.
quantityOfBits
Specifies the number of bits in the update counter.
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
PosAxis
3-315SIMOTION Technology Packages Configuration DataList Manual, 11/2010
updateCycle
Specifies the ratio of the actual value update.
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
NO (91) No
YES (173) Yes
PosAxis
3-316 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisAdditionalOffset - PosAxis
The structure elements belonging to 'AdditionalOffset' are used to set the offset application for traver-sal of the axis with motion/force control.The offset is applied during traversal of the axis with motion control related to the velocity setpoint.For force/pressure specification, the offset application is based on the actual velocity value.
enable
Specifies the activation status of the offset application.With NO, the offset application is not activated.With YES , the offset application is activated.
forceControlLowerLimit
Specifies the activation threshold for 'offsetForceControlPositive/Negative'.The offset acts when the 'forceControlLowerLimit' value has been exceeded.
offsetForceControlNegative
Specifies the offset for traversal with force specification and negative direction of movement.
offsetForceControlPositive
Specifies the offset for traversal with force control and positive direction of movement.
offsetMotionControlNegative
Specifies the offset for traversal with motion control and negative direction of movement.
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm/s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm/s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm/s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm/s
PosAxis
3-317SIMOTION Technology Packages Configuration DataList Manual, 11/2010
offsetMotionControlPositive
Specifies the offset for traversal with motion control and positive direction of movement.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm/s
NO (91) No
YES (173) Yes
PosAxis
3-318 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisAnalogSensorErrorStateMonitoring - PosAxis
The structure elements of 'ErrorStateMonitoring' are used to set the parameters for evaluation of the error bit.
bitNumber
Specifies the bit number of the error bit.
bitSemantics
Specifies the evaluation of the error bit.With TRUE, the error bit is evaluated as 1.With FALSE, the error bit is evaluated as 0.
enable
Specifies whether the error bit monitoring is performed.With NO, the logical address is not used.With YES, the logical address is used.
logAddress
Specifies the logical address of the error bit.
EnumTrueFalse
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: EnumTrueFalse
Changeable online: Yes, active after restart
System default: _TRUE
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
_TRUE (405) true
_FALSE (406) false
NO (91) No
YES (173) Yes
PosAxis
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StructAxisAnalogSensorReadyStateMonitoring - PosAxis
The structure elements of 'ReadyStateMonitoring' are used to set the parameters for evaluation of the ready bit.
bitNumber
Specifies the bit number of the ready bit.
bitSemantics
Specifies the evaluation of the ready bit.With TRUE, the ready bit is evaluated as 1.With FALSE, the ready bit is evaluated as 0.
enable
Specifies whether the ready bit monitoring is performed.With NO, the logical address is not used.With YES, the logical address is used.
logAddress
Specifies the logical address of the ready bit.
EnumTrueFalse
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: EnumTrueFalse
Changeable online: Yes, active after restart
System default: _TRUE
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
_TRUE (405) true
_FALSE (406) false
NO (91) No
YES (173) Yes
PosAxis
3-320 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisDriveControlConfig - PosAxis
Settings for the drive are specified with the 'DriveControlConfig' configuration data.
dataAdaption
The 'dataAdaption' configuration data activates the adaptation of the drive data.With 'YES', is the adaptation active.With 'NO', is the adaptation deactivated.
pulsesEnabledEvaluation
The 'PulsesEnabledEvaluation' configuration data describes the behavior of the axis for a drive-inde-pendent stop response.With 'YES', the Pulses-Enabled bit is always processed.With 'COMPATIBILITY_MODE', the Pulses-Enabled bit is only processed for selected safety data block.
releaseDisableMode
The behavior of the drive during the RELEASE_DISABLE error response is specified with the 'release-DisableMode' configuration data.
Specifies the values of bits 0 - 6 to be reset in the PROFIDrive protocol.The bits are negated by the system and ANDed with the existing control word. The specified bits are reset.
Meaning of the bits in the PROFIdrive protocol:Bit0 - ONBit1 - No Coast StopBit2 - No Quick StopBit3 - Enable OperationBit4 - Enable Ramp GeneratorBit5 - Unfreeze Ramp GeneratorBit6 - Enable Setpoint
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumAxisPulsesEnabledEvaluation
Changeable online: Yes, active after restart
System default: COMPATIBILITY_MODE
Data type: UDINT
Changeable online: Yes, active immediately
System default: 127
NO (91) No
YES (173) Yes
PosAxis
3-321SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumAxisPulsesEnabledEvaluation
Associated parameters (maximum):
YES (173) Pulses-Enabled bit is always processed
COMPATIBILITY_MODE (959) The Pulses-Enabled bit is only processed for selected safety data block
pulsesEnabled(StructAxisPulsesEnabledConfig)
Position of PulsesEnabled bit
PosAxis
3-322 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - PosAxis
Specifies the logical address for the communication with the drive.
logAddress
Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data in the cyclic message frame from the drive.
Data type: UDINT
Changeable online: No
System default: 65535
PosAxis
3-323SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisFilterForceControlConfig - PosAxis
The filter at the output of the force controller is configured with the structure element 'FilterForceCon-trol'.
T1
Specifies the T1 time constant of the PT2 filter.
T2
Specifies the T2 time constant of the PT2 filter.
_type
With 'PT2', a PT2 filter is selected.
enable
This data element activates the filter
EnumForceControllerFilterType
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
Data type: EnumForceControllerFilterType
Changeable online: Yes, active after restart
System default: PT2
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
PT2 (909) PT2
NO (91) No
YES (173) Yes
PosAxis
3-324 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisInvertFOutput - PosAxis
The structure element for 'InvertF' specifies the inversion of the F-output value in front of the charac-teristic.
invSetPoint
Specifies the activation status.With 'NO', the F output value in front of the characteristic curve (logical manipulated variable) is output unchanged.With 'YES', the F output value in front of the characteristic curve (logical manipulated variable) is out-put inverted.
EnumYesNo
StructAxisInvertQOutput - PosAxis
The structure element for 'InvertQ' specifies the inversion of the Q-output value in front of the charac-teristic.
invSetPoint
Specifies the activation status.With 'NO', the Q output value in front of the characteristic curve (logical manipulated variable) is output unchanged.With 'YES', the Q output value in front of the characteristic curve (logical manipulated variable) is out-put inverted.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
PosAxis
3-325SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisNistDriverConfig - PosAxis
The parameters for the actual speed value hardware are specified with the structure elements for 'NistDriverConfig' .
logAddress
Specifies the logical address for the actual speed value.
Data type: UDINT
Changeable online: No
System default: 65535
PosAxis
3-326 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisOperatingDataInInfo - PosAxis
Specifies the configuration of the operating character data block.
enableActivePower
Specifies the activation of the effective power display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableActualCurrent
Specifies the activation of the actual current value display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableActualTorqueOrForce
Specifies the activation of the torque / force actual value display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableMotorTemperature
Specifies the activation of the motor temperature display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableTorqueOrForceUtilization
Specifies the activation of the torque utilization display.With 'NO', the display is not activated.With 'YES', the display is activated.
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
PosAxis
3-327SIMOTION Technology Packages Configuration DataList Manual, 11/2010
logAddress
Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data in the cyclic message frame from the drive.
EnumYesNo
Data type: UDINT
Changeable online: No
System default: 65535
NO (91) No
YES (173) Yes
PosAxis
3-328 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisPulsesEnabledConfig - PosAxis
The bit position for pulsesEnable is defined with the configuration data in 'StructAxisPulsesEnabled-Config'.
bitNumber
Specifies the bit number for pulse enable.
pzdNumber
Specifies the PZD number for pulse enable.
StructAxisServoMonitoringConfig - PosAxis
The structure elements for 'ServoMonitoring' are used to set the activation status of the control loop monitoring for activated limitation by the Q/P valve.
motionMonitoringWhenExternalForceLimiting
Activation of the control loop monitoring with an active pressure limiting command.With 'YES', the monitoring is active.With 'NO', the monitoring is not active.
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 13
Data type: UDINT
Changeable online: Yes, active after restart
System default: 5
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
PosAxis
3-329SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisSetpointFilter - PosAxis
The 'setpointFilter' structure element is used to configure a PT1 filter in the manipulated variable branch.
T1
Specifies the T1 time constant of the PT1 filter.
enable
This data element activates the filter
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
PosAxis
3-330 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisSlidingFriction - PosAxis
The structure elements of 'Sliding Friction' specify sliding friction compensation.
enable
Specifies the activation status of friction torque compensation.With 'NO', the sliding friction compensation is not activated.With 'YES', the sliding friction compensation is activated.
factorForceControl
Factor for the sliding friction compensation relative to the actual velocity whentraversing via force/pressure control.
factorMotionControl
Factor for the sliding friction compensation relative to the setpoint velocity whentraversing via motion control.
maxSlidingFrictionForceControl
Specifies the upper limit for the sliding friction component for pressure control.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
NO (91) No
YES (173) Yes
PosAxis
3-331SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisSpeedLimitation - PosAxis
Parameters for asymmetric manipulated variable limitation. This function is also referred to as a back-stop.
enable
Specifies the activation status of the velocity range limit..With 'NO', the velocity limit is not activated.With 'YES', the velocity limit is activated.
maxSpeed
Specifies the upper limit for the manipulated variable range.
minSpeed
Specifies the lower limit for the manipulated variable range.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 1/min
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 1/min
NO (91) No
YES (173) Yes
PosAxis
3-332 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisSwLimitConfig - PosAxis
The structure elements for 'SwLimit' are used to parameterize the efficiency and the approach func-tionality of the software limit switch.
modeSpecificMonitoring
Specifies the approach behavior at the software limit switch.
monitoringAtMotionStart
Specifies whether a restriction to the software limit switch should take place at the motion start.With a 'YES' setting, a check is performed at the beginning of the motion initiated by the command to determine whether a software limit switch is crossed, and then the target position is adapted to the software limit switch.With a 'NO' setting, a check is not performed at the motion start.
relieveWindow
Tolerance window for the retraction from/via the software limit switch.
EnumAxisSwLimitModeSpecificMonitoring
EnumYesNo
Data type: EnumAxisSwLimitModeSpecificMonitoring
Changeable online: Yes, active after restart
System default: IN_CLOSED_LOOP_POSITION_CONTROL
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
IN_CLOSED_LOOP_POSITION_CONTROL (0)
Stop on the software limit switch only during position-controlled traversing
IN_ALL_CONTROL_MODES (1) Stop on the software limit switch in all operating modes with mandatory switchover to position control
NO (91) No
YES (173) Yes
PosAxis
3-333SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisSystemDeadTimeData - PosAxis
The structure elements belonging to 'SystemDeadTimeData' allow the correction of system-related dead times.
additionalTime
Correction value for system-related dead times.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 s
PosAxis
3-334 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisTechnologicalData - PosAxis
The structure elements belonging to TechnologicalData are used to specify addresses for additional data exchange between drive and control unit.
driveSafetyExtendedFunctionsEnabled
Specifies the activation status of the SINAMICS Safety Integrated Extended Functions data.With 'NO', the data are not activated.With 'YES', the data are activated.
enable
Specifies the activation status of the technological data.With 'NO', the technology data are not activated.With 'YES', the technology data are activated.
EnumYesNo
Associated parameters (maximum):
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
NO (91) No
YES (173) Yes
DriveSafetyExtendedFunctionsInfoDataIn(StructAxisDriveSafetyExtendedFunctionsInfo-DataIn)
Drive interface for SINAMICS Safety Integrated Extended Functions data
OperatingDataInInfo(StructAxisOperatingDataInInfo)
Drive interface for operating characteristics
TechnologicalDataInInfo(StructAxisTechnologicalDataInInfo)
Drive interface for specific actual values
TechnologicalDataOutInfo(StructAxisTechnologicalDataOutInfo)
Drive interface for specific setpoints
PosAxis
3-335SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisTechnologicalDataInInfo - PosAxis
Specifies the logical address for the communication with the drive.
logAddress
Specifies the logical address for the transfer of specific parameters in the cyclical message frame from the drive.
StructAxisTechnologicalDataOutInfo - PosAxis
Specifies the logical address for the communication with the drive.
logAddress
Specifies the logical address for the transfer of specific parameters in the cyclical message frame to the drive.
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: No
System default: 65535
PosAxis
3-336 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructCommandValueQuantization - PosAxis
The structure elements of 'CommandValueQuantization' are used to set the quantization filter.
enable
Specifies the activation status of the quantization filter.With 'NO', the quantization filter is not activated.With 'YES', the quantization filter is activated.
mode
Specifies the quantization mode.With 'REFER_TO_ACTUAL_SENSOR_VALUE_RESOLUTION', the resolution of the current encoder is the base value for quantization.With 'DIRECT', the value specified in 'value' is the base value for quantization.
value
Specifies the manipulated variable quantization.
EnumYesNo
EnumCommandValueQuantizationMode
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumCommandValueQuantizationMode
Changeable online: No
System default: REFER_TO_ACTUAL_SENSOR_VALUE_RESOLUTION
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0e-12 mm
NO (91) No
YES (173) Yes
DIRECT (40) Quantization to input value
REFER_TO_ACTUAL_SENSOR_VALUE_RESOLUTION (936)
Quantization to current sensor
PosAxis
3-337SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructControllerOutput - PosAxis
Configures the controller for a hydraulic axis.
outputType
Type of output interface.With 'DIRECT_OUTPUT', the output takes place via the analog interface.With 'DRIVE_INTERFACE', the output takes place via the onboard interface or via PROFIdrive.
EnumAxisControllerOutput
Associated parameters (maximum):
Data type: EnumAxisControllerOutput
Changeable online: No
System default: DIRECT_OUTPUT
DIRECT_OUTPUT (1) Analog interface
DRIVE_INTERFACE (2) Onboard interface or PROFIdrive
DirectOutputDriverInfo(StructDirectOutputDriverInfo)
Parameters of the analog driver
DriveInterfaceDriverInfo(StructDriveInterfaceDriverInfo)
Parameters of the driver for the drive interface
EnableBit(StructEnableBit)
Enable bit
InvertF(StructAxisInvertFOutput)
Inversion of the F-output in front of the characte-ristic curve
InvertFOutput(InvertSetPoint)
Inversion of the F-output behind the characteris-tic curve
PosAxis
3-338 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructDirectOutputDriverInfo - PosAxis
The structure elements of 'DirectOutputDriverInfo' are used to configure the controller for a hydraulic axis.
format
Specifies the format of the actual value.
logAddress
Specifies the address.
maxOutputVoltage
Not used
resolution
Specifies the number of relevant bits.
EnumActualValueFormat
Data type: EnumActualValueFormat
Changeable online: Yes, active after restart
System default: VALUE_LEFT_MARGIN
Data type: UDINT
Changeable online: No
System default: 65535
Data type: LREAL
Changeable online: Yes, active after restart
System default: 10.0 V
Data type: UDINT
Changeable online: Yes, active after restart
System default: 15
VALUE_RIGHT_MARGIN (0) Right-justified
VALUE_LEFT_MARGIN (1) Left-justified
VALUE_LEFT_MARGIN_WITHOUT_SIGN (2) Left-justified without sign
VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3) Right-justified without sign
PosAxis
3-339SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructDriveInterfaceDriverInfo - PosAxis
The structure elements of 'DriveInterfaceDriverInfo' are used to configure the controller for a hydraulic axis.
actorType
Specifies the type of drive.With NO_TYPE, there is no interface specification.With ANALOG, the interface is configured for analog drives.With STEPMOTOR, the interface is configured for stepper motors.
lifeSignCheck
Specifies the activation status of life sign monitoring.With 'NO', the sign of life monitoring is not activated.With 'YES', the sign of life monitoring is activated.
logAddressIn
Specifies the logical address for the input data area.
logAddressOut
Specifies the logical address for the output data area.
maxOutputVoltage
Specifies the standard voltage on which the analog drive reaches its maximum speed.
Data type: EnumAxisDioActorType
Changeable online: No
System default: NO_TYPE
Data type: EnumYesNo
Changeable online: No
System default: YES
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: No
System default: 65535
Data type: LREAL
Changeable online: No
System default: 10.0 V
PosAxis
3-340 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
mode
Specifies the type of drive interface.With 'ONBOARD', an onboard analog interface is used.With 'DPMASTER', an onboard PROFIBUS DP interface is used.With 'SIMULATION', a drive interface is simulated.
outputNumberOnDevice
Reserved
telegramType
Specifies the PROFIBUS message frame type.With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set up.With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set up.With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one encoder) is set up.With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with two encoders) is set up.With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives with one encoder and DSC) is set up.With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled drives with two encoders and DSC) is set up.With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7 for velocity-controlled drives without encoders is set up.With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for velocity-controlled drives with one encoder is set up.With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for velocity-controlled drives with two encoders is set up.With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for velocity-controlled drives with one encoder and DSC is set up.With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for velocity-controlled drives with two encoders and DSC is set up.
EnumAxisDioActorType
Data type: EnumAxisDriverMode
Changeable online: No
System default: SIMULATION
Data type: DINT
Changeable online: No
System default: 0
Data type: EnumAxisTelegramType
Changeable online: No
System default: DP_TEL102_611U_POSCTRL_1_ENCODER
NO_TYPE (0) No type
ANALOG (1) Analog
STEPMOTOR (2) Step mode
PosAxis
3-341SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumYesNo
EnumAxisDriverMode
EnumAxisTelegramType
NO (91) No
YES (173) Yes
SIMULATION (0) Simulation
ONBOARD (1) Onboard
DPMASTER (2) DP Master
NO_TELEGRAM (0) No message frame
DP_TEL1_STANDARD (1) Standard message frame 1, PZD-2/2
DP_TEL2_STANDARD (2) Standard message frame 2, PZD-4/4
DP_TEL3_STANDARD (3) Standard message frame 3, PZD-5/9
DP_TEL4_STANDARD (4) Standard message frame 4, PZD-6/14
DP_TEL5_STANDARD (5) Standard message frame 5, PZD-9/9
DP_TEL6_STANDARD (6) Standard message frame 6, PZD-10/14
DP_TEL81_STANDARD (81) Standard message frame 81, PZD-2/6
DP_TEL83_STANDARD (83) Standard message frame 83, PZD-2/8
DP_TEL101_611U_VELCTRL_NO_ENCODER (101)
SIEMENS message frame 101, PZD-6/7
DP_TEL102_611U_POSCTRL_1_ENCODER (102)
SIEMENS message frame 102, PZD-6/10
DP_TEL103_611U_POSCTRL_2_ENCODER (103)
SIEMENS message frame 103, PZD-7/15
DP_TEL105_611U_DSC_1_ENCODER (105) SIEMENS message frame 105, PZD-10/10
DP_TEL106_611U_DSC_2_ENCODER (106) SIEMENS message frame 106/107, PZD-11/15
PosAxis
3-342 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructDriverInfoDirectIncremental - PosAxis
The parameters for the direct incremental encoder hardware are specified with the structure elements for 'DriverInfoDirectIncremental' .
logAddress
Specifies the logical address of the communication module.
resolution
Specifies the number of bits of the incremental encoder.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
Data type: UDINT
Changeable online: Yes, active after restart
System default: 16
PosAxis
3-343SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructEnableBit - PosAxis
The structure elements for 'EnableBit' can be used to configure an output bit for indicating the enables.
bitNumberOnDevice
Specifies the I/O bit number within the I/O byte specified by the logical address.
enable
Specifies whether the output cam result is output.With 'NO', the output bit is not used to display the enables.With 'YES', the output bit is used to display the enables.
logAddress
Specifies the address.
EnumYesNo
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: UDINT
Changeable online: No
System default: 65535
NO (91) No
YES (173) Yes
PosAxis
3-344 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructExtrapolation - PosAxis
The structure elements belonging to 'Extrapolation' are used to set the extrapolation time on the mas-ter value axis.
extrapolatedVelocitySwitch
Used to select the velocity master value for master value extrapolation.
extrapolationTime
Time specification for extrapolation. With 0.0, there is no extrapolation.
EnumAxisExtrapolatedVelocitySwitch
Associated parameters (maximum):
Data type: EnumAxisExtrapolatedVelocitySwitch
Changeable online: Yes, active immediately
System default: DIFFERENTIATION
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
DIFFERENTIATION (408) Differentiation of extrapolated master value
TRANSFER (409) Transfer of extrapolated velocity
ExtrapolationPositionFilter(ExtrapolationPositionFilterType)
Filter for actual position
Filter(StructExtrapolationFilter)
Filter for actual velocity
ToleranceRange(StructToleranceRange)
Tolerance range
PosAxis
3-345SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructExtrapolationFilter - PosAxis
The structure elements belonging to 'Filter' are used to set the filter for the actual velocity on the mas-ter value axis.
enable
Specifies filter functionality.With 'NO', the filter functionality is deactivated.With 'YES', the filter functionality is activated.
mode
Specifies criterion for actual value smoothing.With 'DEFAULT_MODE', the actual speed is not smoothed.With 'AVERAGING', an average over time is used.With 'PT1', a filter set via 'timeConstant' is used.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
EnumAxisFilterMode
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumAxisFilterMode
Changeable online: Yes, active after restart
System default: DEFAULT_MODE
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
DEFAULT_MODE (0) No filter
AVERAGING (1) Form mean value
PT1 (2) PT1 filter
PosAxis
3-346 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructLogAddressIoBitType - PosAxis
The structure elements of 'LogAddress' are used to set the logical address.
bitNumber
Specifies the bit number of the measuring input input.
enable
Specifies whether the indicated logical address should be used.With NO, the logical address is not used.With YES, the logical address is used.
logAddress
Specifies the logical base address of the measuring input input.
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
NO (91) No
YES (173) Yes
PosAxis
3-347SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPaxDynamicQFData - PosAxis
The structure elements belonging to 'DynamicQFData' specify the dynamic data of the cascade con-trol system.
positionTimeConstant
Specifies the equivalent time constant of the position control system.
qOutputTimeConstant
Specifies the equivalent time constant of the torque control system.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.00005 s
PosAxis
3-348 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPositionDifferenceMeasurement - PosAxis
The 'PositionDifferenceMeasurement' structure element is used to configure the parameters for the differential position measurement.
invert
Specifies whether the sign of the differential value should be inverted.With NO, the sign is not inverted.With YES, the sign is inverted.
numberEncoderA
Specifies the encoder number for detecting the A actual position.
numberEncoderB
Specifies the encoder number for detecting the B actual position.
offset
Specifies an offset for the calculation with the difference value.
EnumYesNo
Associated parameters (maximum):
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
NO (91) No
YES (173) Yes
Filter(Filter)
Differential value smoothing
Range(Range)
Differential value limitation
PosAxis
3-349SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPressureDifferenceMeasurement - PosAxis
The structure element 'PressureDifferenceMeasurement' is used to configure the parameters for the differential pressure measurement.
areaA
Specifies the area parameter for pressure sensor A.
areaB
Specifies the area parameter for pressure sensor B.
factor
Specifies a normalization factor for the determined difference value.
invert
Specifies whether the sign of the differential value should be inverted.With NO, the sign is not inverted.With YES, the sign is inverted.
numberSensorA
Specifies the sensor number for detecting the pA pressure.
numberSensorB
Specifies the sensor number for detecting the pB pressure.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2
PosAxis
3-350 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumYesNo
Associated parameters (maximum):
NO (91) No
YES (173) Yes
Filter(Filter)
Differential value smoothing
Range(Range)
Differential value limitation
PosAxis
3-351SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructSensorDriverInfo - PosAxis
The elements of this structure are used to configure the I/O module of the additional encoder.
errorToleranceTime
Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Specifies the logical address of the communication module.
maxValue
Specifies the maximum digitalized measured value for the additional encoder.
minValue
Specifies the minimal digitalized measured value for the additional encoder.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1 s
Data type: EnumActualValueFormat
Changeable online: Yes, active after restart
System default: VALUE_LEFT_MARGIN
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
Data type: DINT
Changeable online: Yes, active immediately
System default: 32511
Data type: DINT
Changeable online: Yes, active immediately
System default: -32512
PosAxis
3-352 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
resolution
Specifies the number of relevant bits for the additional encoder.
EnumActualValueFormat
Data type: UDINT
Changeable online: Yes, active after restart
System default: 15
VALUE_RIGHT_MARGIN (0) Right-justified
VALUE_LEFT_MARGIN (1) Left-justified
VALUE_LEFT_MARGIN_WITHOUT_SIGN (2) Left-justified without sign
VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3) Right-justified without sign
PosAxis
3-353SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructToleranceRange - PosAxis
The structure elements belonging to 'ToleranceRange' are used to set a tolerance window around the actual position of the master value axis.
enable
Activation of the tolerance range.With 'NO', the tolerance range is deactivated.With 'YES', the tolerance range is activated.
value
Specifies the tolerance window around the actual position value of the master axis.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
NO (91) No
YES (173) Yes
PosAxis
3-354 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
TypeOfAxisInfo - PosAxis
The structure elements of 'TypeOfAxis' specify the axis parameters.
typeOfAxis
Specifies the type of axis configured.
With REAL_AXIS, the axis is connected to a real process.
REAL_QFAXIS corresponds to an axis with quantity and force control.
REAL_QFAXIS_WITH_OPEN_LOOP_FORCE_CONTROL corresponds to an axis with open-loop force control by way of a separate force/pressure limitation valve.
REAL_QFAXIS_WITH_CLOSED_LOOP_FORCE_CONTROL corresponds to an axis with closed-loop force/pressure specification via Q-valve.
EnumAxisIdentification
Associated parameters (maximum):
Data type: EnumAxisIdentification
Changeable online: No
System default: REAL_AXIS
REAL_AXIS (0) Real electric axis
VIRTUAL_AXIS (1) Virtual axis
REAL_AXIS_WITH_FORCE_CONTROL (2) Real electric axis with force/pressure control
REAL_QFAXIS (3) Real hydraulic axis (Q-valve)
REAL_QFAXIS_WITH_OPEN_LOOP_FORCE_CONTROL (4)
Real hydraulic axis with force/pressure specifi-cation (Q-valve and P-valve)
REAL_QFAXIS_WITH_CLOSED_LOOP_FORCE_CONTROL (5)
Real hydraulic axis with force/pressure control (Q-valve)
REAL_QFAXIS_WITH_OPEN_LOOP_FORCE_CONTROL_ONLY (6)
Real hydraulic axis with force/pressure specifi-cation (P-valve)
REAL_AXIS_WITH_SIGNAL_OUTPUT (7) Real electric axis with master value output via encoder signal simulation
ActualAccelerationMonitoring(ActualAccelerationMonitoring)
Actual acceleration monitoring
ActualVelocityMonitoring(ActualVelocityMonitoring)
Actual velocity monitoring
AdditionalOffset(StructAxisAdditionalOffset)
Offset injection for axis traversing with motion/force control
CommandValueQuantization(StructCommandValueQuantization)
Quantization filter
ControllerSwitchData(ControllerSwitchData)
Digital inputs for pressure control
DecodingConfig(DecodingConfig)
Command processing
DistributedMotion(DistributedMotionInfo)
Distributed motion control
Drift(Drift)
Drift compensation
PosAxis
3-355SIMOTION Technology Packages Configuration DataList Manual, 11/2010
DriveControlConfig(StructAxisDriveControlConfig)
Drive-related settings
EmergencyRampGenerator(EmergencyRampGenerator)
Emergency ramp generator
Extrapolation(StructExtrapolation)
Actual value smoothing
FOutput(StructControllerOutput)
Manipulated variable interface for F output
FineInterpolator(FineInterpolator)
Fine interpolator
ForceControlHeldValueMonitoring(ForceControlHeldValueMonitoring)
Force/pressure end value monitoring
ForceControlRunningInWindowMonitoring(ForceControlRunningInWindowMonitoring)
Force/pressure entry monitoring
Friction(Friction)
Friction torque compensation
HWEndPos(HWEndPos)
Hardware limit switches
Homing(Homing)
Homing
MaxAcceleration(MaxAcceleration)
Maximum acceleration
MaxForceCommandData(MaxForceCommandData)
Limitations for force/pressure setpoint
MaxJerk(MaxJerk)
Maximum jerk
MaxVelocity(MaxVelocity)
Maximum velocity
NeutralBand(NeutralBand)
Neutral band compensation
NumberOfAdditionalSensors(NumberOfAdditionalSensors)
Configured encoder of a force-controlled axis
NumberOfDataSets(NumberOfDataSets)
Data records for the controller configuration
NumberOfEncoders(NumberOfEncoders)
Configured encoder
PathSyncAxisPosTolerance(PathSyncAxisPosTolerance)
Setpoint differential monitoring of synchronous axis
PositionMonitoring(PositionMonitoring)
Position monitoring
QOutput(StructControllerOutput)
Manipulated variable interface for Q output
ServoMonitoring(StructAxisServoMonitoringConfig)
Activate control loop monitoring with active pres-sure limiting command
SetPointDriverInfo(SetPointDriverInfo)
Drive interface
SetpointFilter(StructAxisSetpointFilter)
Manipulated variable filter
PosAxis
3-356 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
SlidingFriction(StructAxisSlidingFriction)
Sliding friction compensation
SmoothingFilter(SmoothingFilter)
Actual value smoothing
SpeedLimitation(StructAxisSpeedLimitation)
Manipulated variable limitation
StandStillMonitoring(StandStillMonitoring)
Standstill monitoring
StandStillSignal(StandStillSignal)
Standstill signal
SwLimit(StructAxisSwLimitConfig)
Software limit switches
SystemDeadTimeData(StructAxisSystemDeadTimeData)
System-dependent dead times
TechnologicalData(StructAxisTechnologicalData)
Drive interface for specific parameters
VelocityPositionProfile(VelocityPositionProfile)
Settings for the v(s) profile
PosAxis
3-357SIMOTION Technology Packages Configuration DataList Manual, 11/2010
VelocityPositionProfile - PosAxis
The structure elements for 'VelocityPositionProfile' set properties in velocity-position profiles.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
endPositionTolerance
Tolerance for profile end detection.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
PosAxis
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4-359SIMOTION Technology Packages Configuration DataList Manual, 11/2010
MeasuringInputType 4Associated parameters (maximum):
• DecodingConfig (DecodingConfigInfo)• LogAddress (StructMeasuringInputLogAddress)• MeasuringRange (StructMeasuringRange)• MipBaseCfg (MipBaseCfgInfo)• MipInputCfg (MipInputCfgInfo)• Restart (RestartInfo)• TimeStampConfig (StructMeasuringInputTimeStampConfig)
DecodingConfigInfo - MeasuringInputType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
Note"Further information can be found in the TO Synchronous Operation, Cam Function Manual and in the online help."
numberOfMaxBufferedCommandId
Specifies the maximum number of command IDs active simultaneously whose status can be reques-ted at the end of the relevant command.A command ID is added to the list with the ST command '_bufferCommandId'.Removal from the list takes place with the ST command '_removeBufferedCommandId'.
Data type: DINT
Changeable online: Yes, active after restart
System default: 10
MeasuringInputType
4-360 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
MipBaseCfgInfo - MeasuringInputType
The time classification of the measuring input is specified with the structure element for 'MipBaseCon-fig'.
inputAccess
Specifies which input of the measuring input is to be used for the measurement.With DIRECT, the configured input of the measuring input of the technology object is used.With TO_INTERFACE, the input of the measuring input interconnected via the EventIn interface is used.
inputType
Specifies whether the signals at the input of the measuring input are to be assigned a time stamp.
tasklevel
Specifies the task level for displaying the measurement results of the measuring input.With IPO, the measuring results are displayed in the fast interpolator cycle clock.With IPO_2, the measuring results are displayed in the interpolator cycle.With SERVO, the measuring results are displayed in the controller cycle.
EnumMeasuringInputAccess
EnumMeasuringInputInputType
EnumMeasuringInputTaskLevel
Data type: EnumMeasuringInputAccess
Changeable online: Yes, active after restart
System default: DIRECT
Data type: EnumMeasuringInputInputType
Changeable online: Yes, active after restart
System default: STANDARD
Data type: EnumMeasuringInputTaskLevel
Changeable online: Yes, active after restart
System default: IPO
DIRECT (40) The input of the measuring input of the techno-logy object is used
TO_INTERFACE (382) EventIn interface of the TO is used
STANDARD (0) Standard
TIME_STAMP (1) With time stamp
IPO (0) IPO
IPO_2 (1) IPO_2
SERVO (2) Servo
IPO_FAST (3) IPO_fast
SERVO_FAST (4) Servo_fast
MeasuringInputType
4-361SIMOTION Technology Packages Configuration DataList Manual, 11/2010
MipInputCfgInfo - MeasuringInputType
The structure elements of 'MipInputCfg' specify the measuring input of the measuring system in use.
checkProbeState
Specifies the monitoring mode of the measuring input signal before a measurement task is activated.With NO, the measurement task is activated immediately.With YES, the measurement task is only activated on an edge from LOW to HIGH (rising edge) when the signal of the measuring input is LOW.With YES, the measurement task is only activated on an edge from HIGH to LOW (falling edge) when the signal of the measuring input is HIGH.
measuringInputNumber
Specifies the number of the measuring input to be used.
sensorSystemNumber
Specifies the number of the encoder on the assigned axis.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: DINT
Changeable online: Yes, active immediately
System default: 1
Data type: DINT
Changeable online: Yes, active immediately
System default: 1
NO (91) No
YES (173) Yes
MeasuringInputType
4-362 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
RestartInfo - MeasuringInputType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or just by command.
behaviorInvalidSysvarAccess
If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology object is restarted or deactivated.The values stored in the image are supplied when system variables are accessed during the techno-logy object restart or deactivation phase.
restartActivationSetting
With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with system variables and/or by command.With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
EnumToRestartActivationSetting
Data type: EnumToInvalidSysvarAccess
Changeable online: No
System default: LAST_VALUE
Data type: EnumToRestartActivationSetting
Changeable online: Yes, active after restart
System default: RESTART_BY_SYSVAR_AND_COMMAND
DEFAULT_VALUE (2) Supply substitute value from default value
STOP_DEVICE (3) No substitute value, switch to STOP mode
LAST_VALUE (338) Supply substitute value from last valid value
RESTART_BY_SYSVAR_AND_COMMAND (0) Allow restart via system variable and/or com-mand
RESTART_BY_COMMAND (1) Allow restart only via command
MeasuringInputType
4-363SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructMeasuringInputLogAddress - MeasuringInputType
The structure elements of 'LogAddress' are used to set the logical address of the measuring input.
bitNumber
Specifies the bit number of the input of the measuring input.
logAddress
Specifies the logical address of the input of the measuring input.
StructMeasuringInputTimeStampConfig - MeasuringInputType
Delay times during the measuring process can be compensated with the structure elements for 'time-StampConfig'.
correctionTime
If this value is greater than 0, the measuring input supplies axis values that are "older" by the amount of the correction time.
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 65535
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 s
MeasuringInputType
4-364 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructMeasuringRange - MeasuringInputType
The structure elements belonging to 'MeasuringRange' are used to increase the dynamic response of the ON/OFF of the measuring range.
activationTime
The specified actuation time is used for the ON/OFF of the measuring range. For example, the runti-mes can be compensated during activation via PROFIBUS and the drive.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 s
5-365SIMOTION Technology Packages Configuration DataList Manual, 11/2010
OutputCamType 5Associated parameters (maximum):
• DecodingConfig (DecodingConfigInfo)• LogAddress (LogAddressInfo)• OcaBaseCfg (OcaBaseCfgInfo)• OcaType (OcaTypeInfo)• Restart (RestartInfo)
DecodingConfigInfo - OutputCamType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
numberOfMaxBufferedCommandId
Specifies the maximum number of command IDs active simultaneously whose status can be reques-ted at the end of the relevant command.A command ID is added to the list with the ST command '_bufferCommandId'.Removal from the list takes place with the ST command '_removeBufferedCommandId'.
timeCamDeactivationTime
Specifies whether the actuation time/delay for the time-based cam is taken into account on the switch-off edge.With NO, the actuation time/delay is not taken into account.With YES, the actuation time/delay is taken into account.
EnumYesNo
Data type: DINT
Changeable online: Yes, active after restart
System default: 10
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
OutputCamType
5-366 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
LogAddressInfo - OutputCamType
The structure elements of 'LogAddressInfo' are used to set the logical address of the output cam sig-nal.
bitNumber
Specifies the bit number of the output cam signal.
enableOutput
Specifies whether the output cam result is output.With NO, an output cam result is not output.With YES, an output cam result is output.
logAddressOut
Specifies the logical base address of the output cam signal.
logicOperation
Specifies the type of logic operation of the output cam signals.Several Output Cam technology objects can be assigned to one output.With 'OPERATION_OR', the system combines all output cams.With 'OPERATION_AND', the result is linked to the output cam.
EnumYesNo
EnumLogicOperation
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: No
System default: 65535
Data type: EnumLogicOperation
Changeable online: Yes, active after restart
System default: OPERATION_OR
NO (91) No
YES (173) Yes
OPERATION_OR (0) Logical OR
OPERATION_AND (1) Logical AND
OutputCamType
5-367SIMOTION Technology Packages Configuration DataList Manual, 11/2010
OcaBaseCfgInfo - OutputCamType
The structure elements for 'OcaBaseCfg' set the output cam base configuration.
hwTimer
Specifies the activation status of timer interrupt-based signal output (output cam-independent).With NO, the hardware-supported signal output is not used.With YES, the hardware-supported signal output as of V 1.1 is used for the configured logical address. Several TO output cams can use the same address. In this case, the output cams must be calculated in the same task. The output cams are ORed.
outputType
Specifies whether the signals at the output cam output are to be assigned a time stamp.
posvaluetype
Specifies the type of position value.With RATED, the setpoints of the interpolator (position/velocity) are used for establishing the switching result.With ACTUAL, the actual values of the position controller (position/velocity) are used for establishing the switching result.
tasklevel
Specifies the task level for output cam calculation.With IPO, the output cam is calculated in the fast interpolator cycle and subject to the setting in 'hwTi-mer'.With IPO_2, the output cam is calculated in the interpolator cycle and subject to the setting in 'hwTi-mer'.With SERVO, the output cam is calculated in the servo cycle clock when posvaluetype:=ACTUAL and subject to the setting in 'hwTimer'.With SERVO, the output cam is calculated in the interpolator cycle clock when posvaluetype:=RATED and output in the servo cycle clock subject to the setting in 'hwTimer'.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumOutputCamOutputType
Changeable online: Yes, active after restart
System default: STANDARD
Data type: EnumPosValue
Changeable online: Yes, active after restart
System default: RATED
Data type: EnumOutputCamTaskLevel
Changeable online: Yes, active after restart
System default: IPO
NO (91) No
YES (173) Yes
OutputCamType
5-368 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumOutputCamOutputType
EnumPosValue
EnumOutputCamTaskLevel
STANDARD (0) Standard
TIME_STAMP (1) With time stamp
RATED (0) Setpoints
ACTUAL (1) Actual values
IPO (0) IPO
IPO_2 (1) IPO_2
SERVO (2) Servo
IPO_FAST (3) IPO_fast
SERVO_FAST (4) Servo_fast
OutputCamType
5-369SIMOTION Technology Packages Configuration DataList Manual, 11/2010
OcaTypeInfo - OutputCamType
The structure element of 'OcaType' specifies the output cam type.
_type
Specifies the output cam type.With WAY, the output cam is limited by the output cam beginning and end (position-based cam).With TIME, the output cam is limited by the output cam beginning and an ON duration (time-based cam).With SWITCH, the output cam is defined by a switch-on position. The output cam remains activated even if the switch-on position is crossed several times (switching output cam). The SWITCH output cam can only be reset by calling enableOutputCam or ResetOutputCam.With REVERSE, the output cam is limited by the output cam beginning and end (as with WAY). The output cam remains active from the time it is started until it leaves the starting area, regardless of the effective direction and direction of movement.
EnumOutputCamType
Data type: EnumOutputCamType
Changeable online: Yes, active after restart
System default: TYPE_WAY
TYPE_WAY (0) Position-based cam
TYPE_TIME (1) Time-based cam
TYPE_SWITCH (2) Unidirectional output cam
TYPE_REVERSE (3) Reversing cam
OutputCamType
5-370 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
RestartInfo - OutputCamType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or just by command.
behaviorInvalidSysvarAccess
If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology object is restarted or deactivated.The values stored in the image are supplied when system variables are accessed during the techno-logy object restart or deactivation phase.
restartActivationSetting
With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with system variables and/or by command.With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
EnumToRestartActivationSetting
Data type: EnumToInvalidSysvarAccess
Changeable online: No
System default: LAST_VALUE
Data type: EnumToRestartActivationSetting
Changeable online: Yes, active after restart
System default: RESTART_BY_SYSVAR_AND_COMMAND
DEFAULT_VALUE (2) Supply substitute value from default value
STOP_DEVICE (3) No substitute value, switch to STOP mode
LAST_VALUE (338) Supply substitute value from last valid value
RESTART_BY_SYSVAR_AND_COMMAND (0) Allow restart via system variable and/or com-mand
RESTART_BY_COMMAND (1) Allow restart only via command
6-371SIMOTION Technology Packages Configuration DataList Manual, 11/2010
CamTrackType 6Associated parameters (maximum):
• DecodingConfig (DecodingConfigInfo)• LogAddress (LogAddressInfo)• OctBaseCfg (OctBaseCfgInfo)• OctTechnologicalCfg (OctTechnologicalCfgInfo)• OctType (OctTypeInfo)• Restart (RestartInfo)
DecodingConfigInfo - CamTrackType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
Note"Further information can be found in the TO Synchronous Operation, Cam Function Manual and in the online help."
numberOfMaxBufferedCommandId
Specifies the maximum number of command IDs active simultaneously whose status can be reques-ted at the end of the relevant command.A command ID is added to the list with the ST command '_bufferCommandId'.Removal from the list takes place with the ST command '_removeBufferedCommandId'.
Data type: DINT
Changeable online: Yes, active after restart
System default: 10
CamTrackType
6-372 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
LogAddressInfo - CamTrackType
The structure elements of 'LogAddressInfo' are used to set the logical address of the output cam sig-nal.
bitNumber
Specifies the bit number of the output cam signal.
enableOutput
Specifies whether the output cam result is output.With NO, an output cam result is not output.With YES, an output cam result is output.
logAddressOut
Specifies the logical base address of the output cam signal.
EnumYesNo
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: No
System default: 65535
NO (91) No
YES (173) Yes
CamTrackType
6-373SIMOTION Technology Packages Configuration DataList Manual, 11/2010
OctBaseCfgInfo - CamTrackType
The structure elements for 'OctBaseCfg' set the output cam base configuration.
hwTimer
Specifies the activation status of the timer-interrupt-supported signal output (irrespective of cam track).With NO, the hardware-supported signal output is not used.With YES, the hardware-supported signal output as of V 1.1 is used for the configured logical address. Several TO cam tracks can use the same address. In this case, the cam tracks must be calculated in the same task. The cam tracks are ORed.
keepEnabledOutOfTrackRange
Non-cyclic activated cam track can be activated outside the track range.With NO, the cam track is deactivated when leaving the cam track range.With YES, the cam track remains active when leaving the cam track range.
outputType
Specifies the cam track output via TM15/TM17With TIME_STAMP, the cam track output via TM15/TM17 takes place by means of a time stamp; with STANDARD, standard cam track output via TM15/TM17 takes place.
positionReference
Specifies the type of position value.With COMMAND_VALUE, the setpoints of the interpolator (position/velocity) are used for establishing the switching result.With ACTUAL_VALUE, the actual values of the position controller (position/velocity) are used for esta-blishing the switching result.
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumCamTrackOutputType
Changeable online: Yes, active after restart
System default: STANDARD
Data type: EnumCamTrackPositionReference
Changeable online: Yes, active after restart
System default: COMMAND_VALUE
CamTrackType
6-374 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
taskLevel
Specifies the task level for the cam track calculation.With IPO, the cam track is calculated in the fast interpolator cycle and subject to the setting in 'hwTi-mer'.With IPO_2, the cam track is calculated in the interpolator cycle and subject to the setting in 'hwTimer'.With SERVO, the cam track is calculated in the servo cycle clock when posvaluetype:=ACTUAL and output subject to the setting in 'hwTimer'.With SERVO, the cam track is calculated in the interpolator cycle clock when posvaluetype:=RATED and output in the servo cycle clock subject to the setting in 'hwTimer'.
EnumYesNo
EnumCamTrackOutputType
EnumCamTrackPositionReference
EnumCamTrackTaskLevel
Data type: EnumCamTrackTaskLevel
Changeable online: Yes, active after restart
System default: IPO
NO (91) No
YES (173) Yes
STANDARD (0) Standard
TIME_STAMP (1) With time stamp
COMMAND_VALUE (0) Setpoints
ACTUAL_VALUE (1) Actual values
IPO (0) IPO
IPO_2 (1) IPO_2
SERVO (2) Servo
IPO_FAST (3) IPO_fast
SERVO_FAST (4) Servo_fast
CamTrackType
6-375SIMOTION Technology Packages Configuration DataList Manual, 11/2010
OctTechnologicalCfgInfo - CamTrackType
invertOutput
Specifies the inversion of the cam track output.With YES, the output of the cam track is inverted; with NO, there is no inversion.
EnumYesNo
OctTypeInfo - CamTrackType
The structure element of 'OctType' specifies the output cam type.
camTrackType
Specifies the output cam type.With WAY, the output cam is limited by the output cam beginning and end (position-based cam).With TIME, the output cam is limited by the output cam beginning and an ON duration (time-based cam).With TIME_WITH_MAX_LENGTH, the output cam is limited by the output cam beginning, the output cam end, and an ON duration (time-based cam with maximum time length).
EnumCamTrackType
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
Data type: EnumCamTrackType
Changeable online: Yes, active after restart
System default: TYPE_WAY
TYPE_WAY (0) Position-based cam
TYPE_TIME (1) Time-based cam
TYPE_TIME_WITH_MAX_LENGTH (4) Time-based cam with max. activation length
CamTrackType
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RestartInfo - CamTrackType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or just by command.
behaviorInvalidSysvarAccess
If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology object is restarted or deactivated.The values stored in the image are supplied when system variables are accessed during the techno-logy object restart or deactivation phase.
restartActivationSetting
With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with system variables and/or by command.With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
EnumToRestartActivationSetting
Data type: EnumToInvalidSysvarAccess
Changeable online: No
System default: LAST_VALUE
Data type: EnumToRestartActivationSetting
Changeable online: Yes, active after restart
System default: RESTART_BY_SYSVAR_AND_COMMAND
DEFAULT_VALUE (2) Supply substitute value from default value
STOP_DEVICE (3) No substitute value, switch to STOP mode
LAST_VALUE (338) Supply substitute value from last valid value
RESTART_BY_SYSVAR_AND_COMMAND (0) Allow restart via system variable and/or com-mand
RESTART_BY_COMMAND (1) Allow restart only via command
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FollowingAxis 7Associated parameters (maximum):
• Execution (ExecutionConfigInfo)• LeadScrew (LeadScrewInfo)• Modulo (ModuloInfo)• Restart (RestartInfo)• RestartCondition (RestartConditionInfo)• Simulation (SimulationInfo)• TypeOfAxis (TypeOfAxisInfo)
AbsBackLash - FollowingAxis
The structure elements of 'AbsBackLash' specify the backlash compensation for the absolute enco-der.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
_type
Specifies the direction in which backlash compensation is calculated.With 'POSITIVE', the backlash compensation is applied in the positive direction.With 'NEGATIVE', the backlash compensation is applied in the negative direction.
enable
Specifies the monitoring mode for backlash compensation on the absolute encoder.With 'NO', the backlash compensation is not enabled.With 'YES', the backlash compensation is enabled.
length
Specifies the backlash compensation value.
Data type: EnumBackLashType
Changeable online: Yes, active immediately
System default: POSITIVE
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
FollowingAxis
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startUpDifference
Specifies the preferred orientation for backlash compensation.With POSITIVE_DIRECTION, the backlash compensation is applied in the positive direction during the first traversing motion.With NEGATIVE_DIRECTION, the backlash compensation is applied in the negative direction during the first traversing motion.
velocity
Specifies the velocity at which backlash compensation is stopped. If the value is 0, the backlash is calculated without limits.
EnumBackLashType
EnumYesNo
EnumBackLashDiff
Data type: EnumBackLashDiff
Changeable online: Yes, active immediately
System default: DIFF_POSITIVE
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm/s
POSITIVE (0) positive
NEGATIVE (1) negative
NO (91) No
YES (173) Yes
DIFF_POSITIVE (0) positive
DIFF_NEGATIVE (1) negative
FollowingAxis
7-379SIMOTION Technology Packages Configuration DataList Manual, 11/2010
AbsEncoder - FollowingAxis
The structure elements of 'AbsEncoder' specify the parameters for an absolute encoder.
NoteFurther information about the following parameters and on fine resolution can be found inFunction Manual "TO Axis Electric/Hydraulic, External Encoder".or in the online help
absBaudRate
Specifies the baud rate data for detecting the actual value of the absolute encoder.Baudrate_5 sets a baud rate of 3 Mbaud.Baudrate_4 sets a baud rate of 1.5 Mbaud.Baudrate_3 sets a baud rate of 750 Kbaud.Baudrate_2 sets a baud rate of 375 Kbaud.Baudrate_1 sets a baud rate of 187.5 Kbaud.
absDataLength
Specifies the number of data bits of the absolute encoder range (packet length).The number of data bits is calculated from the number of steps per revolution multiplied by the number of revolutions.For example: 2048 incr./rev. * rev.= data bit length 23
absMessageFormat
Specifies a message frame format for the absolute encoder.With RIGHT_MARGIN, the protocol format is right-justified.With PINETREE, the pine tree format is selected.
absMessageLength
Specifies the message frame length for detecting the actual value of the absolute encoder.With LENGTH_13, a protocol length of 13 bits is selected.With LENGTH_21, a protocol length of 21 bits is selected.With LENGTH_25, a protocol length of 25 bits is selected.
Data type: EnumAbsBaudrate
Changeable online: No
System default: Baudrate_3
Data type: UDINT
Changeable online: Yes, active after restart
System default: 24
Data type: EnumAbsMsgFormat
Changeable online: No
System default: PINETREE
Data type: EnumAbsMsgLength
Changeable online: No
System default: LENGTH_25
FollowingAxis
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absResolution
Specifies the number of increments per encoder revolution specified on the encoder rating plate.
absResolutionMultiplierAbsolute
Specifies the multiplication factor of the actual value of the absolute encoder.Evaluation of the absolute encoder during request by the absolute encoder (GxIST2).
absResolutionMultiplierCyclic
Specifies the multiplication factor of the cyclic actual value of the encoder.Evaluation of the incremental signal of the absolute encoder during operation (GxIST1).
absState
Specifies a protocol format for the actual value of the absolute encoder.With BIN_CODE, a binary code is selected.With GRAY_CODE, GRAY code is selected.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 4096
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumAbsState
Changeable online: No
System default: GRAY_CODE
FollowingAxis
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enableAbsMonitoring
Specifies the monitoring mode of the permissible changes of the actual value for the absolute encoder.
With YES (system default), monitoring of the permissible changes of the actual value for the absolute encoder is activated.
Actual value changes of the absolute encoder greater than or equal to the possible change in accor-dance with the maximum velocity (maxVelocity.maximum) are limited to the change in accordance with the current velocity, i.e. the velocity of the previous cycle.
Incorrect actual values, e.g. due to transmission errors, are adjusted.If the actual value changes are impermissibly high in 5 subsequent cycles, alarm 20005, reason 0, is issued.
With NO, monitoring of the permissible changes of the actual value for the absolute encoder is not activated, i.e., incorrect actual values due to transmission errors, for example, are also not changed and processed as they are.No technological alarm is issued.
NoteSwitch the monitoring function off at your own risk.
After the deactivation of the monitoring, it can no longer be guaranteed that the magnitude of the cal-culated velocity lies within the limits defined by the user.
The position and the velocity and all derived quantities are also displayed and processed also taking account of any measured values recognized as being incorrect (control, stop ramps, interpolations, positioning).
EnumAbsBaudrate
EnumAbsMsgFormat
EnumAbsMsgLength
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: YES
Baudrate_5 (16#01) 3 Mbaud
Baudrate_4 (16#02) 1.5 Mbaud
Baudrate_3 (16#04) 750 Kbaud
Baudrate_2 (16#08) 375 Kbaud
Baudrate_1 (16#10) 187.5 Kbaud
RIGHT_MARGIN (0) Right-justified
PINETREE (1) Pine tree format
LENGTH_13 (13) 13 bits
LENGTH_21 (21) 21 bits
LENGTH_25 (25) 25 bits
FollowingAxis
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EnumAbsState
EnumYesNo
BIN_CODE (16#00) Binary
GRAY_CODE (16#01) Gray Code
NO (91) No
YES (173) Yes
FollowingAxis
7-383SIMOTION Technology Packages Configuration DataList Manual, 11/2010
AbsHomingEncoder - FollowingAxis
The structure elements of 'AbsHomingEncoder' specify the synchronization data for an absolute enco-der.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
absShift
Specifies the offset of the absolute encoder.
setOffsetOfAbsoluteEncoder
Specifies the effect of the absolute encoder offset set in the 'absshift' configuration data (V3.2 and hig-her).
With RELATIVE, the offset is set as an addition (default response).Actual axis value = actual encoder value + (previous offset already in effect + absshift)(new) offset = previous offset + absshift'absshift' is added to the existing absolute encoder offset whenever the _homing() function is called.
With ABSOLUTE, the offset is set as an absolute value (V3.2 and higher).'absshift' is set as the absolute encoder offset whenever the _homing() function is called.Actual axis value = actual encoder value + absshift
EnumAbsoluteRelative
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
Data type: EnumAbsoluteRelative
Changeable online: Yes, active after restart
System default: RELATIVE
ABSOLUTE (1) Absolute
RELATIVE (115) Relative
FollowingAxis
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ActualAccelerationMonitoring - FollowingAxis
The structure elements of 'ActualAccelerationMonitoring' specify the monitoring of actual acceleration.
enable
Activation of actual acceleration monitoring.
maximum
Maximum actual acceleration.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 m/min
NO (91) No
YES (173) Yes
FollowingAxis
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ActualVelocityMonitoring - FollowingAxis
The structure elements of 'ActualVelocityMonitoring' specify the monitoring mode for the maximum actual velocity.
enable
Specifies the monitoring mode for the maximum actual velocity.With NO, monitoring of the actual velocity does not take place.With YES, the actual velocity is monitored for the maximum permissible value.When the maximum value is exceeded, the system variable 'sensordata.sensormonitoring.velocity' is output as 'limitexceeded'.The velocity is not limited to this value.
maximum
Specifies the maximum permissible actual velocity.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm/s
NO (91) No
YES (173) Yes
FollowingAxis
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AdaptDrive - FollowingAxis
The structure elements of 'AdaptDrive' specify the gear ratio parameters for drive-mounted encoders.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
denFactor
Specifies the denominator of the gear ratio for a measuring gear.
numFactor
Specifies the numerator of the gear ratio for a measuring gear.
AdaptExtern - FollowingAxis
The structure elements of 'AdaptExtern' specify the gear ratio parameters for the EXTERN mounting type.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
denFactor
Specifies the denominator of the gear ratio for a measuring gear.
numFactor
Specifies the numerator of the gear ratio for a measuring gear.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
FollowingAxis
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AdaptLoad - FollowingAxis
The structure elements of 'AdaptLoad' specify the gear ratio parameters for load-side encoders.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
denFactor
Specifies the denominator of the gear ratio for a measuring gear.
numFactor
Specifies the numerator of the gear ratio for a measuring gear.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
FollowingAxis
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AdditionalSensorDriverInfo - FollowingAxis
The elements of this structure are used to configure the I/O module of an encoder.
errorToleranceTime
Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Specifies the logical address of the communication module.
maxValue
Specifies the maximum digitalized measured value for the additional encoder.
minValue
Specifies the minimal digitalized measured value for the additional encoder.
resolution
Specifies the number of relevant bits for the additional encoder.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1 s
Data type: EnumActualValueFormat
Changeable online: Yes, active after restart
System default: VALUE_LEFT_MARGIN
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
Data type: DINT
Changeable online: Yes, active immediately
System default: 32511
Data type: DINT
Changeable online: Yes, active immediately
System default: -32512
Data type: UDINT
Changeable online: Yes, active after restart
System default: 15
FollowingAxis
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EnumActualValueFormat
VALUE_RIGHT_MARGIN (0) Right-justified
VALUE_LEFT_MARGIN (1) Left-justified
VALUE_LEFT_MARGIN_WITHOUT_SIGN (2) Left-justified without sign
VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3) Right-justified without sign
FollowingAxis
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AdditionalSensorMain - FollowingAxis
The structure element 'AdditionalSensor' is used to configure an additional encoder.
additionalSensorType
Specifies the interpretation of the encoder values.With STANDARD, the digitalized measured value is interpreted as an absolute actual force/pressure value of an individual encoder.With PRESSURE_DIFFERENCE_MEASUREMENT, the differential pressure measurement between two different encoders is set.With SET_ACTUAL_VALUE, the value is specified with a system variable.
interfaceActivation
Specification to activate the digitized measured values.With STARTUP_ACTIVATED the driver is activated on the technology object following system star-tup.With STARTUP_DEACTIVATED the driver is deactivated on the technology object following system startup.
EnumAxisAdditionalSensorType
EnumAxisInterfaceActivationConfig
Associated parameters (maximum):
Data type: EnumAxisAdditionalSensorType
Changeable online: No
System default: STANDARD
Data type: EnumAxisInterfaceActivationConfig
Changeable online: No
System default: STARTUP_ACTIVATED
STANDARD (0) Pressure measurement
PRESSURE_DIFFERENCE_MEASUREMENT (1)
Differential pressure measurement
SET_ACTUAL_VALUE (2) Actual pressure value via system variable
STARTUP_DEACTIVATED (942) Deactivated after startup
STARTUP_ACTIVATED (943) Active after startup
ConversionData(ConversionData)
Interpretation of the encoder values
DriverInfo(AdditionalSensorDriverInfo)
Analog input module
Filter(Filter)
Filter for actual value smoothing
PressureDifferenceMeasurement(StructPressureDifferenceMeasurement)
Parameters for differential pressure measure-ment
Range(Range)
Definition range of the encoder values
FollowingAxis
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AdditionalSensorNumber - FollowingAxis
The structure element 'AdditionalSensorNumber' is used to configure the assignment of data set to additional encoder.
number
Specifies the encoder number.
AnalogConversionDataType - FollowingAxis
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder values read.
_type
Specifies the interpretation type for the digitalized measured value.
factor
Specifies the weighting factor for the analog measured value. The weighting factor specifies the rela-tion between distance/velocity per bit.
offset
Specifies the offset for the analog measured value.
EnumConversionDataType
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: EnumConversionDataType
Changeable online: No
System default: LINEAR_CONVERSIONDATA
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
LINEAR_CONVERSIONDATA (1) Linear relationship
FollowingAxis
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AnalogSensorType - FollowingAxis
The structure elements of 'AnalogSensor' specify actual value smoothing.
Associated parameters (maximum):
AssemblyBase - FollowingAxis
The structure elements of 'AssemblyBase' specify the parameters for the encoder mounting type.
assemblyBase
Specifies the assembly base of the encoder.With ASSEMBLY_BASE_DRIVE, the encoder is a drive-side assembly type.With ASSEMBLY_BASE_LOAD, the encoder is a load-side assembly type.With ASSEMBLY_BASE_EXTERN, the encoder is an external assembly type.With ASSEMBLY_BASE_LINEAR, the encoder is a linear assembly type.
EnumAxisEncoderAssemblyType
ConversionData(AnalogConversionDataType)
Conversion factors between analog input value and actual position value
DriverInfo(StructSensorDriverInfo)
Driver data
ErrorStateMonitoring(StructAxisAnalogSensorErrorStateMonitoring)
Error-state monitoring
LogAddress(StructLogAddressIoBitType)
Logical address of analog sensor
PositionFilter(PositionFilterType)
Actual position value filter
ReadyStateMonitoring(StructAxisAnalogSensorReadyStateMonito-ring)
Ready-state monitoring
UpdateCounter(StructAxisActualValueUpdateCounter)
Evaluation of actual value update
Data type: EnumAxisEncoderAssemblyType
Changeable online: Yes, active after restart
System default: ASSEMBLY_BASE_DRIVE
ASSEMBLY_BASE_DRIVE (0) Drive side
ASSEMBLY_BASE_LOAD (1) Load side
ASSEMBLY_BASE_EXTERN (2) External
ASSEMBLY_BASE_LINEAR (3) Linear
FollowingAxis
7-393SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ClampingMonitoring - FollowingAxis
The structure elements of 'ClampingMonitoring' specify the clamping monitoring.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
followingErrorDeviation
Specifies the required following error to detect the end stop.
positionTolerance
Specifies the permissible deviation of the actual value from the setpoint in the clamped state.
recognitionMode
Specifies the type of endstop detection.With 'DO_NOT_CLAMP', the endstop detection is deactivated.With 'CLAMP_BY_FOLLOWING_ERROR_DEVIATION' the endstop detection takes place when the following error specified in 'followingErrorDeviation' is reached.With 'CLAMP_WHEN_TORQUE_LIMIT_REACHED' the endstop detection takes place when the force moment/torque limit value is reached.
EnumRecognitionMode
Data type: LREAL
Changeable online: Yes, active immediately
System default: 20.0 mm
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 mm
Data type: EnumRecognitionMode
Changeable online: Yes, active after restart
System default: DO_NOT_CLAMP
DO_NOT_CLAMP (0) No detection
CLAMP_BY_FOLLOWING_ERROR_DEVIATION (1)
By following error
CLAMP_WHEN_TORQUE_LIMIT_REACHED (2)
By force moment/torque
FollowingAxis
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ControllerDynamic - FollowingAxis
The structure elements of 'ControllerDynamic' specify the reference model monitoring.
NoteThe function of the 'ControllerDynamic' (monitoring of actual speed) configuration data element on a drive axis can only be used when a message frame type that also supplies an actual position value to the controller is used.
enable
Specifies the activation status of the reference model monitoring.With 'NO', the monitoring is not activated.With 'YES', the monitoring is activated.
maxVeloTolerance
Specifies the maximum deviation between model and process with reference to maximum velocity.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 2.0 %
NO (91) No
YES (173) Yes
FollowingAxis
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ControllerStruct - FollowingAxis
The structure elements of 'ControllerStruct' set the controller structure.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
conType
Specifies the controller type.NODEF has no significance.With PD, a PD controller is used.With PV, a P controller with precontrol is used.With PID, a PID controller is used.With PID_ACTUAL, a PID controller with actual value-dependent D-component is used.
EnumAxisControllerType
Associated parameters (maximum):
ControllerSwitchData - FollowingAxis
The structure elements for 'ControllerSwitchData' are used to configure digital inputs for force or pres-sure control.
Associated parameters (maximum):
Data type: EnumAxisControllerType
Changeable online: No
System default: PV
NODEF (0) No significance
DIRECT (1) Control only
PD (2) PID controller
PV (3) PV controller
PID (4) PID controller
PID_ACTUAL (5) PID controller with actual value-dependent D-component
PD_Controller(PD_Controller)
PID controller
PID_Controller(PID_ControllerPos)
PID controller
PV_Controller(PV_Controller)
P-controller with precontrol
NumberOfDigitalInputs(NumberOfDigitalInputs)
Digital inputs
FollowingAxis
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ConversionData - FollowingAxis
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder values read.
NoteFurther information is provided:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Supplementary Technology Objects Function ManualOnline help
_type
Specifies the interpretation type for the digitalized measured value.
factor
Specifies the evaluation type for the digitalized measured value.
invert
Specifies whether or not the sign of the measured value should be inverted.With NO, the sign is not inverted.With YES, the sign is inverted.
offset
Specifies the offset for the digitalized measured value.
EnumConversionDataType
EnumYesNo
Data type: EnumConversionDataType
Changeable online: No
System default: LINEAR_CONVERSIONDATA
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 Pa
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 Pa
LINEAR_CONVERSIONDATA (1) Linear relationship
NO (91) No
YES (173) Yes
FollowingAxis
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DataSetMain - FollowingAxis
The structure elements belonging to "DataSet_(n)" are used to set the data set (n).
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
Associated parameters (maximum):
AdditionalSensorNumber(AdditionalSensorNumber)
Assignment of a force/pressure sensor to this data record
ClampingMonitoring(ClampingMonitoring)
Clamping monitoring
ControllerDynamic(ControllerDynamic)
Reference model monitoring
ControllerStruct(ControllerStruct)
Controller parameters
DynamicComp(DynamicComp)
Dynamic compensation
DynamicData(DynamicData)
Dynamic data of the cascaded control loop sys-tem
DynamicFollowing(DynamicFollowing)
Dynamic following error monitoring
DynamicQFData(StructPaxDynamicQFData)
Dynamic data of the hydraulic process
EncoderNumber(EncoderNumber)
Assignment of an encoder to this data record
ForceControllerData(ForceControllerData)
Force/pressure controller
ForceControllerDifference(ForceControllerDifference)
System deviation monitoring of the force/pres-sure control loop
Gear(Gear)
Ratio of the load gearbox
InvertQ(StructAxisInvertQOutput)
Inversion of the Q-output in front of the characte-ristic curve
InvertSetPoint(InvertSetPointHydraulicType)
Inversion of the Q-output behind the characteri-stic curve
ProcessModel(ProcessModel)
Process model
FollowingAxis
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DecodingConfig - FollowingAxis
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
NoteAdditional information is available at:Function Manual "TO Axis Electric/Hydraulic, External Encoder".SIMOTION MCC Motion Control Chart Programming and Operating ManualFunction Manual: Basic Functionsor in the online help
behaviourAtTheEndOfProfile
Specifies the behavior at the end of the profile.
With MOVE_WITH_CONSTANT_SPEED, the axis moves at a constant velocity.In terms of interpolation status, the final condition acts in the same way as the system function _move. If the physical variable is not equal to 0, setpoint generation will not be completed.
With STOP_IN_PROFILE_END, the profile end is the target of the positioning movement, that is, at the target, 'velocity:=0'.
With STOP_WHEN_PROFILE_END_REACHED, the axis is stopped only after the profile end has been reached.
cyclicSetUpInForceLimiting
Specifies how cyclic resetting to the setpoints should occur with active force/pressure limiting.With 'NONE' cyclic resetting does not occur.With 'POSITION_BASED' cyclic resetting is to the setpoint position after allowing for the pressure limi-ting component.With 'POSITION_AND_DYNAMIC_BASED' cyclic resetting is to the setpoint position and setpoint velocity after allowing for the pressure limiting component.
decodeSequentialMotionCommand
Specifies the cycle in which the next 'SEQUENTIAL' or 'NEXT_MOTION' command is transferred to the interpolator.
Data type: EnumEndBehaviourOfProfile
Changeable online: Yes, active immediately
System default: STOP_WHEN_PROFILE_END_REACHED
Data type: EnumAxisCyclicSetUpInForceLimiting
Changeable online: Yes, active immediately
System default: NONE
Data type: EnumDecodeSequentialMotionCommand
Changeable online: Yes, active immediately
System default: IMMEDIATELY
FollowingAxis
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directionDynamic
Specifies the acceleration model used.With NO, the non-direction-related acceleration model is used.With YES, the direction-related acceleration model is used.
disableMotionOperation
Specifies the behavior for motion commands stopped with 'stopMode := STOP_WITHOUT_ABORT' after the enables have been removed.With 'YES' the motion commands are canceled and cannot be resumed.With 'NO' the motion commands are not canceled and can be resumed after the enables are reset.
numberOfImmediateCommands
Specifies the number of commands, programmed with the IMMEDIATELY command parameter, which can be active simultaneously on one axis.
numberOfMaxBufferedCommandId
Specifies the maximum number of command IDs active simultaneously whose status can be reques-ted at the end of the relevant command.A command ID is added to the list with the ST command '_bufferAxisCommandId'.Removal from the list takes place with the ST command '_removeBufferedAxisCommandId'.
numberOfQueueCommands
Specifies the maximum number of commands which can be active simultaneously on one axis.
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: YES
Data type: DINT
Changeable online: Yes, active after restart
System default: 6
Data type: DINT
Changeable online: Yes, active after restart
System default: 100
Data type: DINT
Changeable online: Yes, active after restart
System default: 6
FollowingAxis
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profileDynamicsLimiting
Specifies the active limits for dynamic parameters.
With 'COMMAND_DYNAMICS' the system ramps up to the profile or the values specified in the Moti-onIn vector using the minimum of the dynamic parameters specified in the command or the configured maximum values in 'MaxJerk', 'MaxAcceleration', and 'MaxVelocity' and is then limited during the course of the profile to the minimum of the programmed values and the configured maximum values.
With 'MAX_CONFIGURED_DYNAMICS' the system ramps up to the profile or the values specified in the MotionIn vector using the minimum of the dynamic parameters specified in the command and the configured maximum values in 'MaxJerk', 'MaxAcceleration', and 'MaxVelocity' and is then limited during the course of the profile to the configured maximum values.
speedModeSetPointZero
Specifies how the axis is traversed to zero velocity when the enables are set.
With 'No', the axis is traversed to zero via a braking ramp with the maximum axis dynamic response.
With 'Yes', the velocity setpoint (and acceleration) is set directly to 0 without ramp.
stopWithJerk
Details of the behavior for a local stop response. This configuration applies only to interpolatory stops.With 'YES' the local stop response is executed with the value from 'Max.Jerk.maximum'.With 'NO', the local stop response is executed without jerk limiting.
transferSuperimposedPosition
Specifies when the coordinate system of the superimposed motion is reset (to 0).
With 'TRANSFER_STANDSTILL' the position of the superimposed coordinate system is reset to 0 after termination of the setpoint generation of the axis or when programming a motion command with mergeMode:=IMMEDIATELY or when the axis is reset.
With 'TRANSFER_MERGE' the position of the superimposed coordinate system is reset to 0 when programming a motion command with mergeMode:=IMMEDIATELY or when the axis is reset.
With ''AXIS_RESET' the position of the superimposed coordinate system is reset to 0 when the axis is reset.
Data type: EnumProfileDynamicsLimiting
Changeable online: Yes, active immediately
System default: COMMAND_DYNAMICS
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumTransferSuperimposedPosition
Changeable online: Yes, active after restart
System default: TRANSFER_STANDSTILL
FollowingAxis
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EnumEndBehaviourOfProfile
EnumAxisCyclicSetUpInForceLimiting
EnumDecodeSequentialMotionCommand
EnumYesNo
EnumProfileDynamicsLimiting
EnumTransferSuperimposedPosition
MOVE_WITH_CONSTANT_SPEED (0) Motion at constant speed
STOP_IN_PROFILE_END (1) Deceleration to the endpoint / velocity 0
STOP_WHEN_PROFILE_END_REACHED (2) Deceleration after profile completed
NONE (0) No cyclic resetting
POSITION_BASED (1) Cyclic resetting to the setpoint position
POSITION_AND_DYNAMIC_BASED (2) Cyclic resetting to the setpoint position and set-point velocity
IMMEDIATELY (0) Switch to next command immediately
NEXT_IPO_CYCLE (1) Switch to next command in next cycle
NO (91) No
YES (173) Yes
COMMAND_DYNAMICS (0) Limiting of dynamic parameters using the mini-mum value of the configured and programmed values
MAX_CONFIGURED_DYNAMICS (1) Limiting of dynamic parameters using configu-red values
TRANSFER_STANDSTILL (0) Switch to next command at standstill, reset, or according to merge mode
TRANSFER_MERGE (1) Switch to next command at reset, or according to merge mode
TRANSFER_RESET (2) Switch to next command at reset
FollowingAxis
7-402 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
DigitalInputMain - FollowingAxis
The structure elements belonging to 'DigitalInput_(n)' are used to configure a digital input or to assign it to the axis.
bitNumber
Specifies the I/O bit number within the I/O byte specified by the logical address.
logAddress
Specifies the logical address of the communication module.
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 65535
FollowingAxis
7-403SIMOTION Technology Packages Configuration DataList Manual, 11/2010
DistributedMotionInfo - FollowingAxis
The structure elements for 'DistributedMotion' set the sign-of-life failure tolerance.
enableDelayOfCommandValueOutput
Specifies the master-side output delay.With 'NO', the master-side output delay is deactivated.With 'YES', the master-side output delay is activated.
enableLifeSignMonitoring
Specifies life sign monitoring.With 'NO', the sign of life monitoring is deactivated.With 'YES', the sign of life monitoring is activated.
enableOffsetCompensation
Specifies offset compensation.With 'NO', the compensation of the cycle offset is deactivated.With 'YES', the compensation of the cycle offset is activated.
numberOfLifeSignFailures
Specifies the maximum number of life sign failures tolerated.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
NO (91) No
YES (173) Yes
FollowingAxis
7-404 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Drift - FollowingAxis
The structure elements of 'Drift' specify drift compensation.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies the activation status of drift compensation.With 'NO', the drift compensation is not activated.With 'YES', the drift compensation is activated.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
NO (91) No
YES (173) Yes
FollowingAxis
7-405SIMOTION Technology Packages Configuration DataList Manual, 11/2010
DriveData - FollowingAxis
The structure elements for 'DriveData' specify the key drive values.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
maxSpeed
Specifies the maximum speed.
maxTorque
Specifies the maximum torque of the drive.
nominalSpeed
Specifies the reference speed.
nominalTorque
Specifies the nominal torque of the drive.
speedReference
Selection setting for scaling: reference speed or maximum speed.
torqueReductionGranularity
Specifies the fine resolution of the torque reduction.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 3000.0 1/min
Data type: LREAL
Changeable online: Yes, active after restart
System default: 3.2 Nm
Data type: LREAL
Changeable online: Yes, active after restart
System default: 3000.0 1/min
Data type: LREAL
Changeable online: Yes, active after restart
System default: 3.2 Nm
Data type: EnumAxisReferenceMaxNominal
Changeable online: Yes, active after restart
System default: MAX_VALUE
Data type: EnumAxisTorqueForceReductionGranularity
Changeable online: Yes, active after restart
System default: BASIC
FollowingAxis
7-406 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
torqueReference
Selection setting for scaling: Nominal torque or maximum torque.
EnumAxisReferenceMaxNominal
EnumAxisTorqueForceReductionGranularity
Data type: EnumAxisReferenceMaxNominal
Changeable online: Yes, active after restart
System default: MAX_VALUE
MAX_VALUE (0) Maximum value
NOMINAL_VALUE (1) Nominal value
STANDARD (0) Resolution 1/100
BASIC (16) Resolution 1/16384
FollowingAxis
7-407SIMOTION Technology Packages Configuration DataList Manual, 11/2010
DriverInfo - FollowingAxis
The structure elements of 'DriverInfo' specify the parameters for the encoder hardware.
NoteAdditional information is available at:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Technology Objects Synchronous Operation, Cam Function Manualor in the online help
encoderNumberOnDevice
Specifies the number of the encoder actual value for message frames with several actual values, e.g. DP_TEL106_611U_DSC_2_ENCODER.
lifeSignCheck
Specifies the monitoring mode for the PROFIBUS DP sign of life between nodes.With 'NO', the sign of life monitoring is switched off.With 'YES', the sign of life monitoring is activated.
logAddressIn
Specifies the logical address for the input data area.
logAddressOut
Specifies the logical address for the output data area.
Data type: DINT
Changeable online: No
System default: 0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: No
System default: 65535
FollowingAxis
7-408 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
telegramType
Specifies a PROFIdrive message frame type.With NO_TELEGRAM, a message frame is not specified.With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set up.With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set up.With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one encoder) is set up.With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with two encoders) is set up.With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives with one encoder and DSC) is set up.With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled drives with two encoders and DSC) is set up.
With DP_TEL81_STANDARD, the standard message frame 81, PZD-2/6 for an encoder is set up.With DP_TEL82_STANDARD, the standard message frame 82, PZD-2/7 for an encoder is set up.With DP_TEL83_STANDARD, the standard message frame 83, PZD-2/8 for an encoder is set up.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7 for velocity-controlled drives without encoders is set up.With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for velocity-controlled drives with one encoder is set up.With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for velocity-controlled drives with two encoders is set up.With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for velocity-controlled drives with one encoder and DSC is set up.With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for velocity-controlled drives with two encoders and DSC is set up.
EnumYesNo
EnumAxisTelegramType
Data type: EnumAxisTelegramType
Changeable online: No
System default: DP_TEL102_611U_POSCTRL_1_ENCODER
NO (91) No
YES (173) Yes
NO_TELEGRAM (0) No message frame
DP_TEL1_STANDARD (1) Standard message frame 1, PZD-2/2
DP_TEL2_STANDARD (2) Standard message frame 2, PZD-4/4
DP_TEL3_STANDARD (3) Standard message frame 3, PZD-5/9
DP_TEL4_STANDARD (4) Standard message frame 4, PZD-6/14
DP_TEL5_STANDARD (5) Standard message frame 5, PZD-9/9
DP_TEL6_STANDARD (6) Standard message frame 6, PZD-10/14
DP_TEL81_STANDARD (81) Standard message frame 81, PZD-2/6
DP_TEL83_STANDARD (83) Standard message frame 83, PZD-2/8
FollowingAxis
7-409SIMOTION Technology Packages Configuration DataList Manual, 11/2010
DP_TEL101_611U_VELCTRL_NO_ENCODER (101)
SIEMENS message frame 101, PZD-6/7
DP_TEL102_611U_POSCTRL_1_ENCODER (102)
SIEMENS message frame 102, PZD-6/10
DP_TEL103_611U_POSCTRL_2_ENCODER (103)
SIEMENS message frame 103, PZD-7/15
DP_TEL105_611U_DSC_1_ENCODER (105) SIEMENS message frame 105, PZD-10/10
DP_TEL106_611U_DSC_2_ENCODER (106) SIEMENS message frame 106/107, PZD-11/15
FollowingAxis
7-410 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
DynamicComp - FollowingAxis
The structure elements of 'DynamicComp' specify dynamic compensation.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
T1
Specifies the first time constant.
T2
Specifies the second time constant.
deadTime
Specifies the dead time.
enable
Specifies the activation status of compensation.With 'NO', the compensation is not activated.With 'YES', the compensation is activated.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
FollowingAxis
7-411SIMOTION Technology Packages Configuration DataList Manual, 11/2010
DynamicData - FollowingAxis
The structure elements of 'DynamicData' specify the dynamic data of the cascade control system.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
positionTimeConstant
Specifies the equivalent time constant of the position control system.
torqueTimeConstant
Not used.
velocityTimeConstant
Specifies the equivalent time constant of the velocity control system.
NoteThis value can only be checked after download.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.00005 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0005 s
FollowingAxis
7-412 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
DynamicFollowing - FollowingAxis
The structure elements of 'DynamicFollowing' set the dynamic following error monitoring system.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies the activation status of dynamic following error monitoring.With 'NO', the monitoring is not activated.With 'YES', the monitoring is activated.
maxPositionTolerance
Specifies the maximum permissible following error at maximum axis velocity.
minPositionTolerance
Specifies the maximum permissible following error for axis velocities between zero and the velocity from which the maximum permissible following error begins to rise in proportion to velocity.
minVelocity
Specifies the axis velocity from which the maximum permissible following error begins to rise in pro-portion to velocity.
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: LREAL
Changeable online: Yes, active immediately
System default: 100.0 mm
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 mm
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 mm/s
FollowingAxis
7-413SIMOTION Technology Packages Configuration DataList Manual, 11/2010
warningLimit
Specifies the percentage value, relative to the maximum permissible following error calculated, which triggers a warning if exceeded.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 100.0 %
NO (91) No
YES (173) Yes
FollowingAxis
7-414 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EmergencyRampGenerator - FollowingAxis
The structure element of 'EmergencyRampGenerator' sets the parameter of the emergency stop ramp generator.
maxDeceleration
Specifies the deceleration of the braking ramp.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10000.0 m/s²
FollowingAxis
7-415SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EncoderMain - FollowingAxis
The structure elements of 'Encoder' specify the parameters of the encoder.
dataAdaption
Selects the behaviorFor YES, the selected encoder configuration parameters will be modified by the drive.For NO, the encoder configuration parameters are configured by the user.
encoderIdentification
Specifies the encoder identification (encoder interface).With SIMULATION, the circuit between the motor and encoder is closed by means of software. Enco-der measured values are calculated from the simulated actual speed or velocity of the axis. It is not necessary to use a real encoder when simulating encoder operation.With ONBOARD, the encoder is connected to an ONBOARD encoder interface of the controller (e.g. C230, C240, etc.).With DPMASTER, the encoder is connected to an external module. Encoder data is provided via the DP interface.With DIRECT, the encoder is connected to the inputs of a digital or analog input module.With SET_ACTUAL_VALUE, the encoder measured value is provided via the 'sensorsetting.actual-value' system variable. The measured value is updated cyclically in a user program.
encoderMode
Specifies the encoder mode (encoder signal type).RECTANGLE_TTL should be selected if the incremental position is to be measured by evaluating a rectangular encoder signal.SINUS_1VPP should be selected if the incremental position is to be measured by evaluating a sinu-soidal encoder signal.RESOLVER should be selected if the incremental position is to be measured by evaluating a resol-ver's encoder signal.STEPMOT should be selected, if the incremental position is to be determined by taking a set incre-mental position for a stepper motor without an encoder.INTERVAL_COUNTER should be selected if the velocity/speed is to be measured by using an addi-tional module to count intervals between two pulses.PROFIDRIVE_NIST_A should be selected if the velocity/speed is to be determined by reading actual speed value data (16 bits wide) from the PROFIDrive message frame.PROFIDRIVE_NIST_B should be selected if the velocity/speed is to be determined by reading actual speed value data (32 bits wide) from the PROFIDrive message frame.SSI_MODE should be selected if the incremental position is to be transferred to the controller in accor-dance with the specifications of the SSI protocol (absolute encoder).ENDAT should be selected if the incremental position is to be transferred to the controller in accor-dance with the specifications of the EnDat protocol (incremental/absolute encoder).
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumAxisEncoderIdentification
Changeable online: No
System default: SIMULATION
Data type: EnumAxisEncoderMode
Changeable online: No
System default: RECTANGLE_TTL
FollowingAxis
7-416 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
encoderSystem
Specifies the encoder system.With ROTARY, a rotary encoder system is used.With LINEAR, a linear encoder system is used.
encoderType
Specifies the encoder type.With SENSOR_INCREMENTAL, the encoder is treated as an incremental encoder.With SENSOR_ABSOLUTE, the encoder is treated as an absolute encoder.With SENSOR_CYCLIC_ABSOLUTE, the encoder is treated as an absolute encoder. The number of encoder overflows is also stored in the controller after disabling.With SENSOR_POSITION_DIFFERENCE_MEASUREMENT, an encoder is configured to allow dif-ferential measurement of position and velocity of two definable encoders.
encoderValueType
Specifies the actual value type from which the encoder value is calculated.With POSITION, the actual value is calculated for both the position and the velocity/speed.With VELOCITY, the actual value for the velocity/speed is calculated.With POSITION_AND_PROFIDRIVE_NIST_B, the actual value is calculated for the position and the actual value of the velocity/speed is read from the PROFIDrive message frame.With POSITION_AND_DIRECT_NIST_B, the actual value is calculated for the position, and the actual value for the velocity/speed is read from an area to be addressed in the process image of the inputs and outputs.
interfaceAllocation
Selects the interface behavior.With EXCLUSIVE, the driver can only be used on this technology object.With NON_EXCLUSIVE_AND_STARTUP_ACTIVATED, the driver can be used on this and any other technology object. The driver is activated on the technology object after system startup.With NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED, the driver can be used on this and any other technology object. The driver is deactivated on the technology object after system startup.
EnumYesNo
Data type: EnumAxisEncoderSystem
Changeable online: No
System default: ROTATORY_SYSTEM
Data type: EnumAxisEncoderType
Changeable online: No
System default: SENSOR_INCREMENTAL
Data type: EnumAxisEncoderValueType
Changeable online: No
System default: POSITION
Data type: EnumAxisSensorInterfaceAllocationConfig
Changeable online: No
System default: EXCLUSIVE
NO (91) No
YES (173) Yes
FollowingAxis
7-417SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumAxisEncoderIdentification
EnumAxisEncoderMode
EnumAxisEncoderSystem
EnumAxisEncoderType
EnumAxisEncoderValueType
SIMULATION (0) Simulation
ONBOARD (1) Onboard
DPMASTER (2) DPMaster
DIRECT (4) Encoder supplies the value directly
SET_ACTUAL_VALUE (5) Actual value via system variable
RECTANGLE_TTL (1) Rectangle
SSI_MODE (2) SSI
STEPMOTOR (3) Stepper motor
ENDAT (4) Endat
SINUS_1VPP (5) Sine
RESOLVER (6) Resolver
SENSOR_ANALOG (7) Analog encoder
INTERVAL_COUNTER (8) Encoder mode for interval counter
PROFIDRIVE_NIST_A (9) Velocity value 16-bit
PROFIDRIVE_NIST_B (10) Velocity value 32-bit
PROFIDRIVE (11) PROFIdrive profile
ROTATORY_SYSTEM (0) Rotary encoder system
LINEAR_SYSTEM (1) Linear encoder system (linear scale)
SENSOR_INCREMENTAL (1) Incremental encoder
SENSOR_ABSOLUTE (2) Absolute encoder
SENSOR_CYCLIC_ABSOLUTE (3) Absolute encoder cyclic absolute
SENSOR_POSITION_DIFFERENCE_MEASUREMENT (4)
Differential position
POSITION (0) Calculate actual position value
VELOCITY (1) Calculate actual velocity value
POSITION_AND_PROFIDRIVE_NIST_B (2) Calculate actual position values and velocity from DP protocol
POSITION_AND_DIRECT_NIST_B (3) Calculate actual position values and actual velo-city value from I/O
POSITION_AND_PROFIDRIVE_ENCODER_NIST_B (4)
Calculate actual position values and velocity from DP protocol (standard message frame 83)
FollowingAxis
7-418 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumAxisSensorInterfaceAllocationConfig
Associated parameters (maximum):
EXCLUSIVE (939) Exclusive
NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED (940)
Non-exclusive and deactivated
NON_EXCLUSIVE_AND_STARTUP_ACTIVATED (941)
Non-exclusive and active
AbsBackLash(AbsBackLash)
Backlash compensation for absolute measuring system
AbsEncoder(AbsEncoder)
Absolute encoder
AbsHomingEncoder(AbsHomingEncoder)
Homing for absolute measuring system
AdaptDrive(AdaptDrive)
Gear ratio of the measuring system for a drive-side assembly type
AdaptExtern(AdaptExtern)
Gear ratio of the measuring system for an exter-nal assembly type
AdaptLoad(AdaptLoad)
Gear ratio of the measuring system for a load-side assembly type
AnalogSensor(AnalogSensorType)
Analog measuring system
AssemblyBase(AssemblyBase)
Assembly type of the measuring system
DriverInfo(DriverInfo)
Actual value interface
DriverInfoDirectIncremental(StructDriverInfoDirectIncremental)
Actual value interface of the direct incremental encoder
Filter(Filter)
Actual value filter
FrequencyLimit(FrequencyLimit)
Limit frequency of the measuring system
IncBackLash(IncBackLash)
Backlash compensation for incremental measu-ring system
IncEncoder(IncEncoder)
Incremental encoder
IncHomingEncoder(IncHomingEncoder)
Homing for incremental measuring system
IntervalCounterConversionData(IntervalCounterConversionDataType)
Interval counter
InversCountDirection(InversCountDirection)
Inverse count direction
NistDriverConfig(StructAxisNistDriverConfig)
Actual speed value
PathPerRevolution(PathPerRevolution)
Path per revolution
PositionDifferenceMeasurement(StructPositionDifferenceMeasurement)
PositionDifferenceMeasurement
FollowingAxis
7-419SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PositionFilter(PT2PositionFilterType)
Position filter
Resolution(Resolution)
Resolution
SensorControlConfig(SensorControlConfig)
Encoder error tolerance
SensorNist(SensorNist)
Actual speed value extrapolation
SensorSetActualValue(SensorSetActualValue)
Actual value via system variable
Slippage(Slippage)
Slippage
StepMotorMonitoring(StepMotorMonitoringType)
Stepper motor
FollowingAxis
7-420 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EncoderNumber - FollowingAxis
The assignment between data record number and measuring system number of the position or velo-city sensor is specified with the structure elements for 'EncoderNumber'.
EncoderNumber
Specifies which encoder is assigned to this data set.
ExecutionConfigInfo - FollowingAxis
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
NoteFurther information is provided:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Technology Objects Synchronous Operation, Cam Function ManualOnline help
executionlevel
Specifies the task level at which the interpolator task of the technology object is running.With IPO, the task is executed in the fast interpolator cycle clock.With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: EnumToExecutionLevel
Changeable online: Yes, active after restart
System default: IPO
IPO (0) IPO
IPO_2 (1) IPO_2
SERVO (2) Servo
IPO_FAST (3) IPO_fast
SERVO_FAST (4) Servo_fast
FollowingAxis
7-421SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ExtrapolationPositionFilterType - FollowingAxis
The structure elements belonging to 'ExtrapolationPositionFilter' are used to set the filter for the actual position on the master value axis.
T1
Time constant T1 of the filter for the actual position.
T2
Time constant T2 of the filter for the actual position.
enable
Specifies the activation status of the PT2 filter for the actual position.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
FollowingAxis
7-422 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Filter - FollowingAxis
The structure elements of 'Filter' specify actual value smoothing.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies filter functionality.With 'NO', the filter functionality is deactivated.With 'YES', the filter functionality is activated.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
FollowingAxis
7-423SIMOTION Technology Packages Configuration DataList Manual, 11/2010
FineInterpolator - FollowingAxis
The structure element of 'FineInterpolator' specifies the parameter of the fine interpolator.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
_type
Specifies the type of fine interpolator used.With DIRECT_MODE, fine interpolation does not take place.With LINEAR_MODE, a linear fine interpolation takes place.With CUBIC_MODE, acceleration-continuous setpoints are generated.With QUADRATIC_MODE, velocity-continuous setpoints are generated.
EnumAxisFineInterpolatorMode
Data type: EnumAxisFineInterpolatorMode
Changeable online: Yes, active after restart
System default: LINEAR_MODE
DIRECT_MODE (0) No interpolation
LINEAR_MODE (1) Linear interpolation
CUBIC_MODE (2) Acceleration-continuous interpolation
QUADRATIC_MODE (3) Velocity-continuous interpolation
FollowingAxis
7-424 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ForceControlHeldValueMonitoring - FollowingAxis
The force/pressure final value monitoring is set with the structure elements for 'ForceControlHeldVa-lueMonitoring'.
delayTimeToActivate
Specifies the delay between the time when the actual value exceeds the tolerance window and acti-vation of the message.
tolerance
Specifies the permissible force/pressure value tolerance with a constant setpoint.
ForceControlRunningInWindowMonitoring - FollowingAxis
The parameters of the force entry window monitoring are specified with the structure elements for 'ForceControlRunningIn WindowMonitoring'.
maxDelayTime
Specifies the delay time from the arrival of the force/pressure actual value in the tolerance window until the activation of the force/pressure value monitoring.
tolerance
Permissible deviation between setpoint and actual value.
winTolTime
Specifies the delay time from the activation of the monitoring until the actual value reaches the tole-rance window.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 20.0 Pa
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 Pa
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
FollowingAxis
7-425SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ForceControllerData - FollowingAxis
The structure elements of 'ForceControllerData' parameterize the force controller.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
_type
Controller type for the force controller
invertControlValue
With YES, the manipulated variable of the force controller is inverted.With NO, the manipulated variable of the force controller is not inverted.
typeOfSensorData
UNI_DIRECTION means that negative actual values cannot be measured.BOTH_DIRECTION means negative actual values will be measured.
EnumForceControllerType
EnumYesNo
Data type: EnumForceControllerType
Changeable online: Yes, active after restart
System default: PID
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumSensorDataType
Changeable online: Yes, active after restart
System default: UNI_DIRECTION
PID (1) PID controller
PID_ACTUAL (2) PID controller with actual value-dependent D-component
NO (91) No
YES (173) Yes
FollowingAxis
7-426 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumSensorDataType
Associated parameters (maximum):
UNI_DIRECTION (1) Unidirectional
BOTH_DIRECTION (2) Bidirectional
FilterForceControl(StructAxisFilterForceControlConfig)
Manipulated variable limitation
OutputLimits(OutputLimits)
Manipulated variable limitation
PID_Controller(PID_ControllerForce)
Parameters for the PID controller
FollowingAxis
7-427SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ForceControllerDifference - FollowingAxis
The controller differential monitoring is set with the structure elements for 'ForceControllerDifference'.
enable
With 'YES', the control deviation monitoring of the force controller is activated.With 'NO', the control deviation monitoring of the force controller remains deactivated (system default).
maxForceTolerance
Specifies the maximum permissible control deviation.
EnumYesNo
FrequencyLimit - FollowingAxis
The structure elements of 'FrequencyLimit' specify the frequency limit of the encoder.
encoderFrequencyLimit
Specifies the frequency limit of the encoder.
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 Pa
NO (91) No
YES (173) Yes
Data type: LREAL
Changeable online: Yes, active immediately
System default: 400000.0 Hz
FollowingAxis
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Friction - FollowingAxis
The structure elements of 'Friction' specify the friction torque compensation.
amplitude
Specifies the maximum value of the friction torque compensation characteristic.
decayTime
Specifies the delay time constant.
delayTimeStandStill
Specifies the delay time for activation of the standstill signal.
enable
Specifies the activation status of friction torque compensation.With NO, the friction torque compensation is not activated.With YES, the friction torque compensation is activated.
maxVeloStandStill
Specifies the maximum velocity at which the standstill signal is active.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 5.0 mm/s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.05 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.2 mm/s
NO (91) No
YES (173) Yes
FollowingAxis
7-429SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Gear - FollowingAxis
The structure elements of 'Gear' specify the gear ratio of the load gearbox. The gear ratio is only active for the 'ASSEMBLY_DRIVE' mounting type.
denFactor
Specifies the number of load revolutions.
numFactor
Specifies the number of motor revolutions.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
FollowingAxis
7-430 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
GearingPosTolerance - FollowingAxis
The structure elements of 'GearingPosTolerance' specify the synchronization monitoring setting on the slave axis.
Note"Further information can be found in the TO Synchronous Operation, Cam Function Manual and in the online help."
actualValueTolerance
Specifies the permissible actual value deviation. An alarm is output if the value is exceeded.
commandValueTolerance
Specifies the permissible setpoint deviation. An alarm is output if the value is exceeded.
enableActualValue
Specifies the activation status of the actual value tolerance monitoring system.With NO, the tolerance monitoring of the actual values is not activated.With YES, the tolerance monitoring of the actual values is activated.
enableCommandValue
Specifies the activation status of the setpoint tolerance monitoring system.With NO_ACTIVATE, the tolerance monitoring of the setpoints is not activated.With WITHOUT_JERK, the tolerance monitoring of the setpoints is activated without inclusion of the jerk. Alarm 40201 is output if the setpoint tolerance is exceeded.With WITH_JERK, the tolerance monitoring of the setpoints is activated with inclusion of the jerk. Alarm 40201 is output if the setpoint tolerance is exceeded. The jerk on the axis is also monitored.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 mm
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumGearingPosToleranceCommandValue
Changeable online: Yes, active immediately
System default: WITHOUT_JERK
FollowingAxis
7-431SIMOTION Technology Packages Configuration DataList Manual, 11/2010
enableErrorReporting
Specifies which tolerance violation signals are transmitted to the master.With NO_REPORTING, no 'tolerance exceeded' messages are sent.With COMMAND_VALUE_TOLERANCE, a report is sent when the specified setpoint tolerance is exceeded.With ACTUAL_VALUE_TOLERANCE, a report is sent when the specified actual value tolerance is exceeded.With ALL_ERRORS_WITH_ABORT_SYNCHRONIZATION, all errors that cause cancelation of the synchronous operation coupling are reported.
EnumYesNo
EnumGearingPosToleranceCommandValue
EnumErrorReporting
Data type: EnumErrorReporting
Changeable online: Yes, active after restart
System default: NO_REPORTING
NO (91) No
YES (173) Yes
NO_ACTIVATE (0) No
WITHOUT_JERK (1) Without jerk
WITH_JERK (2) With jerk
NO_REPORTING (0) No
COMMAND_VALUE_TOLERANCE (1) Setpoints
ACTUAL_VALUE_TOLERANCE (2) Actual values
ALL_ERRORS_WITH_ABORT_SYNCHRONIZATION (3)
All errors
FollowingAxis
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HWEndPos - FollowingAxis
The structure elements of 'HWEndPos' are used to specify the monitoring mode of the hardware limit switches.
bitNumberNegative
Specifies the I/O bit number within the I/O byte specified by the logical address.
bitNumberPositive
Specifies the I/O bit number within the I/O byte specified by the logical address.
enable
Specifies the activation status of the hardware limit switches.For 'NO', the hardware limit switches are deactivated.For 'YES', the hardware limit switches are activated.
interfaceActivation
Selects the interface behavior.With STARTUP_DEACTIVATED the driver is deactivated on the technology object following system startup.With STARTUP_ACTIVATED the driver is activated on the technology object following system star-tup.
logAddressNegative
Specifies the logical address of the negative hardware limit switch.
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumAxisInterfaceActivationConfig
Changeable online: No
System default: STARTUP_ACTIVATED
Data type: UDINT
Changeable online: No
System default: 65535
FollowingAxis
7-433SIMOTION Technology Packages Configuration DataList Manual, 11/2010
logAddressPositive
Specifies the logical address of the positive hardware limit switch.
mode
Specifies the position of the hardware limit switch relative to the axis traversing range.With 'END_MOUNTED_SWITCH', the hardware limit switches outside of the permissible traversing range are always active.With 'FLEXIBLE_MOUNTED_SWITCH', the hardware limit switches can be crossed in the direction of the impermissible traversing range.
EnumYesNo
EnumAxisInterfaceActivationConfig
EnumMountSwitch
Data type: UDINT
Changeable online: No
System default: 65535
Data type: EnumMountSwitch
Changeable online: Yes, active after restart
System default: END_MOUNTED_SWITCH
NO (91) No
YES (173) Yes
STARTUP_DEACTIVATED (942) Deactivated after startup
STARTUP_ACTIVATED (943) Active after startup
END_MOUNTED_SWITCH (0) Limit switch outside of the permissible traversing range always active
FLEXIBLE_MOUNTED_SWITCH (1) Limit switch can be crossed
FollowingAxis
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Homing - FollowingAxis
The structure elements of 'Homing' specify the parameters for homing the axis.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
beroDistance
Specifies the maximum distance from the current position to the homing cam or to the external zero mark.
direction
Specifies the direction of approach for active homing.With POSITIVE, the approach direction for homing is selected in the positive direction.With NEGATIVE, the approach direction for homing is selected in the negative direction.
enableBeroDistance
Specifies the monitoring mode of the traversing path from the current position until the reference cam or the external zero mark.With NO, the monitoring is switched off.With 'YES', the monitoring is activated.
referencingNecessary
Specifies whether homing is necessary before commands with absolute position data. Commands with absolute position data can always be traversed without homing.With NO, homing is not necessary for commands with absolute position specifications.With YES, homing is necessary for commands with absolute position specifications.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
Data type: EnumDirectionType
Changeable online: Yes, active immediately
System default: POSITIVE
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
FollowingAxis
7-435SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumDirectionType
EnumYesNo
Associated parameters (maximum):
POSITIVE (0) Start in positive direction
NEGATIVE (1) Start in negative direction
POSITIVE_ALL_HOMING (2) Positive direction only
NEGATIVE_ALL_HOMING (3) Negative direction only
NO (91) No
YES (173) Yes
ReverseCamNegative(ReverseCamNegative)
Negative reversing cam
ReverseCamPositive(ReverseCamPositive)
Positive reversing cam
FollowingAxis
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IncBackLash - FollowingAxis
The structure elements of 'IncBackLash' specify the backlash compensation for the incremental enco-der.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
_type
Specifies the direction in which backlash compensation is calculated.With 'POSITIVE', the backlash compensation is applied in the positive direction.With 'NEGATIVE', the backlash compensation is applied in the negative direction.
enable
Specifies the activation status of backlash compensation for the incremental encoder.With 'NO', the backlash compensation is not enabled.With 'YES', the backlash compensation is enabled.
length
Specifies the backlash compensation value.
velocity
Specifies the velocity at which backlash compensation is stopped.If the value is 0, the backlash is calculated without limits.
EnumBackLashType
EnumYesNo
Data type: EnumBackLashType
Changeable online: Yes, active immediately
System default: POSITIVE
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm/s
POSITIVE (0) positive
NEGATIVE (1) negative
NO (91) No
YES (173) Yes
FollowingAxis
7-437SIMOTION Technology Packages Configuration DataList Manual, 11/2010
IncEncoder - FollowingAxis
The structure elements of 'IncEncoder' specify the parameters for an incremental encoder.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enableZeroMonitoring
Specifies the activation status of monitoring of the number of increments between two encoder zero marks.With 'NO', monitoring of the number of increments between two encoder zero marks is not activated.With 'YES', monitoring of the number of increments between two encoder zero marks is activated.
incResolution
Specifies the number of increments per encoder revolution specified on the encoder rating plate.
incResolutionMultiplierCyclic
Specifies the multiplication factor of the cyclic actual value.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2048
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
NO (91) No
YES (173) Yes
FollowingAxis
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IncHomingEncoder - FollowingAxis
The structure elements of 'IncHomingEncoder' specify the parameters for an incremental encoder.
NoteAdditional information is available at:Function Manual "TO Axis Electric/Hydraulic, External Encoder".SIMOTION MCC Motion Control Chart Programming and Operating Manualor in the online help
approachDirection
Specifies the approach direction of the encoder zero mark with the following homing modes: 'homing-Mode:=MODE_ZM' or 'homingMode:=MODE_CAM_AND_ZM'.
With APPROACH_NEGATIVE, the encoder zero mark is approached in negative direction.With APPROACH_POSITIVE, the encoder zero mark is approached in positive direction.
Specifies the edge and side of the external zero mark with the following homing modes: 'homing-Mode:=MODE_CAM' or 'homingMode:=MODE_REFERENCE_CAM_AND_EXTERNAL_ZM'.
With EDGE_POS_SIDE_NEG, homing is carried out with the positive edge on the negative side of the external zero mark. Homing is therefore carried out when the external zero mark is crossed in positive direction.
With EDGE_POS_SIDE_POS, homing is carried out with the positive edge on the positive side of the external zero mark. Homing is therefore carried out when the external zero mark is crossed in negative direction.
With EDGE_NEG_SIDE_POS, homing is carried out with the negative edge on the positive side of the external zero mark. Homing is therefore carried out when the external zero mark is crossed in positive direction.
With EDGE_NEG_SIDE_NEG, homing is carried out with the negative edge on the negative side of the external zero mark. Homing is therefore carried out when the external zero mark is crossed in negative direction.
With 'homingMode:=MODE_ZM', the encoder zero mark is approached immediately in the configured direction.With 'homingMode:=MODE_CAM_AND_ZM', the encoder zero mark is approached in the configured direction after the approach of the reference cam.With 'homingMode:=MODE_CAM' or 'homing-Mode:=MODE_REFERENCE_CAM_AND_EXTERNAL_ZM', the edge and side of the external zero mark are evaluated.
bitNumberBero
Specifies the bit number of the reference cam for homing mode CAM_AND_ZM or MODE_REFERENCE_CAM_AND_EXTERNAL_ZM.
Data type: EnumAxisApproachDirection
Changeable online: Yes, active immediately
System default: APPROACH_NEGATIVE
Data type: UDINT
Changeable online: No
System default: 0
FollowingAxis
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enableZeroMarkDistance
Specifies the monitoring mode for the path after leaving the reference cam until the encoder zero mark is reached.With NO, the monitoring of the path after leaving the reference cam until the encoder zero mark is rea-ched is not activated.With YES, the monitoring of the path after leaving the reference cam until the encoder zero mark is reached is activated.
homingMode
Specifies the homing mode.With MODE_NO_REFERENCE, a homing mode is not selected.With MODE_CAM_AND_ZM, the homing mode reference cam with encoder zero mark is selected.With MODE_ZM, the homing mode with encoder zero mark only is selected.With MODE_CAM, the homing mode with external zero mark only is selected.MODE_REFERENCE_CAM_AND_EXTERNAL_ZM is not available.
logAddressBero
Specifies the address of the reference cam for homing mode CAM_AND_ZM or MODE_REFERENCE_CAM_AND_EXTERNAL_ZM.
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumAxisHomingMode
Changeable online: Yes, active after restart
System default: MODE_NO_REFERENCE
Data type: UDINT
Changeable online: No
System default: 65535
FollowingAxis
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passiveApproachDirection
Specifies the expected approach direction for the passive homing.
For the setting 'passiveHomingMode:=ZM_PASSIVE' or 'passiveHoming-Mode:=CAM_AND_ZM_PASSIVE', this configuration data items specifies the approach direction of the encoder zero mark.With 'passiveHomingMode:=ZM_PASSIVE', the encoder zero mark is expected in the configured direction.With 'passiveHomingMode:=CAM_AND_ZM_PASSIVE', the encoder zero mark is expected in the configured direction after the approach of the reference cam.
With APPROACH_NEGATIVE_PASSIVE, the negative approach direction is expected.With APPROACH_POSITIVE_PASSIVE, the positive approach direction is expected.With ACTUAL_DIRECTION_PASSIVE, both approach directions are possible.
With EDGE_POS_SIDE_NEG_PASSIVE, a rising edge on the negative side of the external zero mark is expected.With EDGE_POS_SIDE_POS_PASSIVE, a rising edge on the positive side of the external zero mark is expected.With EDGE_NEG_SIDE_POS_PASSIVE, a falling edge on the positive side of the external zero mark is expected.With EDGE_NEG_SIDE_NEG_PASSIVE, a falling edge on the negative side of the external zero mark is expected.
passiveBitNumberBero
Specifies the bit number of the reference cam during passive homing and for homing mode CAM_AND_ZM_PASSIVE or REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE.
passiveHomingMode
Specifies the homing mode.With CAM_AND_ZM_PASSIVE, homing mode reference cam with encoder zero mark is selected.With ZM_PASSIVE, the homing mode with encoder zero mark only is selected.With CAM_PASSIVE, the homing mode with external zero mark only is selected.With DEFAULT_PASSIVE, the homing mode ZM_PASSIVE or CAM_PASSIVE is preset with or wit-hout the encoder zero mark, depending on the encoder type.REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE is not available.
Data type: EnumAxisPassiveApproachDirection
Changeable online: Yes, active immediately
System default: ACTUAL_DIRECTION_PASSIVE
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumAxisPassiveHomingMode
Changeable online: Yes, active after restart
System default: DEFAULT_PASSIVE
FollowingAxis
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passiveLogAddressBero
Specifies the address of the reference cam during passive homing and for homing mode CAM_AND_ZM_PASSIVE or REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE.
proceedShiftPos
Specifies the home position offset.
referenceCamType
Selects the reference cam for referencing mode MODE_CAM_AND_ZM.With HARDWARE_LIMIT_SWITCH_POSITIVE, the positive limit switch is used as the reference cam.With HARDWARE_LIMIT_SWITCH_NEGATIVE, the negative limit switch is used as the reference cam.With STANDARD, the reference cam defined in "typeOfAxis.Encoder_x.incHomingEncoder" is used.
zeroMarkDistance
Specifies the maximum length of the path after leaving the reference cam until the encoder zero mode is reached in homing mode MODE_CAM_AND_ZM.Specifies the maximum length until the encoder zero mark in homing mode MODE_ZM.
EnumAxisApproachDirection
EnumYesNo
Data type: UDINT
Changeable online: No
System default: 65535
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
Data type: EnumAxisReferenceCamType
Changeable online: No
System default: STANDARD
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
APPROACH_NEGATIVE (0) Approach direction encoder zero mark negative
APPROACH_POSITIVE (1) Approach direction encoder zero mark positive
EDGE_POS_SIDE_NEG (2) Rising edge negative side external zero mark
EDGE_POS_SIDE_POS (3) Rising edge positive side external zero mark
EDGE_NEG_SIDE_POS (4) Falling edge positive side external zero mark
EDGE_NEG_SIDE_NEG (5) Falling edge negative side external zero mark
NO (91) No
YES (173) Yes
FollowingAxis
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EnumAxisHomingMode
EnumAxisPassiveApproachDirection
EnumAxisPassiveHomingMode
EnumAxisReferenceCamType
Associated parameters (maximum):
MODE_NO_REFERENCE (0) No reference mode
MODE_CAM_AND_ZM (1) Reference cam and encoder zero mark
MODE_ZM (2) Encoder zero mark only
MODE_CAM (3) External zero mark only
MODE_REFERENCE_CAM_AND_EXTERNAL_ZM (4)
Reference cam and external zero mark
APPROACH_NEGATIVE_PASSIVE (0) Approach direction encoder zero mark negative
APPROACH_POSITIVE_PASSIVE (1) Approach direction encoder zero mark positive
EDGE_POS_SIDE_NEG_PASSIVE (2) Rising edge negative side external zero mark
EDGE_POS_SIDE_POS_PASSIVE (3) Rising edge positive side external zero mark
EDGE_NEG_SIDE_POS_PASSIVE (4) Falling edge positive side external zero mark
EDGE_NEG_SIDE_NEG_PASSIVE (5) Falling edge negative side external zero mark
ACTUAL_DIRECTION_PASSIVE (6) Next edge
CAM_AND_ZM_PASSIVE (1) Reference cam and encoder zero mark
ZM_PASSIVE (2) Encoder zero mark only
CAM_PASSIVE (3) External zero mark only
DEFAULT_PASSIVE (4) Default setting depends on encoder type (with/without encoder zero mark)
REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE (5)
Reference cam and external zero mark
STANDARD (358) Reference cam
HARDWARE_LIMIT_SWITCH_POSITIVE (389) Reference cam positive limit switch
HARDWARE_LIMIT_SWITCH_NEGATIVE (390)
Reference cam negative limit switch
StateDriveExternalZeroMark(StateDriveExternalZeroMark)
External zero mark status of digital drive
FollowingAxis
7-443SIMOTION Technology Packages Configuration DataList Manual, 11/2010
IntervalCounterConversionDataType - FollowingAxis
The structure elements of 'IntervalCounterConversionData' are used to configure the encoder as an interval counter.
The 'Interval counter' encoder type is used to determine the speed using an interval duration and the number of intervals per encoder revolution.An interval is the time between two successive encoder pulses that are recorded by an encoder module.The duration (interval) between the encoder pulses is measured by the module and provided in the I/O area.
incResolution
Specifies the increments or the number of intervals or encoder pulses per encoder revolution.
referenceTime
Specifies the reference time for the measurement of the interval duration.The reference time is the time after which the counter in the encoder module used to determine the interval duration is incremented by one (interval duration = count * reference time).
Associated parameters (maximum):
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0005 ms
DriverInfo(StructSensorDriverInfo)
AnalogDriverInfo (Only the logical address 'logAddress' of the reference value for the inter-val duration stored by the encoder module in the I/O area has to be specified. The other elements of the 'StructSensorDriverInfo' structure are not taken into account for the configuration of the interval counter.)
FollowingAxis
7-444 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
InversCountDirection - FollowingAxis
The structure elements of 'InversCountDirection' specify the counting direction of the actual encoder value.
encoderFeedbackPolarity
Specifies whether the counting direction of the actual encoder value is inverted.With NO, the count direction of the actual encoder value is not inverted. (System default)With YES, the count direction of the actual encoder value is inverted.
EnumYesNo
InvertSetPoint - FollowingAxis
The inversion of actuating signal is specified with the structure elements for 'InvertSetPoint'.With an electrical axis, this means the adaptation of the direction of rotation of the drive to the rotati-onal direction of the machine.With a hydraulic axis, this means the inversion of the F-output behind the characteristic curve.
invSetPoint
Specifies the activation status of the manipulated variable inversion.With 'NO', the manipulated variable is output unchanged.With 'YES', the manipulated variable is output inverted.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
FollowingAxis
7-445SIMOTION Technology Packages Configuration DataList Manual, 11/2010
InvertSetPointHydraulicType - FollowingAxis
The structure element for 'InvertSetPoint' specifies the inversion of the Q-output value after the cha-racteristic.
invert
Specifies the activation status.With NO, the Q-output value behind the characteristic curve is output unchanged.With YES, the Q-output value behind the characteristic curve is output inverted.
EnumYesNo
LeadScrewInfo - FollowingAxis
The structure elements of 'LeadScrew' set the leadscrew pitch.
efficiency
Efficiency of the spindle/nut combination.
pitchVal
Specifies the leadscrew pitch per spindle revolution.
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
NO (91) No
YES (173) Yes
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
Data type: LREAL
Changeable online: Yes, active after restart
System default: 10.0 mm/rot
FollowingAxis
7-446 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
LinearMotorDriveData - FollowingAxis
The structure elements of 'LinearMotorDriveData' specify key drive values for linear motors.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
forceReductionGranularity
Specifies the fine resolution of the force reduction.
forceReference
Selection setting for scaling: Reference force or maximum force.
maxForce
Specifies the maximum force.
maxSpeed
Specifies the maximum traversing velocity.
nominalForce
Specifies the maximum force.
nominalSpeed
Specifies the reference velocity.
Data type: EnumAxisTorqueForceReductionGranularity
Changeable online: Yes, active after restart
System default: BASIC
Data type: EnumAxisReferenceMaxNominal
Changeable online: Yes, active after restart
System default: MAX_VALUE
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1000.0 N
Data type: LREAL
Changeable online: No
System default: 3000.0 1/min
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1000.0 N
Data type: LREAL
Changeable online: No
System default: 3000.0 1/min
FollowingAxis
7-447SIMOTION Technology Packages Configuration DataList Manual, 11/2010
speedReference
Selection setting for scaling: Reference velocity or maximum velocity.
EnumAxisTorqueForceReductionGranularity
EnumAxisReferenceMaxNominal
Data type: EnumAxisReferenceMaxNominal
Changeable online: Yes, active after restart
System default: MAX_VALUE
STANDARD (0) Resolution 1/100
BASIC (16) Resolution 1/16384
MAX_VALUE (0) Maximum value
NOMINAL_VALUE (1) Nominal value
FollowingAxis
7-448 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
LinearStepMotorDriveDataType - FollowingAxis
The structure elements of 'LinearStepMotorDriveData' specify key drive values for stepper motors.
maxFrequency
Specifies the maximum frequency for motor steps.
stepMotorResolution
Specifies the number of motor steps per revolution.
Data type: LREAL
Changeable online: No
System default: 50000.0 Hz
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1000
FollowingAxis
7-449SIMOTION Technology Packages Configuration DataList Manual, 11/2010
MaxAcceleration - FollowingAxis
The structure elements of 'MaxAcceleration' define the maximum permissible acceleration and the monitoring mode for the change of the manipulated variable.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enableSetPointMonitoring
Specifies the activation status of the monitoring of the manipulated variable changeWith 'NO', the monitoring is deactivated.With 'YES', the monitoring is activated. The change of the manipulated variable is monitored but not limited.The value specified in 'maxAcceleration.maximum' is converted into the value for the maximum change of the manipulated variable.
maximum
Specifies the maximum permissible acceleration.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10000.0 mm/s²
NO (91) No
YES (173) Yes
FollowingAxis
7-450 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
MaxForceCommandData - FollowingAxis
The structure elements for 'MaxForceCommandData' are used to configure the type of setpoint gene-ration.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
maximum
Specifies the maximum force/pressure setpoint.
maximumDerived
Specifies the maximum rise of the maximum force/pressure setpoint.
MaxJerk - FollowingAxis
The structure element of 'MaxJerk' defines the maximum permissible jerk.
NoteFurther information is provided:Function Manual "TO Axis Electric/Hydraulic, External Encoder".SIMOTION Basic Functions Function ManualOnline help
maximum
Specifies the maximum possible jerk.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1000.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10000.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 200000.0 mm/s³
FollowingAxis
7-451SIMOTION Technology Packages Configuration DataList Manual, 11/2010
MaxVelocity - FollowingAxis
The structure element of 'MaxVelocity' defines the maximum permissible velocity.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
maximum
Specifies the maximum permissible velocity.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 500.0 mm/s
FollowingAxis
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ModuloInfo - FollowingAxis
The structure elements of 'Modulo' specify the modulo information.
length
Specifies modulo length.The minimum modulo length that can be set depends on the available resolution!
startValue
Specifies the initial value.
state
Specifies modulo activation.With ACTIVE, a modulo status is activated.With INACTIVE, the modulo status is not activated.
EnumActiveInactive
Data type: LREAL
Changeable online: Yes, active after restart
System default: 360.0 °
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
Data type: EnumActiveInactive
Changeable online: Yes, active after restart
System default: INACTIVE
ACTIVE (4) Active
INACTIVE (61) Inactive
FollowingAxis
7-453SIMOTION Technology Packages Configuration DataList Manual, 11/2010
NeutralBand - FollowingAxis
The structure elements of 'NeutralBand' specify the parameters for neutral band compensation.
centreValue
Specifies the center point of the neutral band.
enable
Specifies the activation status of neutral band compensation.With NO, the neutral band compensation is not activated.With YES, the neutral band compensation is activated.
range
Specifies the range of the neutral band.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
NO (91) No
YES (173) Yes
FollowingAxis
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NumberOfAdditionalSensors - FollowingAxis
The structure elements for 'NumberOfAdditionalSensors' are used to configure the additional enco-ders.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
number
Specifies the number of encoders for a force-controlled axis
Associated parameters (maximum):
Data type: UDINT
Changeable online: No
System default: 1
AdditionalSensor_1(AdditionalSensorMain)
Encoder 1
AdditionalSensor_2(AdditionalSensorMain)
Encoder 2
AdditionalSensor_3(AdditionalSensorMain)
Encoder 3
AdditionalSensor_4(AdditionalSensorMain)
Encoder 4
AdditionalSensor_5(AdditionalSensorMain)
Encoder 5
AdditionalSensor_6(AdditionalSensorMain)
Encoder 6
AdditionalSensor_7(AdditionalSensorMain)
Encoder 7
AdditionalSensor_8(AdditionalSensorMain)
Encoder 8
FollowingAxis
7-455SIMOTION Technology Packages Configuration DataList Manual, 11/2010
NumberOfDataSets - FollowingAxis
The structure elements for 'NumberOfDataSets' specify the number of data sets.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
changeMode
Specifies the mode for data set change.With 'NEVER', data record switchover does not take place.With 'IN_POSITION', the data record switchover takes place when the positioning window is reached.With 'IN_STANDSTILL', the data record switchover takes place when the standstill signal is present.With 'IMMEDIATELY', data record switchover takes place immediately.
initDataSet
Specifies the initialization data set.
numberOfDataSets
Specifies the number of data sets.
smoothingTimeByChangeDifference
The time constant parameterizes a PT1 element that smoothes abrupt changes in the manipulated variable. Such jumps occur, for example, as a result of Kv changes.
This filter is not effective for changes in the Kv factor.This filter is effective for data record changes.
EnumChangeMode
Data type: EnumChangeMode
Changeable online: Yes, active after restart
System default: IN_POSITION
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: No
System default: 1
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
NEVER (0) No switchover
IN_POSITION (1) Switchover when axis in positioning window
IN_STANDSTILL (3) Switchover when axis below standstill velocity
IMMEDIATELY (7) Immediate switchover
FollowingAxis
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Associated parameters (maximum):
DataSet_1(DataSetMain)
Data record 1
DataSet_10(DataSetMain)
Data record 10
DataSet_11(DataSetMain)
Data record 11
DataSet_12(DataSetMain)
Data record 12
DataSet_13(DataSetMain)
Data record 13
DataSet_14(DataSetMain)
Data record 14
DataSet_15(DataSetMain)
Data record 15
DataSet_16(DataSetMain)
Data record 16
DataSet_2(DataSetMain)
Data record 2
DataSet_3(DataSetMain)
Data record 3
DataSet_4(DataSetMain)
Data record 4
DataSet_5(DataSetMain)
Data record 5
DataSet_6(DataSetMain)
Data record 6
DataSet_7(DataSetMain)
Data record 7
DataSet_8(DataSetMain)
Data record 8
DataSet_9(DataSetMain)
Data record 9
FollowingAxis
7-457SIMOTION Technology Packages Configuration DataList Manual, 11/2010
NumberOfDigitalInputs - FollowingAxis
The structure elements of 'NumberOfDigitalInputs' are used to configure the number of digital inputs.
number
Specifies the number of inputs.
Associated parameters (maximum):
Data type: UDINT
Changeable online: No
System default: 0
DigitalInput_1(DigitalInputMain)
Digital input 1
DigitalInput_2(DigitalInputMain)
Digital input 2
DigitalInput_3(DigitalInputMain)
Digital input 3
DigitalInput_4(DigitalInputMain)
Digital input 4
DigitalInput_5(DigitalInputMain)
Digital input 5
DigitalInput_6(DigitalInputMain)
Digital input 6
DigitalInput_7(DigitalInputMain)
Digital input 7
DigitalInput_8(DigitalInputMain)
Digital input 8
FollowingAxis
7-458 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
NumberOfEncoders - FollowingAxis
The structure element of 'NumberOfEncoders' sets the number of encoders.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
dscEncoderNumber
Specifies the DSC encoder.
numberOfEncoders
Specifies the number of encoders.
Associated parameters (maximum):
Data type: UDINT
Changeable online: No
System default: 1
Data type: UDINT
Changeable online: No
System default: 1
Encoder_1(EncoderMain)
Encoder 1
Encoder_2(EncoderMain)
Encoder 2
Encoder_3(EncoderMain)
Encoder 3
Encoder_4(EncoderMain)
Encoder 4
Encoder_5(EncoderMain)
Encoder 5
Encoder_6(EncoderMain)
Encoder 6
Encoder_7(EncoderMain)
Encoder 7
Encoder_8(EncoderMain)
Encoder 8
FollowingAxis
7-459SIMOTION Technology Packages Configuration DataList Manual, 11/2010
OutputLimits - FollowingAxis
The structure element 'OutputLimits' is used to configure the manipulated variable limitation.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
_max
Specifies the maximum output value for the force controller.
_min
Specifies the minimum output value for the force controller.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 500.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: -500.0
FollowingAxis
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PD_Controller - FollowingAxis
The structure elements of 'PD_Controller' specify the parameters of the PD controller.
decayTime
Specifies the delay time constant of the D component.
kd
Specifies the D component gain.
kp
Specifies the P component gain.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 1/s
FollowingAxis
7-461SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PID_ControllerForce - FollowingAxis
The structure element 'PID_Controller' is used to configure the PID controller.
decayTime
Delay time constant of D-action component
enableAntiWindup
Specifies the activation status of the integrator limitation.With 'NO', the integrator limitation is not activated.With 'YES', the integrator limitation is activated.
integratorFeedbackTimeConstant
Specifies the time constant to deactivate the I component.
kd
Specifies the D component gain.
ki
Specifies the I component gain.
kp
Specifies the P component gain.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 1/s
FollowingAxis
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kpc
Specifies the pre-control factor.
preCon
Specifies the activation status of the precontrol system.With 'NO', the precontrol is not activated.With 'YES', the precontrol is activated.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 100.0 %
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
FollowingAxis
7-463SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PID_ControllerPos - FollowingAxis
The structure element 'PID_Controller' is used to configure the PID controller.
balanceFilterMode
Specifies the balancing filter.
decayTime
Specifies the delay time constant of the D component.
enableAntiWindup
Activation of the integrator limitation.
kd
Specifies the D component gain.
ki
Specifies the I component gain.
kp
Specifies the P component gain.
Data type: EnumBalanceFilterMode
Changeable online: Yes, active after restart
System default: MODE_1
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 1/s²
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 1/s
FollowingAxis
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kpc
Specifies the pre-control factor.
preCon
Specifies the activation status of the precontrol system.With 'NO', the precontrol is not activated.With 'YES', the precontrol is activated.
EnumBalanceFilterMode
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 100.0 %
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
OFF (0) Balancing filter not active
MODE_1 (1) Balancing filter active
MODE_2 (2) Expanded balancing filter active
NO (91) No
YES (173) Yes
FollowingAxis
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PT2PositionFilterType - FollowingAxis
The structure elements of 'PositionFilter' specify the parameters of the position filter.
T1
Time constant T1 of the position filter.
T2
Time constant T2 of the position filter.
enable
Specifies the activation status of the position filter.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
FollowingAxis
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PV_Controller - FollowingAxis
The structure elements of 'PV_Controller' specify the parameters of the P controller with precontrol.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
balanceFilterMode
Specifies the balancing filter type.
enableDSC
Specifies the activation status of DSC.With NO, DSC is not activated.With YES, DSC is activated.
kpc
Specifies the pre-control factor.
kv
Specifies the gain factor of the position feedback loop.
preCon
Specifies the activation status of the precontrol system.With NO, the precontrol is not activated.With YES, the precontrol is activated.
Data type: EnumBalanceFilterMode
Changeable online: Yes, active after restart
System default: MODE_1
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 100.0 %
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 1/s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
FollowingAxis
7-467SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumBalanceFilterMode
EnumYesNo
OFF (0) Balancing filter not active
MODE_1 (1) Balancing filter active
MODE_2 (2) Expanded balancing filter active
NO (91) No
YES (173) Yes
FollowingAxis
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PathPerRevolution - FollowingAxis
The structure elements of 'PathPerRevolution' specify the distance of one revolution for the EXTERN assembly base.
length
Specifies the path length of an encoder revolution for EXTERNAL mount type.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 100.0 mm
FollowingAxis
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PathSyncAxisPosTolerance - FollowingAxis
The setting of the setpoint differential monitoring on the synchronous axis is specified with the struc-ture elements for 'PathSyncAxisPosTolerance'.
Note"Further information can be found in the Path Interpolation Technology Object Function Manual and in online help."
commandValueTolerance
Specifies the permissible setpoint deviation. An alarm is output if the value is exceeded.
enableCommandValue
Specifies the activation status of the setpoint tolerance monitoring system.With NO_ACTIVATE, the tolerance monitoring of the setpoints is not activated.With WITHOUT_JERK, the tolerance monitoring of the setpoints is activated without inclusion of the jerk. An alarm is output if the setpoints are exceeded.With WITH_JERK, the tolerance monitoring of the setpoints is activated with inclusion of the jerk. An alarm is output if the setpoints are exceeded.
EnumAxisPathPosToleranceCommandValue
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 mm
Data type: EnumAxisPathPosToleranceCommandValue
Changeable online: Yes, active immediately
System default: WITHOUT_JERK
NO_ACTIVATE (0) No
WITHOUT_JERK (1) Without jerk
WITH_JERK (2) With jerk
FollowingAxis
7-470 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PositionFilterType - FollowingAxis
The structure elements of 'PositionFilter' specify actual value smoothing. The settings take effect on the actual position values in the servo cycle clock.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies filter functionality.With 'NO', the filter functionality is deactivated.With 'YES', the filter functionality is activated.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
FollowingAxis
7-471SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PositionMonitoring - FollowingAxis
The structure elements of 'PositionMonitoring' specify position monitoring.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
posWinTolDelayTime
Specifies the delay between the time when the actual value reaches the tolerance window and acti-vation of zero speed monitoring.
posWinTolTime
Specifies the delay between activation of monitoring and the time when the actual value reaches the tolerance window.
tolerance
Specifies the width of the positioning window.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm
FollowingAxis
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ProcessModel - FollowingAxis
The structure elements of 'ProcessModel' set the parameters for the process model.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
T1
Specifies the first time constant.
T2
Specifies the second time constant.
ks
Specifies the transmission factor.
Range - FollowingAxis
The 'Range' structure elements are used to configure the definition range of the read encoder values.
_max
Specifies the maximum value.
_min
Specifies the minimum value.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.003 s
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0001 s
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.00000095367431640625
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10000.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: -10000.0
FollowingAxis
7-473SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Resolution - FollowingAxis
'Resolution' is used to configure the parameters of a linear encoder system (linear scale).
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
distance
Distance between two encoder increments.
NoteThe minimum value that can be set results from the maximum resolution of the TO axis or TO external encoder. Consequently, for an excessive lower limit, the unit for the 'Increments/Position' physical quantity must be varied appropriately.
multiplierCyclic
Incremental resolution
RestartConditionInfo - FollowingAxis
'RestartConditionInfo' is used to set the state in which axis restart is possible.
restartAxisCondition
Specifies the condition for restart.With 'NO_CONSTRAINTS', restart takes place irrespective of the axis state.With 'STANDSTILL', restart takes place only when a standstill signal is present.With 'AXIS_DISABLED', restart only takes place if there are no enables set on the axis.
EnumRestartAxisCondition
Data type: LREAL
Changeable online: No
System default: 0.001 mm
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumRestartAxisCondition
Changeable online: Yes, active after restart
System default: AXIS_DISABLED
NO_CONSTRAINTS (0) Restart without constraints
STANDSTILL (1) Restart during standstill
AXIS_DISABLED (2) Restart only when no enables are set
FollowingAxis
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RestartInfo - FollowingAxis
'RestartInfo' is used to enable technology object restart with system variables and/or by command or just by command.
behaviorInvalidSysvarAccess
If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology object is restarted or deactivated.The values stored in the image are supplied when system variables are accessed during the techno-logy object restart or deactivation phase.
restartActivationSetting
With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with system variables and/or by command.With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
EnumToRestartActivationSetting
Data type: EnumToInvalidSysvarAccess
Changeable online: No
System default: LAST_VALUE
Data type: EnumToRestartActivationSetting
Changeable online: Yes, active after restart
System default: RESTART_BY_SYSVAR_AND_COMMAND
DEFAULT_VALUE (2) Supply substitute value from default value
STOP_DEVICE (3) No substitute value, switch to STOP mode
LAST_VALUE (338) Supply substitute value from last valid value
RESTART_BY_SYSVAR_AND_COMMAND (0) Allow restart via system variable and/or com-mand
RESTART_BY_COMMAND (1) Allow restart only via command
FollowingAxis
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ReverseCamNegative - FollowingAxis
The structure elements of 'ReverseCamNegative' specify the parameters for a negative reversing cam.
_type
Specifies the reversing cam selection.With NONE, a negative reversing cam is not present.With SPECIFIC, the reversing cam is defined by an address and bit number.With HARDWARE_LIMIT_SWITCH, the negative hardware limit switch is used as the reversing cam.
bitNumber
Specifies the bit umber of the negative reversing cam for the selection SPECIFIC.
logAddress
Specifies the address of the negative reversing cam for the selection SPECIFIC.
EnumAxisHomingReverseCamType
Data type: EnumAxisHomingReverseCamType
Changeable online: No
System default: NONE
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 65535
NONE (93) No reversing cam
SPECIFIC (387) Newly defined reversing cam
HARDWARE_LIMIT_SWITCH (388) Hardware limit switch as reversing cam
FollowingAxis
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ReverseCamPositive - FollowingAxis
The structure elements of 'ReverseCamPositive' specify the parameters for a positive reversing cam.
_type
Specifies the reversing cam selection.With NONE, a positive reversing cam is not present.With SPECIFIC, the reversing cam is defined by an address and bit number.With HARDWARE_LIMIT_SWITCH, the positive hardware limit switch is used as the reversing cam.
bitNumber
Specifies the bit number of the positive reversing cam for the selection SPECIFIC.
logAddress
Specifies the address of the positive reversing cam for the selection SPECIFIC.
EnumAxisHomingReverseCamType
Data type: EnumAxisHomingReverseCamType
Changeable online: No
System default: NONE
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 65535
NONE (93) No reversing cam
SPECIFIC (387) Newly defined reversing cam
HARDWARE_LIMIT_SWITCH (388) Hardware limit switch as reversing cam
FollowingAxis
7-477SIMOTION Technology Packages Configuration DataList Manual, 11/2010
SensorControlConfig - FollowingAxis
The tolerance of an encoder error is specified with the structure elements for 'SensorControlConfig'.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
tolerateSensorDefect
Specifies whether a failure of an encoder not involved in the closed-loop control should be tolerated.With 'NO', a failure is not tolerated.With 'YES', a failure is tolerated.
EnumYesNo
SensorNist - FollowingAxis
The structure elements of 'SensorNist' specify the parameters for the actual speed value from the I/O area.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
logAddress
Specifies the address of the actual speed value in the I/O area.
referenceValue
Specifies the reference time for the interval measurement.
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
Data type: UDINT
Changeable online: No
System default: 65535
Data type: LREAL
Changeable online: Yes, active after restart
System default: 3000.0
FollowingAxis
7-478 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
SensorSetActualValue - FollowingAxis
The structure elements of 'SensorSetActualValue' specify the parameters for actual value read-in via system variable.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
maxFailures
Specifies the number of permissible failures with reference to the update cycle.
updateCycle
Specifies the actual value update cycle via system variable.
EnumAxisUpdateCycle
Data type: UDINT
Changeable online: Yes, active immediately
System default: 1
Data type: EnumAxisUpdateCycle
Changeable online: Yes, active after restart
System default: IPO
IPO (0) IPO
IPO_2 (1) IPO_2
SERVO (2) Servo
IPO_FAST (3) IPO_fast
SERVO_FAST (4) Servo_fast
FollowingAxis
7-479SIMOTION Technology Packages Configuration DataList Manual, 11/2010
SetPointDriverInfo - FollowingAxis
The structure elements of 'SetPointDriverInfo' specify the driver information for the drive interface.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
actorType
Specifies the type of drive.With NO_TYPE, there is no interface specification.With 'ANALOG', the interface is configured for analog drives.With 'STEPMOTOR', the interface is configured for stepper motors.
interfaceAllocation
Selects the interface behavior.With EXCLUSIVE, the driver can only be used on this technology object.With NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED, the driver can be used on this or any other technology object. The driver is deactivated on the technology object after system startup.With NON_EXCLUSIVE_AND_STARTUP_ACTIVATED, the driver can be used on this or any other technology object. The driver is activated on the technology object after system startup.
lifeSignCheck
Specifies the activation status of life sign monitoring.With NO, the sign of life monitoring is not activated.With YES, the sign of life monitoring is activated.
logAddressIn
Specifies the logical address for the input data area.
Data type: EnumAxisDioActorType
Changeable online: No
System default: NO_TYPE
Data type: EnumAxisActuatorInterfaceAllocationConfig
Changeable online: No
System default: EXCLUSIVE
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: UDINT
Changeable online: No
System default: 65535
FollowingAxis
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logAddressOut
Specifies the logical address for the output data area.
maxSetPointVoltage
Specifies the standard voltage with which the analog drive reaches its rated speed.
mode
Specifies the type of drive interface.With SIMULATION, actuator and encoder are short-circuited via a delay element.With ONBOARD, the ONBOARD interfaces are used.With DPMASTER, the drive coupling is performed via PROFIBUS DP..
motorType
Specifies the motor type.With STANDARD_MOTORTYPE, operation with a standard motor is configured.With LINEAR_MOTORTYPE, operation with a linear motor is configured.
outputNumberOnDevice
Not used
Data type: UDINT
Changeable online: No
System default: 65535
Data type: LREAL
Changeable online: Yes, active after restart
System default: 10.0 V
Data type: EnumAxisDriverMode
Changeable online: No
System default: SIMULATION
Data type: EnumAxisMotorType
Changeable online: No
System default: STANDARD_MOTORTYPE
Data type: UDINT
Changeable online: No
System default: 0
FollowingAxis
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telegramType
Specifies the PROFIBUS message frame type.With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set up.With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set up.With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one encoder) is set up.With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with two encoders) is set up.With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives with one encoder and DSC) is set up.With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled drives with two encoders and DSC) is set up.
The message frames DP_TEL81_STANDARD (81) to DP_TEL83_STANDARD (83) are not relevant for DriveAxis.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7 for velocity-controlled drives without encoders is set up.With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for velocity-controlled drives with one encoder is set up.With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for velocity-controlled drives with two encoders is set up.With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for velocity-controlled drives with one encoder and DSC is set up.With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for velocity-controlled drives with two encoders and DSC is set up.
The message frames DP_TEL125_SIEM_DSC_1_ENCODER_SPLINE (125) and DP_TEL126_SIEM_DSC_2_ENCODER_SPLINE (126) are not supported for he SIMOTION Version V4.2.
EnumAxisDioActorType
EnumAxisActuatorInterfaceAllocationConfig
EnumYesNo
Data type: EnumAxisTelegramType
Changeable online: No
System default: DP_TEL102_611U_POSCTRL_1_ENCODER
NO_TYPE (0) No type
ANALOG (1) Analog
STEPMOTOR (2) Step mode
EXCLUSIVE (939) Technology object (TO) exclusive
NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED (940)
TO non-exclusive and deactivated
NON_EXCLUSIVE_AND_STARTUP_ACTIVATED (941)
TO non-exclusive and active
NO (91) No
YES (173) Yes
FollowingAxis
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EnumAxisDriverMode
EnumAxisMotorType
EnumAxisTelegramType
Associated parameters (maximum):
SIMULATION (0) Simulation
ONBOARD (1) Onboard
DPMASTER (2) DP Master
STANDARD_MOTORTYPE (0) Standard motor
LINEAR_MOTORTYPE (1) Linear motor
NO_TELEGRAM (0) No message frame
DP_TEL1_STANDARD (1) Standard message frame 1, PZD-2/2
DP_TEL2_STANDARD (2) Standard message frame 2, PZD-4/4
DP_TEL3_STANDARD (3) Standard message frame 3, PZD-5/9
DP_TEL4_STANDARD (4) Standard message frame 4, PZD-6/14
DP_TEL5_STANDARD (5) Standard message frame 5, PZD-9/9
DP_TEL6_STANDARD (6) Standard message frame 6, PZD-10/14
DP_TEL81_STANDARD (81) Standard message frame 81, PZD-2/6
DP_TEL83_STANDARD (83) Standard message frame 83, PZD-2/8
DP_TEL101_611U_VELCTRL_NO_ENCODER (101)
SIEMENS message frame 101, PZD-6/7
DP_TEL102_611U_POSCTRL_1_ENCODER (102)
SIEMENS message frame 102, PZD-6/10
DP_TEL103_611U_POSCTRL_2_ENCODER (103)
SIEMENS message frame 103, PZD-7/15
DP_TEL105_611U_DSC_1_ENCODER (105) SIEMENS message frame 105, PZD-10/10
DP_TEL106_611U_DSC_2_ENCODER (106) SIEMENS message frame 106/107, PZD-11/15
DriveData(DriveData)
Drive characteristics for standard motors
InvertSetPoint(InvertSetPoint)
Direction of rotation adaptation
LinearMotorDriveData(LinearMotorDriveData)
Drive characteristics for linear motors
LinearStepMotorDriveData(LinearStepMotorDriveDataType)
Drive characteristics for stepper motors
StepMotorDriveData(StepMotorDriveDataType)
Drive characteristics for stepper motors
FollowingAxis
7-483SIMOTION Technology Packages Configuration DataList Manual, 11/2010
SimulationInfo - FollowingAxis
The structure elements of 'SimulationInfo' are used to set a process interface. Simulation mode is not available at present.
simulationMode
Simulation mode activation.With 'Simulation mode = NO', process connection is set.'Simulation mode = YES' is not available.
EnumYesNo
Slippage - FollowingAxis
Not functional.
slippageLimit
Data type: EnumYesNo
Changeable online: No
System default: NO
NO (91) No
YES (173) Yes
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1000 mm
FollowingAxis
7-484 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
SmoothingFilter - FollowingAxis
The structure elements for 'SmoothingFilter' specify actual velocity filtering. The filtered actual velocity is displayed in 'motionStateData.actualVelocity'.'timeConstant':- Time constant for PT1 smoothing.- Time constant for averaging.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies filter functionality.With NO, the filter functionality is deactivated.With YES, the filter functionality is activated.
mode
Specifies criterion for actual value smoothing.With 'DEFAULT_MODE', the ratio of interpolator cycle clock to position servo cycle clock is used.With 'AVERAGING', an average over time is used.With 'PT1', a filter set via 'timeConstant' is used.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
EnumAxisFilterMode
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumAxisFilterMode
Changeable online: Yes, active after restart
System default: DEFAULT_MODE
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
DEFAULT_MODE (0) No filter
AVERAGING (1) Form mean value
PT1 (2) PT1 filter
FollowingAxis
7-485SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StandStillMonitoring - FollowingAxis
The structure elements of 'StandStillMonitoring' specify zero speed monitoring.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
delayTimeToActivate
Specifies the delay between the time at which the monitoring window is reached and activation of the message.
stillStandTolerance
Specifies the maximum position tolerance at standstill.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm
FollowingAxis
7-486 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StandStillSignal - FollowingAxis
The structure elements of 'StandStillSignal' specify the parameters for the velocity-dependent stand-still signal.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
delayTimeToActivate
Specifies the delay time to activation of the velocity-dependent standstill signal.
filterDegree
Specifies the filter degree.
filterFrequency
Specifies the filter frequency.
maxVeloStandStill
Specifies the velocity limit below which the velocity-dependent standstill signal is active.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: UINT
Changeable online: Yes, active immediately
System default: 0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 Hz
Data type: LREAL
Changeable online: Yes, active immediately
System default: 50.0 mm/min
FollowingAxis
7-487SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StateDriveExternalZeroMark - FollowingAxis
The structure elements of 'StateDriveExternalZeroMark' specify the parameters for the status of an external zero mark for a digital drive.
available
Specifies that the external zero mark status for a digital drive is available.
bitNumber
Specifies the bit number of the external zero mark for a digital drive.
logAddress
Specifies the address of the external zero mark for a digital drive.
EnumYesNo
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 65535
NO (91) No
YES (173) Yes
FollowingAxis
7-488 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StepMotorDriveDataType - FollowingAxis
The structure elements of 'StepMotorDriveData' specify key drive values for stepper motors.
maxFrequency
Specifies the maximum frequency for motor steps.
stepMotorResolution
Specifies the number of motor steps per revolution.
Data type: LREAL
Changeable online: No
System default: 50000.0 Hz
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1000
FollowingAxis
7-489SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StepMotorMonitoringType - FollowingAxis
The structure elements belonging to 'StepMotorMonitoring' are used to set the rotation monitoring for step motor operation.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
beroCycleDistance
Specifies the maximum allowed deviation of motor steps per revolution.
beroCycleTolerance
Specifies a tolerance range around beroCycleDistance.
enable
Specifies the activation status of the step motor monitoring.
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2048
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2048
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
FollowingAxis
7-490 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisActualValueUpdateCounter - FollowingAxis
The structure elements of 'UpdateCounter' are used to set the parameters for evaluation of the actual value update.
bitNumber
Specifies the first bit number of the update counter.
enableCounter
Specifies whether the actual value update is evaluated.With NO, the actual value update is not evaluated.With YES, the actual value update is evaluated.
logAddress
Specifies the logical address of the update counter.
maxFailure
Specifies the number of permissible value failures before an error is output.
quantityOfBits
Specifies the number of bits in the update counter.
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
FollowingAxis
7-491SIMOTION Technology Packages Configuration DataList Manual, 11/2010
updateCycle
Specifies the ratio of the actual value update.
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
NO (91) No
YES (173) Yes
FollowingAxis
7-492 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisAdditionalOffset - FollowingAxis
The structure elements belonging to 'AdditionalOffset' are used to set the offset application for traver-sal of the axis with motion/force control.The offset is applied during traversal of the axis with motion control related to the velocity setpoint.For force/pressure specification, the offset application is based on the actual velocity value.
enable
Specifies the activation status of the offset application.With NO, the offset application is not activated.With YES , the offset application is activated.
forceControlLowerLimit
Specifies the activation threshold for 'offsetForceControlPositive/Negative'.The offset acts when the 'forceControlLowerLimit' value has been exceeded.
offsetForceControlNegative
Specifies the offset for traversal with force specification and negative direction of movement.
offsetForceControlPositive
Specifies the offset for traversal with force control and positive direction of movement.
offsetMotionControlNegative
Specifies the offset for traversal with motion control and negative direction of movement.
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm/s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm/s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm/s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm/s
FollowingAxis
7-493SIMOTION Technology Packages Configuration DataList Manual, 11/2010
offsetMotionControlPositive
Specifies the offset for traversal with motion control and positive direction of movement.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm/s
NO (91) No
YES (173) Yes
FollowingAxis
7-494 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisAnalogSensorErrorStateMonitoring - FollowingAxis
The structure elements of 'ErrorStateMonitoring' are used to set the parameters for evaluation of the error bit.
bitNumber
Specifies the bit number of the error bit.
bitSemantics
Specifies the evaluation of the error bit.With TRUE, the error bit is evaluated as 1.With FALSE, the error bit is evaluated as 0.
enable
Specifies whether the error bit monitoring is performed.With NO, the logical address is not used.With YES, the logical address is used.
logAddress
Specifies the logical address of the error bit.
EnumTrueFalse
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: EnumTrueFalse
Changeable online: Yes, active after restart
System default: _TRUE
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
_TRUE (405) true
_FALSE (406) false
NO (91) No
YES (173) Yes
FollowingAxis
7-495SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisAnalogSensorReadyStateMonitoring - FollowingAxis
The structure elements of 'ReadyStateMonitoring' are used to set the parameters for evaluation of the ready bit.
bitNumber
Specifies the bit number of the ready bit.
bitSemantics
Specifies the evaluation of the ready bit.With TRUE, the ready bit is evaluated as 1.With FALSE, the ready bit is evaluated as 0.
enable
Specifies whether the ready bit monitoring is performed.With NO, the logical address is not used.With YES, the logical address is used.
logAddress
Specifies the logical address of the ready bit.
EnumTrueFalse
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: EnumTrueFalse
Changeable online: Yes, active after restart
System default: _TRUE
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
_TRUE (405) true
_FALSE (406) false
NO (91) No
YES (173) Yes
FollowingAxis
7-496 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisDriveControlConfig - FollowingAxis
Settings for the drive are specified with the 'DriveControlConfig' configuration data.
dataAdaption
The 'dataAdaption' configuration data activates the adaptation of the drive data.With 'YES', is the adaptation active.With 'NO', is the adaptation deactivated.
pulsesEnabledEvaluation
The 'PulsesEnabledEvaluation' configuration data describes the behavior of the axis for a drive-inde-pendent stop response.With 'YES', the Pulses-Enabled bit is always processed.With 'COMPATIBILITY_MODE', the Pulses-Enabled bit is only processed for selected safety data block.
releaseDisableMode
The behavior of the drive during the RELEASE_DISABLE error response is specified with the 'release-DisableMode' configuration data.
Specifies the values of bits 0 - 6 to be reset in the PROFIDrive protocol.The bits are negated by the system and ANDed with the existing control word. The specified bits are reset.
Meaning of the bits in the PROFIdrive protocol:Bit0 - ONBit1 - No Coast StopBit2 - No Quick StopBit3 - Enable OperationBit4 - Enable Ramp GeneratorBit5 - Unfreeze Ramp GeneratorBit6 - Enable Setpoint
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumAxisPulsesEnabledEvaluation
Changeable online: Yes, active after restart
System default: COMPATIBILITY_MODE
Data type: UDINT
Changeable online: Yes, active immediately
System default: 127
NO (91) No
YES (173) Yes
FollowingAxis
7-497SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumAxisPulsesEnabledEvaluation
Associated parameters (maximum):
YES (173) Pulses-Enabled bit is always processed
COMPATIBILITY_MODE (959) The Pulses-Enabled bit is only processed for selected safety data block
pulsesEnabled(StructAxisPulsesEnabledConfig)
Position of PulsesEnabled bit
FollowingAxis
7-498 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - FollowingAxis
Specifies the logical address for the communication with the drive.
logAddress
Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data in the cyclic message frame from the drive.
Data type: UDINT
Changeable online: No
System default: 65535
FollowingAxis
7-499SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisFilterForceControlConfig - FollowingAxis
The filter at the output of the force controller is configured with the structure element 'FilterForceCon-trol'.
T1
Specifies the T1 time constant of the PT2 filter.
T2
Specifies the T2 time constant of the PT2 filter.
_type
With 'PT2', a PT2 filter is selected.
enable
This data element activates the filter
EnumForceControllerFilterType
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
Data type: EnumForceControllerFilterType
Changeable online: Yes, active after restart
System default: PT2
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
PT2 (909) PT2
NO (91) No
YES (173) Yes
FollowingAxis
7-500 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisInvertFOutput - FollowingAxis
The structure element for 'InvertF' specifies the inversion of the F-output value in front of the charac-teristic.
invSetPoint
Specifies the activation status.With 'NO', the F output value in front of the characteristic curve (logical manipulated variable) is output unchanged.With 'YES', the F output value in front of the characteristic curve (logical manipulated variable) is out-put inverted.
EnumYesNo
StructAxisInvertQOutput - FollowingAxis
The structure element for 'InvertQ' specifies the inversion of the Q-output value in front of the charac-teristic.
invSetPoint
Specifies the activation status.With 'NO', the Q output value in front of the characteristic curve (logical manipulated variable) is output unchanged.With 'YES', the Q output value in front of the characteristic curve (logical manipulated variable) is out-put inverted.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
FollowingAxis
7-501SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisNistDriverConfig - FollowingAxis
The parameters for the actual speed value hardware are specified with the structure elements for 'NistDriverConfig' .
logAddress
Specifies the logical address for the actual speed value.
Data type: UDINT
Changeable online: No
System default: 65535
FollowingAxis
7-502 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisOperatingDataInInfo - FollowingAxis
Specifies the configuration of the operating character data block.
enableActivePower
Specifies the activation of the effective power display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableActualCurrent
Specifies the activation of the actual current value display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableActualTorqueOrForce
Specifies the activation of the torque / force actual value display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableMotorTemperature
Specifies the activation of the motor temperature display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableTorqueOrForceUtilization
Specifies the activation of the torque utilization display.With 'NO', the display is not activated.With 'YES', the display is activated.
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
FollowingAxis
7-503SIMOTION Technology Packages Configuration DataList Manual, 11/2010
logAddress
Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data in the cyclic message frame from the drive.
EnumYesNo
Data type: UDINT
Changeable online: No
System default: 65535
NO (91) No
YES (173) Yes
FollowingAxis
7-504 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisPulsesEnabledConfig - FollowingAxis
The bit position for pulsesEnable is defined with the configuration data in 'StructAxisPulsesEnabled-Config'.
bitNumber
Specifies the bit number for pulse enable.
pzdNumber
Specifies the PZD number for pulse enable.
StructAxisServoMonitoringConfig - FollowingAxis
The structure elements for 'ServoMonitoring' are used to set the activation status of the control loop monitoring for activated limitation by the Q/P valve.
motionMonitoringWhenExternalForceLimiting
Activation of the control loop monitoring with an active pressure limiting command.With 'YES', the monitoring is active.With 'NO', the monitoring is not active.
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 13
Data type: UDINT
Changeable online: Yes, active after restart
System default: 5
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
FollowingAxis
7-505SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisSetpointFilter - FollowingAxis
The 'setpointFilter' structure element is used to configure a PT1 filter in the manipulated variable branch.
T1
Specifies the T1 time constant of the PT1 filter.
enable
This data element activates the filter
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
FollowingAxis
7-506 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisSlidingFriction - FollowingAxis
The structure elements of 'Sliding Friction' specify sliding friction compensation.
enable
Specifies the activation status of friction torque compensation.With 'NO', the sliding friction compensation is not activated.With 'YES', the sliding friction compensation is activated.
factorForceControl
Factor for the sliding friction compensation relative to the actual velocity whentraversing via force/pressure control.
factorMotionControl
Factor for the sliding friction compensation relative to the setpoint velocity whentraversing via motion control.
maxSlidingFrictionForceControl
Specifies the upper limit for the sliding friction component for pressure control.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
NO (91) No
YES (173) Yes
FollowingAxis
7-507SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisSpeedLimitation - FollowingAxis
Parameters for asymmetric manipulated variable limitation. This function is also referred to as a back-stop.
enable
Specifies the activation status of the velocity range limit..With 'NO', the velocity limit is not activated.With 'YES', the velocity limit is activated.
maxSpeed
Specifies the upper limit for the manipulated variable range.
minSpeed
Specifies the lower limit for the manipulated variable range.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 1/min
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 1/min
NO (91) No
YES (173) Yes
FollowingAxis
7-508 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisSwLimitConfig - FollowingAxis
The structure elements for 'SwLimit' are used to parameterize the efficiency and the approach func-tionality of the software limit switch.
modeSpecificMonitoring
Specifies the approach behavior at the software limit switch.
monitoringAtMotionStart
Specifies whether a restriction to the software limit switch should take place at the motion start.With a 'YES' setting, a check is performed at the beginning of the motion initiated by the command to determine whether a software limit switch is crossed, and then the target position is adapted to the software limit switch.With a 'NO' setting, a check is not performed at the motion start.
relieveWindow
Tolerance window for the retraction from/via the software limit switch.
EnumAxisSwLimitModeSpecificMonitoring
EnumYesNo
Data type: EnumAxisSwLimitModeSpecificMonitoring
Changeable online: Yes, active after restart
System default: IN_CLOSED_LOOP_POSITION_CONTROL
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
IN_CLOSED_LOOP_POSITION_CONTROL (0)
Stop on the software limit switch only during position-controlled traversing
IN_ALL_CONTROL_MODES (1) Stop on the software limit switch in all operating modes with mandatory switchover to position control
NO (91) No
YES (173) Yes
FollowingAxis
7-509SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisSystemDeadTimeData - FollowingAxis
The structure elements belonging to 'SystemDeadTimeData' allow the correction of system-related dead times.
additionalTime
Correction value for system-related dead times.
StructAxisTechnologicalData - FollowingAxis
The structure elements belonging to TechnologicalData are used to specify addresses for additional data exchange between drive and control unit.
driveSafetyExtendedFunctionsEnabled
Specifies the activation status of the SINAMICS Safety Integrated Extended Functions data.With 'NO', the data are not activated.With 'YES', the data are activated.
enable
Specifies the activation status of the technological data.With 'NO', the technology data are not activated.With 'YES', the technology data are activated.
EnumYesNo
Associated parameters (maximum):
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 s
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
NO (91) No
YES (173) Yes
DriveSafetyExtendedFunctionsInfoDataIn(StructAxisDriveSafetyExtendedFunctionsInfo-DataIn)
Drive interface for SINAMICS Safety Integrated Extended Functions data
OperatingDataInInfo(StructAxisOperatingDataInInfo)
Drive interface for operating characteristics
TechnologicalDataInInfo(StructAxisTechnologicalDataInInfo)
Drive interface for specific actual values
TechnologicalDataOutInfo(StructAxisTechnologicalDataOutInfo)
Drive interface for specific setpoints
FollowingAxis
7-510 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisTechnologicalDataInInfo - FollowingAxis
Specifies the logical address for the communication with the drive.
logAddress
Specifies the logical address for the transfer of specific parameters in the cyclical message frame from the drive.
StructAxisTechnologicalDataOutInfo - FollowingAxis
Specifies the logical address for the communication with the drive.
logAddress
Specifies the logical address for the transfer of specific parameters in the cyclical message frame to the drive.
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: No
System default: 65535
FollowingAxis
7-511SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructCommandValueQuantization - FollowingAxis
The structure elements of 'CommandValueQuantization' are used to set the quantization filter.
enable
Specifies the activation status of the quantization filter.With 'NO', the quantization filter is not activated.With 'YES', the quantization filter is activated.
mode
Specifies the quantization mode.With 'REFER_TO_ACTUAL_SENSOR_VALUE_RESOLUTION', the resolution of the current encoder is the base value for quantization.With 'DIRECT', the value specified in 'value' is the base value for quantization.
value
Specifies the manipulated variable quantization.
EnumYesNo
EnumCommandValueQuantizationMode
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumCommandValueQuantizationMode
Changeable online: No
System default: REFER_TO_ACTUAL_SENSOR_VALUE_RESOLUTION
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0e-12 mm
NO (91) No
YES (173) Yes
DIRECT (40) Quantization to input value
REFER_TO_ACTUAL_SENSOR_VALUE_RESOLUTION (936)
Quantization to current sensor
FollowingAxis
7-512 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructControllerOutput - FollowingAxis
Configures the controller for a hydraulic axis.
outputType
Type of output interface.With 'DIRECT_OUTPUT', the output takes place via the analog interface.With 'DRIVE_INTERFACE', the output takes place via the onboard interface or via PROFIdrive.
EnumAxisControllerOutput
Associated parameters (maximum):
Data type: EnumAxisControllerOutput
Changeable online: No
System default: DIRECT_OUTPUT
DIRECT_OUTPUT (1) Analog interface
DRIVE_INTERFACE (2) Onboard interface or PROFIdrive
DirectOutputDriverInfo(StructDirectOutputDriverInfo)
Parameters of the analog driver
DriveInterfaceDriverInfo(StructDriveInterfaceDriverInfo)
Parameters of the driver for the drive interface
EnableBit(StructEnableBit)
Enable bit
InvertF(StructAxisInvertFOutput)
Inversion of the F-output in front of the characte-ristic curve
InvertFOutput(InvertSetPoint)
Inversion of the F-output behind the characteris-tic curve
FollowingAxis
7-513SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructDirectOutputDriverInfo - FollowingAxis
The structure elements of 'DirectOutputDriverInfo' are used to configure the controller for a hydraulic axis.
format
Specifies the format of the actual value.
logAddress
Specifies the address.
maxOutputVoltage
Not used
resolution
Specifies the number of relevant bits.
EnumActualValueFormat
Data type: EnumActualValueFormat
Changeable online: Yes, active after restart
System default: VALUE_LEFT_MARGIN
Data type: UDINT
Changeable online: No
System default: 65535
Data type: LREAL
Changeable online: Yes, active after restart
System default: 10.0 V
Data type: UDINT
Changeable online: Yes, active after restart
System default: 15
VALUE_RIGHT_MARGIN (0) Right-justified
VALUE_LEFT_MARGIN (1) Left-justified
VALUE_LEFT_MARGIN_WITHOUT_SIGN (2) Left-justified without sign
VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3) Right-justified without sign
FollowingAxis
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StructDriveInterfaceDriverInfo - FollowingAxis
The structure elements of 'DriveInterfaceDriverInfo' are used to configure the controller for a hydraulic axis.
actorType
Specifies the type of drive.With NO_TYPE, there is no interface specification.With ANALOG, the interface is configured for analog drives.With STEPMOTOR, the interface is configured for stepper motors.
lifeSignCheck
Specifies the activation status of life sign monitoring.With 'NO', the sign of life monitoring is not activated.With 'YES', the sign of life monitoring is activated.
logAddressIn
Specifies the logical address for the input data area.
logAddressOut
Specifies the logical address for the output data area.
maxOutputVoltage
Specifies the standard voltage on which the analog drive reaches its maximum speed.
Data type: EnumAxisDioActorType
Changeable online: No
System default: NO_TYPE
Data type: EnumYesNo
Changeable online: No
System default: YES
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: No
System default: 65535
Data type: LREAL
Changeable online: No
System default: 10.0 V
FollowingAxis
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mode
Specifies the type of drive interface.With 'ONBOARD', an onboard analog interface is used.With 'DPMASTER', an onboard PROFIBUS DP interface is used.With 'SIMULATION', a drive interface is simulated.
outputNumberOnDevice
Reserved
telegramType
Specifies the PROFIBUS message frame type.With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set up.With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set up.With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one encoder) is set up.With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with two encoders) is set up.With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives with one encoder and DSC) is set up.With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled drives with two encoders and DSC) is set up.With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7 for velocity-controlled drives without encoders is set up.With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for velocity-controlled drives with one encoder is set up.With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for velocity-controlled drives with two encoders is set up.With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for velocity-controlled drives with one encoder and DSC is set up.With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for velocity-controlled drives with two encoders and DSC is set up.
EnumAxisDioActorType
Data type: EnumAxisDriverMode
Changeable online: No
System default: SIMULATION
Data type: DINT
Changeable online: No
System default: 0
Data type: EnumAxisTelegramType
Changeable online: No
System default: DP_TEL102_611U_POSCTRL_1_ENCODER
NO_TYPE (0) No type
ANALOG (1) Analog
STEPMOTOR (2) Step mode
FollowingAxis
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EnumYesNo
EnumAxisDriverMode
EnumAxisTelegramType
NO (91) No
YES (173) Yes
SIMULATION (0) Simulation
ONBOARD (1) Onboard
DPMASTER (2) DP Master
NO_TELEGRAM (0) No message frame
DP_TEL1_STANDARD (1) Standard message frame 1, PZD-2/2
DP_TEL2_STANDARD (2) Standard message frame 2, PZD-4/4
DP_TEL3_STANDARD (3) Standard message frame 3, PZD-5/9
DP_TEL4_STANDARD (4) Standard message frame 4, PZD-6/14
DP_TEL5_STANDARD (5) Standard message frame 5, PZD-9/9
DP_TEL6_STANDARD (6) Standard message frame 6, PZD-10/14
DP_TEL81_STANDARD (81) Standard message frame 81, PZD-2/6
DP_TEL83_STANDARD (83) Standard message frame 83, PZD-2/8
DP_TEL101_611U_VELCTRL_NO_ENCODER (101)
SIEMENS message frame 101, PZD-6/7
DP_TEL102_611U_POSCTRL_1_ENCODER (102)
SIEMENS message frame 102, PZD-6/10
DP_TEL103_611U_POSCTRL_2_ENCODER (103)
SIEMENS message frame 103, PZD-7/15
DP_TEL105_611U_DSC_1_ENCODER (105) SIEMENS message frame 105, PZD-10/10
DP_TEL106_611U_DSC_2_ENCODER (106) SIEMENS message frame 106/107, PZD-11/15
FollowingAxis
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StructDriverInfoDirectIncremental - FollowingAxis
The parameters for the direct incremental encoder hardware are specified with the structure elements for 'DriverInfoDirectIncremental' .
logAddress
Specifies the logical address of the communication module.
resolution
Specifies the number of bits of the incremental encoder.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
Data type: UDINT
Changeable online: Yes, active after restart
System default: 16
FollowingAxis
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StructEnableBit - FollowingAxis
The structure elements for 'EnableBit' can be used to configure an output bit for indicating the enables.
bitNumberOnDevice
Specifies the I/O bit number within the I/O byte specified by the logical address.
enable
Specifies whether the output cam result is output.With 'NO', the output bit is not used to display the enables.With 'YES', the output bit is used to display the enables.
logAddress
Specifies the address.
EnumYesNo
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: UDINT
Changeable online: No
System default: 65535
NO (91) No
YES (173) Yes
FollowingAxis
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StructExtrapolation - FollowingAxis
The structure elements belonging to 'Extrapolation' are used to set the extrapolation time on the mas-ter value axis.
extrapolatedVelocitySwitch
Used to select the velocity master value for master value extrapolation.
extrapolationTime
Time specification for extrapolation. With 0.0, there is no extrapolation.
EnumAxisExtrapolatedVelocitySwitch
Associated parameters (maximum):
Data type: EnumAxisExtrapolatedVelocitySwitch
Changeable online: Yes, active immediately
System default: DIFFERENTIATION
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
DIFFERENTIATION (408) Differentiation of extrapolated master value
TRANSFER (409) Transfer of extrapolated velocity
ExtrapolationPositionFilter(ExtrapolationPositionFilterType)
Filter for actual position
Filter(StructExtrapolationFilter)
Filter for actual velocity
ToleranceRange(StructToleranceRange)
Tolerance range
FollowingAxis
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StructExtrapolationFilter - FollowingAxis
The structure elements belonging to 'Filter' are used to set the filter for the actual velocity on the mas-ter value axis.
enable
Specifies filter functionality.With 'NO', the filter functionality is deactivated.With 'YES', the filter functionality is activated.
mode
Specifies criterion for actual value smoothing.With 'DEFAULT_MODE', the actual speed is not smoothed.With 'AVERAGING', an average over time is used.With 'PT1', a filter set via 'timeConstant' is used.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
EnumAxisFilterMode
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumAxisFilterMode
Changeable online: Yes, active after restart
System default: DEFAULT_MODE
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
DEFAULT_MODE (0) No filter
AVERAGING (1) Form mean value
PT1 (2) PT1 filter
FollowingAxis
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StructLogAddressIoBitType - FollowingAxis
The structure elements of 'LogAddress' are used to set the logical address.
bitNumber
Specifies the bit number of the measuring input input.
enable
Specifies whether the indicated logical address should be used.With NO, the logical address is not used.With YES, the logical address is used.
logAddress
Specifies the logical base address of the measuring input input.
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
NO (91) No
YES (173) Yes
FollowingAxis
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StructPaxDynamicQFData - FollowingAxis
The structure elements belonging to 'DynamicQFData' specify the dynamic data of the cascade con-trol system.
positionTimeConstant
Specifies the equivalent time constant of the position control system.
qOutputTimeConstant
Specifies the equivalent time constant of the torque control system.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.00005 s
FollowingAxis
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StructPositionDifferenceMeasurement - FollowingAxis
The 'PositionDifferenceMeasurement' structure element is used to configure the parameters for the differential position measurement.
invert
Specifies whether the sign of the differential value should be inverted.With NO, the sign is not inverted.With YES, the sign is inverted.
numberEncoderA
Specifies the encoder number for detecting the A actual position.
numberEncoderB
Specifies the encoder number for detecting the B actual position.
offset
Specifies an offset for the calculation with the difference value.
EnumYesNo
Associated parameters (maximum):
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
NO (91) No
YES (173) Yes
Filter(Filter)
Differential value smoothing
Range(Range)
Differential value limitation
FollowingAxis
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StructPressureDifferenceMeasurement - FollowingAxis
The structure element 'PressureDifferenceMeasurement' is used to configure the parameters for the differential pressure measurement.
areaA
Specifies the area parameter for pressure sensor A.
areaB
Specifies the area parameter for pressure sensor B.
factor
Specifies a normalization factor for the determined difference value.
invert
Specifies whether the sign of the differential value should be inverted.With NO, the sign is not inverted.With YES, the sign is inverted.
numberSensorA
Specifies the sensor number for detecting the pA pressure.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
FollowingAxis
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numberSensorB
Specifies the sensor number for detecting the pB pressure.
EnumYesNo
Associated parameters (maximum):
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2
NO (91) No
YES (173) Yes
Filter(Filter)
Differential value smoothing
Range(Range)
Differential value limitation
FollowingAxis
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StructSensorDriverInfo - FollowingAxis
The elements of this structure are used to configure the I/O module of the additional encoder.
errorToleranceTime
Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Specifies the logical address of the communication module.
maxValue
Specifies the maximum digitalized measured value for the additional encoder.
minValue
Specifies the minimal digitalized measured value for the additional encoder.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1 s
Data type: EnumActualValueFormat
Changeable online: Yes, active after restart
System default: VALUE_LEFT_MARGIN
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
Data type: DINT
Changeable online: Yes, active immediately
System default: 32511
Data type: DINT
Changeable online: Yes, active immediately
System default: -32512
FollowingAxis
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resolution
Specifies the number of relevant bits for the additional encoder.
EnumActualValueFormat
Data type: UDINT
Changeable online: Yes, active after restart
System default: 15
VALUE_RIGHT_MARGIN (0) Right-justified
VALUE_LEFT_MARGIN (1) Left-justified
VALUE_LEFT_MARGIN_WITHOUT_SIGN (2) Left-justified without sign
VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3) Right-justified without sign
FollowingAxis
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StructToleranceRange - FollowingAxis
The structure elements belonging to 'ToleranceRange' are used to set a tolerance window around the actual position of the master value axis.
enable
Activation of the tolerance range.With 'NO', the tolerance range is deactivated.With 'YES', the tolerance range is activated.
value
Specifies the tolerance window around the actual position value of the master axis.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
NO (91) No
YES (173) Yes
FollowingAxis
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TypeOfAxisInfo - FollowingAxis
The structure elements of 'TypeOfAxis' specify the axis parameters.
typeOfAxis
Specifies the type of axis configured.
With REAL_AXIS, the axis is connected to a real process.
REAL_QFAXIS corresponds to an axis with quantity and force control.
REAL_QFAXIS_WITH_OPEN_LOOP_FORCE_CONTROL corresponds to an axis with open-loop force control by way of a separate force/pressure limitation valve.
REAL_QFAXIS_WITH_CLOSED_LOOP_FORCE_CONTROL corresponds to an axis with closed-loop force/pressure specification via Q-valve.
EnumAxisIdentification
Associated parameters (maximum):
Data type: EnumAxisIdentification
Changeable online: No
System default: REAL_AXIS
REAL_AXIS (0) Real electric axis
VIRTUAL_AXIS (1) Virtual axis
REAL_AXIS_WITH_FORCE_CONTROL (2) Real electric axis with force/pressure control
REAL_QFAXIS (3) Real hydraulic axis (Q-valve)
REAL_QFAXIS_WITH_OPEN_LOOP_FORCE_CONTROL (4)
Real hydraulic axis with force/pressure specifi-cation (Q-valve and P-valve)
REAL_QFAXIS_WITH_CLOSED_LOOP_FORCE_CONTROL (5)
Real hydraulic axis with force/pressure control (Q-valve)
REAL_QFAXIS_WITH_OPEN_LOOP_FORCE_CONTROL_ONLY (6)
Real hydraulic axis with force/pressure specifi-cation (P-valve)
REAL_AXIS_WITH_SIGNAL_OUTPUT (7) Real electric axis with master value output via encoder signal simulation
ActualAccelerationMonitoring(ActualAccelerationMonitoring)
Actual acceleration monitoring
ActualVelocityMonitoring(ActualVelocityMonitoring)
Actual velocity monitoring
AdditionalOffset(StructAxisAdditionalOffset)
Offset injection for axis traversing with motion/force control
CommandValueQuantization(StructCommandValueQuantization)
Quantization filter
ControllerSwitchData(ControllerSwitchData)
Digital inputs for pressure control
DecodingConfig(DecodingConfig)
Command processing
DistributedMotion(DistributedMotionInfo)
Distributed motion control
Drift(Drift)
Drift compensation
FollowingAxis
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DriveControlConfig(StructAxisDriveControlConfig)
Drive-related settings
EmergencyRampGenerator(EmergencyRampGenerator)
Emergency ramp generator
Extrapolation(StructExtrapolation)
Actual value smoothing
FOutput(StructControllerOutput)
Manipulated variable interface for F output
FineInterpolator(FineInterpolator)
Fine interpolator
ForceControlHeldValueMonitoring(ForceControlHeldValueMonitoring)
Force/pressure end value monitoring
ForceControlRunningInWindowMonitoring(ForceControlRunningInWindowMonitoring)
Force/pressure entry monitoring
Friction(Friction)
Friction torque compensation
GearingPosTolerance(GearingPosTolerance)
Monitoring of synchronous operation
HWEndPos(HWEndPos)
Hardware limit switches
Homing(Homing)
Homing
MaxAcceleration(MaxAcceleration)
Maximum acceleration
MaxForceCommandData(MaxForceCommandData)
Limitations for force/pressure setpoint
MaxJerk(MaxJerk)
Maximum jerk
MaxVelocity(MaxVelocity)
Maximum velocity
NeutralBand(NeutralBand)
Neutral band compensation
NumberOfAdditionalSensors(NumberOfAdditionalSensors)
Configured encoder of a force-controlled axis
NumberOfDataSets(NumberOfDataSets)
Data records for the controller configuration
NumberOfEncoders(NumberOfEncoders)
Configured encoder
PathSyncAxisPosTolerance(PathSyncAxisPosTolerance)
Setpoint differential monitoring of synchronous axis
PositionMonitoring(PositionMonitoring)
Position monitoring
QOutput(StructControllerOutput)
Manipulated variable interface for Q output
ServoMonitoring(StructAxisServoMonitoringConfig)
Activate control loop monitoring with active pres-sure limiting command
SetPointDriverInfo(SetPointDriverInfo)
Drive interface
FollowingAxis
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SetpointFilter(StructAxisSetpointFilter)
Manipulated variable filter
SlidingFriction(StructAxisSlidingFriction)
Sliding friction compensation
SmoothingFilter(SmoothingFilter)
Actual value smoothing
SpeedLimitation(StructAxisSpeedLimitation)
Manipulated variable limitation
StandStillMonitoring(StandStillMonitoring)
Standstill monitoring
StandStillSignal(StandStillSignal)
Standstill signal
SwLimit(StructAxisSwLimitConfig)
Software limit switches
SystemDeadTimeData(StructAxisSystemDeadTimeData)
System-dependent dead times
TechnologicalData(StructAxisTechnologicalData)
Drive interface for specific parameters
VelocityPositionProfile(VelocityPositionProfile)
Settings for the v(s) profile
FollowingAxis
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VelocityPositionProfile - FollowingAxis
The structure elements for 'VelocityPositionProfile' set properties in velocity-position profiles.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
endPositionTolerance
Tolerance for profile end detection.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
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FollowingObjectType 8Associated parameters (maximum):
• DecodingConfig (DecodingConfigInfo)• DistributedMotion (DistributedMotionInfo)• Execution (ExecutionConfigInfo)• Restart (RestartInfo)• SyncingMotion (SyncingMotionInfo)
DecodingConfigInfo - FollowingObjectType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
disableSynchronousOperation
With NO, the transmission of master values to the slave axis is suppressed when the enable signals on the slave axis are cancelled.With YES, the transmission of master values is maintained if the enables on the slave axis have been removed during simulation mode of the synchronous object.Any synchronous operation relationships that are present will be retained.
numberOfMaxBufferedCommandId
Specifies the maximum number of command IDs active simultaneously whose status can be reques-ted at the end of the relevant command. A command ID is added to the list with the _bufferFollowingObjectCommandId ST command. It is removed from the list with the _removeBufferedFollowingObjectCommandId ST command.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: DINT
Changeable online: Yes, active after restart
System default: 100
NO (91) No
YES (173) Yes
FollowingObjectType
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DistributedMotionInfo - FollowingObjectType
The structure elements for 'DistributedMotion' set the sign-of-life failure tolerance.
enableLifeSignMonitoring
Specifies life sign monitoring.With 'NO', the sign of life monitoring is deactivated.With 'YES', the sign of life monitoring is activated.
numberOfLifeSignFailures
Specifies the maximum number of life sign failures tolerated.
EnumYesNo
ExecutionConfigInfo - FollowingObjectType
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
NoteFurther information is provided:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Technology Objects Synchronous Operation, Cam Function ManualOnline help
executionlevel
Specifies the task level at which the interpolator task of the technology object is running.With IPO, the task is executed in the fast interpolator cycle clock.With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
NO (91) No
YES (173) Yes
Data type: EnumToExecutionLevel
Changeable online: Yes, active after restart
System default: IPO
IPO (0) IPO
IPO_2 (1) IPO_2
SERVO (2) Servo
IPO_FAST (3) IPO_fast
SERVO_FAST (4) Servo_fast
FollowingObjectType
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RestartInfo - FollowingObjectType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or just by command.
behaviorInvalidSysvarAccess
If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology object is restarted or deactivated.The values stored in the image are supplied when system variables are accessed during the techno-logy object restart or deactivation phase.
restartActivationSetting
With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with system variables and/or by command.With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
EnumToRestartActivationSetting
Data type: EnumToInvalidSysvarAccess
Changeable online: No
System default: LAST_VALUE
Data type: EnumToRestartActivationSetting
Changeable online: Yes, active after restart
System default: RESTART_BY_SYSVAR_AND_COMMAND
DEFAULT_VALUE (2) Supply substitute value from default value
STOP_DEVICE (3) No substitute value, switch to STOP mode
LAST_VALUE (338) Supply substitute value from last valid value
RESTART_BY_SYSVAR_AND_COMMAND (0) Allow restart via system variable and/or com-mand
RESTART_BY_COMMAND (1) Allow restart only via command
FollowingObjectType
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SyncingMotionInfo - FollowingObjectType
The structure elements of 'SyncingMotion' specify the motion synchronization.
approachLeadingValue
Specifies the synchronization type; relevant only if the parameter 'syncProfileReference:=Synchroni-sierart LeadingValue'.
With WITHOUT_DYNAMIC_RESTRICTION, the synchronization process is calculated without consi-deration of the dynamic values.
With WITH_DYNAMIC_RESTRICTION, the synchronization process is calculated with consideration of the dynamic values of the synchronous object.
camReferenceBySlaveModeRelative
The parameter defines the placement position for the slave value in ratio to the camfor relative camming.
With BEGIN_OF_CAM, the slave axis position corresponds to the cam initial value, the value range change within the cam between the cam start point and the programmed cam start point moves during the synchronization of the slave axis.
With SYNCPOSITION_AT_START_OF_CAMMING, the slave axis position corresponds to the pro-grammed cam start value.
The behavior for TRANSFERRED corresponds to SYNCPOSITION_AT_START_OF_CAMMING for the synchronization in standstill, BEGIN_OF_CAM for moving slave axis or moving master value.
directionDynamic
Specifies the acceleration model.With NO, the non-direction-related acceleration model is not used.With YES, the direction-related acceleration model is used.
masterReversionTolerance
Specifies the maximum master value reversal without aborting the synchronization process.
Data type: EnumFollowingObjectSyncMode
Changeable online: Yes, active immediately
System default: WITHOUT_DYNAMIC_RESTRICTION
Data type: EnumCamReferenceBySlaveModeRelative
Changeable online: Yes, active immediately
System default: COMPATIBILITY_MODE
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
FollowingObjectType
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maximumOfMasterChange
Specifies the master change.Percentage for the maximum change of the master velocity, which is to be considered for the synchro-nization process.When a master-axis-related synchronization profile is programmed, the synchronization profile is recalculated when this limit is exceeded.When a time-related synchronization profile with preceding synchronization is programmed, the dyna-mic values are violated when the limit is exceeded.
motionImpact
Specifies the superimposition effect of this synchronous object.
overDriveFactor
Specifies a resonance factor for synchronization with increased dynamic response values.
smoothAbsoluteSynchronization
With YES, the synchronization is carried out according to the programmed velocity profile.
With NO, the synchronization of an absolute synchronous operation relationship is carried out with a trapezoidal velocity profile. The profile settings on the synchronous object and on the synchronous command are inactive.
synchronizingAdaption
With YES, the dynamic response values required for the synchronization are adapted appropriately.With NO, synchronization to the specified dynamic values always takes place.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 20.0 %
Data type: EnumFollowingObjectMotionImpact
Changeable online: No
System default: STANDARD
Data type: LREAL
Changeable online: Yes, active immediately
System default: 100.0 %
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: YES
FollowingObjectType
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velocityMode
Selection of either continuous-velocity or non-continuous velocity transition. Only valid if approach-LeadingValue has the value WITHOUT_DYNAMIC_RESTRICTION'.With CONTINUOUS, the velocity-continuous transition is selected.With NON_CONTINUOUS, the velocity-noncontinuous transition is selected.
EnumFollowingObjectSyncMode
EnumCamReferenceBySlaveModeRelative
EnumYesNo
EnumFollowingObjectMotionImpact
EnumFollowingObjectVelocityMode
Data type: EnumFollowingObjectVelocityMode
Changeable online: Yes, active immediately
System default: CONTINUOUS
WITHOUT_DYNAMIC_RESTRICTION (0) Without dynamic restriction
WITH_DYNAMIC_RESTRICTION (1) With dynamic restriction
COMPATIBILITY_MODE (0) Slave axis position corresponds to the program-med cam start value at standstill, otherwise the cam initial value
BEGIN_OF_CAM (1) Slave axis position corresponds to the program-med cam initial value
POSITION_AT_START_OF_CAMMING (2) Slave axis position corresponds to the cam initial value
NO (91) No
YES (173) Yes
STANDARD (0) No superimposing effect
SUPERIMPOSED_MOTION (1) Superimposing effect
CONTINUOUS (0) Continuous velocity
NON_CONTINUOUS (1) Non-continuous velocity
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CamType 9Associated parameters (maximum):
• DecodingConfig (DecodingConfigInfo)• InterpolationSettings (StructCamInterpolationSettings)• InverseCamRepresentation (InverseCamRepresentationInfo)• Restart (RestartInfo)• Tolerance (ToleranceInfo)
DecodingConfigInfo - CamType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
Note"Further information can be found in the TO Synchronous Operation, Cam Function Manual and in the online help."
numberOfMaxBufferedCommandId
Specifies the maximum number of command IDs active simultaneously whose status can be reques-ted at the end of the relevant command.A command ID is added to the list with the ST command '_bufferCommandId'.Removal from the list takes place with the ST command '_removeBufferedCommandId'.
Data type: DINT
Changeable online: Yes, active after restart
System default: 10
CamType
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InverseCamRepresentationInfo - CamType
Cam inversion
camRepresentation
Inverted representation of cam
followingRangeApproximationLimit
Slave axis iteration limit
leadingRangeApproximationLimit
Master axis iteration limit
maximumIterationLimit
Maximum number of iteration cycles
EnumCamRepresentation
Data type: EnumCamRepresentation
Changeable online: Yes, active after restart
System default: STANDARD
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0e-5
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0e-5
Data type: UDINT
Changeable online: Yes, active after restart
System default: 50
STANDARD (0) Not inverted
STANDARD_AND_INVERSE (1) Inverted
CamType
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RestartInfo - CamType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or just by command.
behaviorInvalidSysvarAccess
If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology object is restarted or deactivated.The values stored in the image are supplied when system variables are accessed during the techno-logy object restart or deactivation phase.
restartActivationSetting
With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with system variables and/or by command.With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
EnumToRestartActivationSetting
Data type: EnumToInvalidSysvarAccess
Changeable online: No
System default: LAST_VALUE
Data type: EnumToRestartActivationSetting
Changeable online: Yes, active after restart
System default: RESTART_BY_SYSVAR_AND_COMMAND
DEFAULT_VALUE (2) Supply substitute value from default value
STOP_DEVICE (3) No substitute value, switch to STOP mode
LAST_VALUE (338) Supply substitute value from last valid value
RESTART_BY_SYSVAR_AND_COMMAND (0) Allow restart via system variable and/or com-mand
RESTART_BY_COMMAND (1) Allow restart only via command
CamType
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StructCamInterpolationSettings - CamType
Interpolation settings
bSplineInterpolation
Type of the B spline interpolation
cSplineInterpolation
Type of the C spline interpolation
dataMode
Construction of the cam from points and/or segments
maximumOfPoints
Maximum number of points for the specification of a points table without segments (data-Mode:=POINTS_ONLY).
EnumCamBSplineInterpolation
EnumCamCSplineInterpolation
EnumCamDataMode
Data type: EnumCamBSplineInterpolation
Changeable online: Yes, active after restart
System default: STANDARD
Data type: EnumCamCSplineInterpolation
Changeable online: Yes, active after restart
System default: STANDARD
Data type: EnumCamDataMode
Changeable online: Yes, active after restart
System default: SEGMENTS_AND_POINTS
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
STANDARD (0) Standard interpolation
WITHOUT_APPROXIMATION (1) Interpolation without approximation
STANDARD (0) Standard interpolation
ADVANCED (1) Interpolation over the complete curve
SEGMENTS_AND_POINTS (0) Cam consists of points and segments
POINTS_ONLY (1) Cam consists of points
SEGMENTS_ONLY (2) Cam consists of segments
CamType
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ToleranceInfo - CamType
Tolerance
equalDistance
Defines when two values are to be treated as equal
zeroEnvironment
Zero definition
Associated parameters (maximum):
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0e-30
IterativeZeroEnvironment(IterativeZeroEnvironment)
CamType
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Part IITP Path
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Contents
Part II TP Path
10 PathObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-551ExecutionConfigInfo - PathObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . 10-551RestartInfo - PathObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-552StructPathArticulatedArm2DConfig - PathObjectType . . . . . . . . . . . . . . 10-553StructPathArticulatedArm2DLinkCompensationConfig - PathObjectType 10-555StructPathArticulatedArmKinematicsConfig - PathObjectType . . . . . . . . 10-556StructPathArticulatedArmLinkCompensationConfig - PathObjectType. . 10-558StructPathCartesianKinematicsConfig - PathObjectType . . . . . . . . . . . . 10-559StructPathDecodingConfigInfo - PathObjectType . . . . . . . . . . . . . . . . . . 10-560StructPathDelta2DKinematicsConfig - PathObjectType . . . . . . . . . . . . . 10-561StructPathDelta3DKinematicsConfig - PathObjectType . . . . . . . . . . . . . 10-563StructPathInterpolationConfigInfo - PathObjectType . . . . . . . . . . . . . . . 10-565StructPathKinematicsConfig - PathObjectType. . . . . . . . . . . . . . . . . . . . 10-566StructPathKinematicsOffsetConfig - PathObjectType . . . . . . . . . . . . . . . 10-567StructPathPickerKinematicsConfig - PathObjectType. . . . . . . . . . . . . . . 10-568StructPathRotaryArmKinematicsConfig - PathObjectType . . . . . . . . . . . 10-569StructPathRotaryArmLinkCompensationA2 - PathObjectType . . . . . . . . 10-570StructPathRotaryArmLinkCompensationA4 - PathObjectType . . . . . . . . 10-571StructPathScaraKinematicsConfig - PathObjectType . . . . . . . . . . . . . . . 10-572StructPathScaraLinkCompensationA2 - PathObjectType . . . . . . . . . . . . 10-573StructPathScaraLinkCompensationA3 - PathObjectType . . . . . . . . . . . . 10-574StructPathScaraLinkCompensationA4 - PathObjectType . . . . . . . . . . . . 10-575StructPathSpecificKinematicsConfig - PathObjectType . . . . . . . . . . . . . 10-576
11 PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-577AbsBackLash - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-577AbsEncoder - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-579AbsHomingEncoder - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-583ActualAccelerationMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . 11-584ActualVelocityMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-585AdaptDrive - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-586AdaptExtern - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-586AdaptLoad - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-587AdditionalSensorDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . 11-588AdditionalSensorMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-590AdditionalSensorNumber - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-591AnalogConversionDataType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . 11-591AnalogSensorType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-592AssemblyBase - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-592ClampingMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-593ControllerDynamic - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-594
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ControllerStruct - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-595ControllerSwitchData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-595ConversionData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-596DataSetMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-597DecodingConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-598DigitalInputMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-602DistributedMotionInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-603Drift - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-604DriveData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-605DriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-607DynamicComp - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-610DynamicData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-611DynamicFollowing - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-612EmergencyRampGenerator - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . 11-614EncoderMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-615EncoderNumber - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-620ExecutionConfigInfo - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-620ExtrapolationPositionFilterType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . 11-621Filter - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-622FineInterpolator - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-623ForceControlHeldValueMonitoring - PathAxis. . . . . . . . . . . . . . . . . . . . . 11-624ForceControlRunningInWindowMonitoring - PathAxis . . . . . . . . . . . . . . 11-624ForceControllerData - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-625ForceControllerDifference - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-627FrequencyLimit - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-627Friction - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-628Gear - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-629GearingPosTolerance - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-630HWEndPos - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-632Homing - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-634IncBackLash - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-636IncEncoder - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-637IncHomingEncoder - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-638IntervalCounterConversionDataType - PathAxis. . . . . . . . . . . . . . . . . . . 11-643InversCountDirection - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-644InvertSetPoint - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-644InvertSetPointHydraulicType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . 11-645LeadScrewInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-645LinearMotorDriveData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-646LinearStepMotorDriveDataType - PathAxis . . . . . . . . . . . . . . . . . . . . . . 11-648MaxAcceleration - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-649MaxForceCommandData - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-650MaxJerk - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-650MaxVelocity - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-651ModuloInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-652NeutralBand - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-653NumberOfAdditionalSensors - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . 11-654NumberOfDataSets - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-655NumberOfDigitalInputs - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-657NumberOfEncoders - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-658OutputLimits - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-659PD_Controller - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-660PID_ControllerForce - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-661
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PID_ControllerPos - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-663PT2PositionFilterType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-665PV_Controller - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-666PathAxisPosTolerance - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-668PathPerRevolution - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-668PathSyncAxisPosTolerance - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . 11-669PositionFilterType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-670PositionMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-671ProcessModel - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-672Range - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-672Resolution - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-673RestartConditionInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-673RestartInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-674ReverseCamNegative - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-675ReverseCamPositive - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-676SensorControlConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-677SensorNist - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-677SensorSetActualValue - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-678SetPointDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-679SimulationInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-683Slippage - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-683SmoothingFilter - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-684StandStillMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-685StandStillSignal - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-686StateDriveExternalZeroMark - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . 11-687StepMotorDriveDataType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-688StepMotorMonitoringType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-689StructAxisActualValueUpdateCounter - PathAxis . . . . . . . . . . . . . . . . . . 11-690StructAxisAdditionalOffset - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-692StructAxisAnalogSensorErrorStateMonitoring - PathAxis . . . . . . . . . . . . 11-694StructAxisAnalogSensorReadyStateMonitoring - PathAxis. . . . . . . . . . . 11-695StructAxisDriveControlConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . 11-696StructAxisDriveSafetyExtendedFunctionsInfoDataIn - PathAxis. . . . . . . 11-698StructAxisFilterForceControlConfig - PathAxis . . . . . . . . . . . . . . . . . . . . 11-699StructAxisInvertFOutput - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-700StructAxisInvertQOutput - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-700StructAxisNistDriverConfig - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . 11-701StructAxisOperatingDataInInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . 11-702StructAxisPulsesEnabledConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . 11-704StructAxisServoMonitoringConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . 11-704StructAxisSetpointFilter - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-705StructAxisSlidingFriction - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-706StructAxisSpeedLimitation - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-707StructAxisSwLimitConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-708StructAxisSystemDeadTimeData - PathAxis. . . . . . . . . . . . . . . . . . . . . . 11-709StructAxisTechnologicalData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . 11-710StructAxisTechnologicalDataInInfo - PathAxis . . . . . . . . . . . . . . . . . . . . 11-711StructAxisTechnologicalDataOutInfo - PathAxis . . . . . . . . . . . . . . . . . . . 11-711StructCommandValueQuantization - PathAxis . . . . . . . . . . . . . . . . . . . . 11-712StructControllerOutput - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-713StructDirectOutputDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . 11-714StructDriveInterfaceDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . 11-715StructDriverInfoDirectIncremental - PathAxis . . . . . . . . . . . . . . . . . . . . . 11-718
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StructEnableBit - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-719StructExtrapolation - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-720StructExtrapolationFilter - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-721StructLogAddressIoBitType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . 11-722StructPaxDynamicQFData - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . 11-723StructPositionDifferenceMeasurement - PathAxis . . . . . . . . . . . . . . . . . 11-724StructPressureDifferenceMeasurement - PathAxis. . . . . . . . . . . . . . . . . 11-725StructSensorDriverInfo - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-727StructToleranceRange - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-729TypeOfAxisInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-730VelocityPositionProfile - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-733
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PathObjectType 10Associated parameters (maximum):
• DecodingConfig (StructPathDecodingConfigInfo)• Execution (ExecutionConfigInfo)• InterpolationConfig (StructPathInterpolationConfigInfo)• Kinematics (StructPathKinematicsConfig)• Restart (RestartInfo)
ExecutionConfigInfo - PathObjectType
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
NoteFurther information is provided:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Technology Objects Synchronous Operation, Cam Function ManualOnline help
executionlevel
Specifies the task level at which the interpolator task of the technology object is running.With IPO, the task is executed in the fast interpolator cycle clock.With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel
Data type: EnumToExecutionLevel
Changeable online: Yes, active after restart
System default: IPO
IPO (0) IPO
IPO_2 (1) IPO_2
SERVO (2) Servo
IPO_FAST (3) IPO_fast
SERVO_FAST (4) Servo_fast
PathObjectType
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RestartInfo - PathObjectType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or just by command.
behaviorInvalidSysvarAccess
If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology object is restarted or deactivated.The values stored in the image are supplied when system variables are accessed during the techno-logy object restart or deactivation phase.
restartActivationSetting
With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with system variables and/or by command.With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
EnumToRestartActivationSetting
Data type: EnumToInvalidSysvarAccess
Changeable online: No
System default: LAST_VALUE
Data type: EnumToRestartActivationSetting
Changeable online: Yes, active after restart
System default: RESTART_BY_SYSVAR_AND_COMMAND
DEFAULT_VALUE (2) Supply substitute value from default value
STOP_DEVICE (3) No substitute value, switch to STOP mode
LAST_VALUE (338) Supply substitute value from last valid value
RESTART_BY_SYSVAR_AND_COMMAND (0) Allow restart via system variable and/or com-mand
RESTART_BY_COMMAND (1) Allow restart only via command
PathObjectType
10-553SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPathArticulatedArm2DConfig - PathObjectType
The structure elements of 'ArticulatedArm2DConfig' specify the parameters for the articulated arm-specific 2D coordinate transformation.
config2D
Defines the programming level.
distanceA1A2
Defines the distance between A1 and A2.The minimum distance between A1 and A2 that can be set depends on the available length resolution on the path object!
distanceA2Endpoint
Defines the distance between A2 and AP.The minimum distance between A2 and end point that can be set depends on the available length resolution on the path object!
offsetA1
Defines the angular offset at rotary joint A1.
Data type: EnumPathKinematicsConfig2D
Changeable online: Yes, active after restart
System default: X_Y
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0 mm
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0 mm
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
PathObjectType
10-554 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
offsetA2
Defines the angular offset at rotary joint A2.
EnumPathKinematicsConfig2D
Associated parameters (maximum):
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
X_Y (0) xy plane
Y_Z (1) yz plane
Z_X (2) zx plane
BasicOffset(StructPathKinematicsOffsetConfig)
Path zero offset to axis zero
LinkCompensation(StructPathArticulatedArm2DLinkCompensationConfig)
Compensation of link dependencies
PathObjectType
10-555SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPathArticulatedArm2DLinkCompensationConfig - PathObjectType
The structure elements of 'LinkCompensation' specify the parameters for compensation of link depen-dencies.
enableA1A2
Specifies whether compensation of link dependencies should occur between A1 and A2.
factorA1A2
When compensation is activated between A1 and A2, the product of A1 and factor A1A2 is added to angle A2.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
NO (91) No
YES (173) Yes
PathObjectType
10-556 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPathArticulatedArmKinematicsConfig - PathObjectType
The structure elements of 'ArticulatedArmKinematics' specify the parameters for the articulated arm-specific coordinate transformation.
distanceA1A2
Defines the distance between A1 and A2.
distanceA2A3
Defines the distance between A2 and A3.The minimum distance between A2 and A3 that can be set depends on the available length resolution on the path object!
distanceA3Endpoint
Defines the distance between A3 and EP.The minimum distance between A3 and end point that can be set depends on the available length resolution on the path object!
offsetA1
Defines the angular offset at rotary joint A1.
offsetA2
Defines the angular offset at rotary joint A2.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0 mm
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0 mm
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0 mm
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
PathObjectType
10-557SIMOTION Technology Packages Configuration DataList Manual, 11/2010
offsetA3
Defines the angular offset at rotary joint A3.
Associated parameters (maximum):
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
BasicOffset(StructPathKinematicsOffsetConfig)
Path zero offset to axis zero
LinkCompensation(StructPathArticulatedArmLinkCompensati-onConfig)
Compensation of link dependencies
PathObjectType
10-558 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPathArticulatedArmLinkCompensationConfig - PathObjectType
The structure elements of 'LinkCompensation' specify the parameters for compensation of link depen-dencies.
enableA2A3
Specifies whether compensation of link dependencies should occur between A2 and A3.
factorA2A3
When compensation is activated between A2 and A3, the product of A2 and factor A2A3 is added to angle A3.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
NO (91) No
YES (173) Yes
PathObjectType
10-559SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPathCartesianKinematicsConfig - PathObjectType
The structure elements of 'CartesianKinematics' specify the parameters for the Cartesian coordinate transformation.
cartesianKinematicsType
Defines whether the transformation operates in the plane or in space. With _2D, the transformation takes place with the first two interconnected axes in the plane. With _3D, the transformation takes place with the first three interconnected axes in space.
config2D
Defines the programming plane for two path axes.Only relevant for 'cartesianKinematicsType:=_2D'.
EnumPathCartesianKinematicsType
EnumPathKinematicsConfig2D
Associated parameters (maximum):
Data type: EnumPathCartesianKinematicsType
Changeable online: Yes, active after restart
System default: _2D
Data type: EnumPathKinematicsConfig2D
Changeable online: Yes, active after restart
System default: X_Y
_2D (0) 2D programming in a plane
_3D (1) 3D programming in space
X_Y (0) xy plane
Y_Z (1) yz plane
Z_X (2) zx plane
BasicOffset(StructPathKinematicsOffsetConfig)
Path zero offset to axis zero
PathObjectType
10-560 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPathDecodingConfigInfo - PathObjectType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
disablePathOperation
With NO, the setpoint calculation on the path object is terminated with an error if the axis enables are removed.With YES, the setpoint calculation on the path object is maintained if the enables on the axes have been removed during simulation mode of the path object.
maximalBufferedMotionCommands
Specifies the maximum size of the sequential command buffer.
numberOfMaxBufferedCommandId
Specifies the maximum number of command IDs active simultaneously whose status can be reques-ted at the end of the relevant command. A command ID is included in the list with the ST command _bufferPathObjectCommandId. It is removed from the list with the _removeBufferedPathObjectCommandId ST command.
positionIndication
With INCREMENT_BASED, information functions accept and provide their inputs and results with the resolution of increments of the path object.With NON_INCREMENT_BASED, the information functions with position reference do not use the increment resolution of the path object but more exact.The increment resolution of the path object is defined in the unit configuration.
EnumYesNo
EnumPathPositionIndication
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: DINT
Changeable online: Yes, active after restart
System default: 1
Data type: DINT
Changeable online: Yes, active after restart
System default: 100
Data type: EnumPathPositionIndication
Changeable online: Yes, active immediately
System default: INCREMENT_BASED
NO (91) No
YES (173) Yes
INCREMENT_BASED (0) Increment-exact position
NON_INCREMENT_BASED (1) Exact position
PathObjectType
10-561SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPathDelta2DKinematicsConfig - PathObjectType
The structure elements of 'Delta2DKinematics' specify the parameters for the Delta2D coordinate transformation.
config2D
Defines the programming plane for two path axes.
distanceD1
Defines the symmetric distance of the drive axes from the zero point of the kinematic structure.
distanceD2
Defines the symmetric distance of auxiliary axes A3 and A4 (mechanical interface of segments 2 to the joint) from the end position of the kinematic structure.
length1
Defines the length of segment 1 (upper arm).The minimum length of segment 1 that can be set depends on the available length resolution on the path object!
length2
Defines the length of segment 2 (lower arm).The minimum length of segment 2 that can be set depends on the available length resolution on the path object!
Data type: EnumPathKinematicsConfig2D
Changeable online: Yes, active after restart
System default: X_Y
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 mm
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 mm
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0 mm
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0 mm
PathObjectType
10-562 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
offsetA1
Defines the angular offset on drive axis A1.
offsetA2
Defines the angular offset on drive axis A2.
EnumPathKinematicsConfig2D
Associated parameters (maximum):
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
X_Y (0) xy plane
Y_Z (1) yz plane
Z_X (2) zx plane
BasicOffset(StructPathKinematicsOffsetConfig)
Path zero offset to axis zero
PathObjectType
10-563SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPathDelta3DKinematicsConfig - PathObjectType
The structure elements of 'Delta3DKinematics' specify the parameters for the Delta3D coordinate transformation.
angleArm1ToX
Defines the angular offset of arm M1-A1-A4 with respect to the positive x-axis for rotation around the positive z-axis.The maximum angular offset that can be set depends on the available angular resolution on the path object!
angleArm2ToArm1
Defines the angular offset of arm M2-A2-A5 with respect to arm M1-A1-A4 for rotation around the posi-tive z-axis.The minimum and the maximum angular offset that can be set depend on the available angular reso-lution on the path object!
angleArm3ToArm1
Defines the angular offset of arm M3-A3-A6 with respect to arm M1-A1-A4 for rotation around the posi-tive z-axis.The minimum and the maximum angular offset that can be set depend on the available angular reso-lution on the path object!
distanceD1
Defines the symmetric distance of the drive axes from the zero point of the kinematic structure.
distanceD2
Defines the symmetric distance of auxiliary axes A4 to A6 (mechanical interface of segments 2 to the joint) from the end position of the kinematic structure.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
Data type: LREAL
Changeable online: Yes, active after restart
System default: 120.0 °
Data type: LREAL
Changeable online: Yes, active after restart
System default: -120.0 °
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 mm
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 mm
PathObjectType
10-564 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
length1
Defines the length of segment 1 (upper arm).The minimum length of segment 1 that can be set depends on the available length resolution on the path object!
length2
Defines the length of segment 2 (lower arm).The minimum length of segment 2 that can be set depends on the available length resolution on the path object!
offsetA1
Defines the angular offset on drive axis A1.
offsetA2
Defines the angular offset on drive axis A2.
offsetA3
Defines the angular offset on drive axis A3.
Associated parameters (maximum):
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0 mm
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0 mm
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
BasicOffset(StructPathKinematicsOffsetConfig)
Path zero offset to axis zero
PathObjectType
10-565SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPathInterpolationConfigInfo - PathObjectType
The structure elements of 'InterpolationConfig' specify the parameters for the path interpolation.
blendingAcceleration
With REDUCTION_TO_ZERO, the blending is made with the condition a=0 at the blending point.With WITHOUT_REDUCTION, the blending is possible without the boundary condition a=0.
EnumPathObjectBlendingAcceleration
Data type: EnumPathObjectBlendingAcceleration
Changeable online: Yes, active immediately
System default: REDUCTION_TO_ZERO
REDUCTION_TO_ZERO (0) Blending with boundary condition a=0
WITHOUT_REDUCTION (1) Blending without boundary condition a=0
PathObjectType
10-566 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPathKinematicsConfig - PathObjectType
The structure elements of 'Kinematics' specify the parameters for coordinate transformation.
typeOfKinematics
Specifies the type of configured kinematics.
EnumPathKinematicsType
Associated parameters (maximum):
Data type: EnumPathKinematicsType
Changeable online: No
System default: CARTESIAN
CARTESIAN (0) Cartesian
ROLL_PICKER (1) Roll picker
SCARA (2) Scara
ARTICULATED_ARM (3) Articulated arm
DELTA_2D_PICKER (4) Delta2D picker
DELTA_3D_PICKER (5) Delta3D picker
SPECIFIC (6) Specific
ROTARY_ARM (7) Swivel arm
ARTICULATED_ARM_2D (8) 2-axis articulated arm
ArticulatedArm2DConfig(StructPathArticulatedArm2DConfig)
2-axis articulated arm kinematics
ArticulatedArmConfig(StructPathArticulatedArmKinematicsConfig)
Articulated arm kinematics
CartesianConfig(StructPathCartesianKinematicsConfig)
Cartesian kinematics
Delta2DConfig(StructPathDelta2DKinematicsConfig)
Delta2D kinematics
Delta3DConfig(StructPathDelta3DKinematicsConfig)
Delta3D kinematics
PickerConfig(StructPathPickerKinematicsConfig)
Picker kinematics
RotaryArmConfig(StructPathRotaryArmKinematicsConfig)
Swivel arm kinematics
ScaraConfig(StructPathScaraKinematicsConfig)
Scara Kinematics
SpecificConfig(StructPathSpecificKinematicsConfig)
User transformation
PathObjectType
10-567SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPathKinematicsOffsetConfig - PathObjectType
The structure elements for 'BasicOffset' specify an axis zero offset to the path zero.
pitch
Specifies the rotation of the Y axis of the base to the Y axis of the path.The maximum angle that can be set depends on the available angular resolution on the path object!
roll
Specifies the rotation of the X axis of the base to the X axis of the path.The maximum angle that can be set depends on the available angular resolution on the path object!
x
Defines the axis zero offset to the path zero in direction x.
y
Defines the axis zero offset to the path zero in direction y.
yaw
Specifies the rotation of the Z axis of the base to the Z axis of the path.The maximum angle that can be set depends on the available angular resolution on the path object!
z
Defines the axis zero offset to the path zero in direction z.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 mm
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 mm
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 mm
PathObjectType
10-568 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPathPickerKinematicsConfig - PathObjectType
The structure elements of 'PickerKinematics' specify the parameters for the picker-specific coordinate transformation.
config2D
Defines the programming plane for two path axes.Only relevant for two interconnected axes.
radius1
Defines the disk radius on the first drive axis. This is in the direction of the negative X axis of the kine-matics-specific coordinate system.The minimum radius that can be set depends on the available length resolution on the path object!
radius2
Defines the disk radius on the second drive axis. This is in the direction of the positive X axis of the kinematics-specific coordinate system.The minimum radius that can be set depends on the available length resolution on the path object!
EnumPathKinematicsConfig2D
Associated parameters (maximum):
Data type: EnumPathKinematicsConfig2D
Changeable online: Yes, active after restart
System default: X_Y
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0 mm
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0 mm
X_Y (0) xy plane
Y_Z (1) yz plane
Z_X (2) zx plane
BasicOffset(StructPathKinematicsOffsetConfig)
Path zero offset to axis zero
PathObjectType
10-569SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPathRotaryArmKinematicsConfig - PathObjectType
The structure elements of 'RotaryArmKinematics' specify the parameters for the swivel-arm-specific coordinate transformation.
config2D
Defines the programming level.
distanceA1Endpoint
Defines the distance between A1 and the end position.
offsetA1
Defines the angular offset at rotary joint A1.
EnumPathKinematicsConfig2D
Associated parameters (maximum):
Data type: EnumPathKinematicsConfig2D
Changeable online: Yes, active after restart
System default: X_Y
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0 mm
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
X_Y (0) xy plane
Y_Z (1) yz plane
Z_X (2) zx plane
BasicOffset(StructPathKinematicsOffsetConfig)
Path zero offset to axis zero
LinkCompensationA2(StructPathRotaryArmLinkCompensationA2)
Compensation of link dependencies on axis A2
LinkCompensationA4(StructPathRotaryArmLinkCompensationA4)
Compensation of link dependencies on axis A4
PathObjectType
10-570 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPathRotaryArmLinkCompensationA2 - PathObjectType
The structure elements of 'LinkCompensationA2' specify parameters for the compensation of link dependencies.
enableA4A2
Specifies whether compensation of link dependencies should occur between A4 and A2.
factorA4A2
When compensation is activated between A4 and A2, the product of A4 and factor A4A2 is added to linear axis A2. The factor A4A2 is specified as a leadscrew pitch (user unit of linear axis A2, e.g. mil-limeters, per revolutions of rotary axis A4). The rotation is interpreted as rotation in the angle unit set on the path object. Because the standard coupling to the A4 axis is made in numeric values, we recommend the identical setting of the angle and the axis unit.This compensation uses the value of A4, which results from the calculation of the compensation bet-ween A1 and A4.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active after restart
System default: 10.0
NO (91) No
YES (173) Yes
PathObjectType
10-571SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPathRotaryArmLinkCompensationA4 - PathObjectType
The structure elements of 'LinkCompensationA4' specify parameters for the compensation of link dependencies.
enableA1A4
Specifies whether compensation of link dependencies should occur between A1 and A4.
factorA1A4
When compensation is activated between A1 and A4, the product of A1 and factor A1A4 is subtracted from angle A4.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
NO (91) No
YES (173) Yes
PathObjectType
10-572 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPathScaraKinematicsConfig - PathObjectType
The structure elements of 'ScaraKinematics' specify the parameters for the scara-specific coordinate transformation.
distanceA1A2
Defines the distance between A1 and A2.The minimum distance between A1 and A2 that can be set depends on the available length resolution on the path object!
distanceA2Endpoint
Defines the distance between A2 and the end position.
offsetA1
Defines the angular offset at rotary joint A1.
offsetA2
Defines the angular offset at rotary joint A2.
Associated parameters (maximum):
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0 mm
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0 mm
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
BasicOffset(StructPathKinematicsOffsetConfig)
Path zero offset to axis zero
LinkCompensationA2(StructPathScaraLinkCompensationA2)
Compensation of link dependencies on axis A2
LinkCompensationA3(StructPathScaraLinkCompensationA3)
Compensation of link dependencies on axis A3
LinkCompensationA4(StructPathScaraLinkCompensationA4)
Compensation of link dependencies on axis A4
PathObjectType
10-573SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPathScaraLinkCompensationA2 - PathObjectType
The structure elements of 'LinkCompensationA2' specify parameters for the compensation of link dependencies.
enableA1A2
Specifies whether compensation of link dependencies should occur between A1 and A2.
factorA1A2
When compensation is activated between A1 and A2, the product of A1 and factor A1A2 is added to angle A2.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
NO (91) No
YES (173) Yes
PathObjectType
10-574 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPathScaraLinkCompensationA3 - PathObjectType
The structure elements of 'LinkCompensationA3' specify parameters for the compensation of link dependencies.
enableA4A3
Specifies whether compensation of link dependencies should occur between A4 and A3.
factorA4A3
When compensation is activated between A4 and A3, the product of A4 and factor A4A3 is added to linear axis A3. The factor A4A3 is specified as a leadscrew pitch (user unit of linear axis A3, e.g. mil-limeters, per revolutions of rotary axis A4). The rotation is interpreted as rotation in the angle unit set on the path object. Because the standard coupling to the A4 axis is made in numeric values, we recommend the identical setting of the angle and the axis unit.This compensation uses the value of A4, which results from the calculation of the compensation bet-ween A1 and A4, as well as A2 and A4.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active after restart
System default: 10.0
NO (91) No
YES (173) Yes
PathObjectType
10-575SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPathScaraLinkCompensationA4 - PathObjectType
The structure elements of 'LinkCompensationA4' specify parameters for the compensation of link dependencies.
enableA1A4
Specifies whether compensation of link dependencies should occur between A1 and A4.
enableA2A4
Specifies whether compensation of link dependencies should occur between A2 and A4.
factorA1A4
When compensation is activated between A1 and A4, the product of A1 and factor A1A4 is subtracted from angle A4.
factorA2A4
When compensation is activated between A2 and A4, the product of A2 and factor A2A4 is subtracted from angle A4. This case uses the value of A2, which results from the calculation of the compensation between A1 and A2.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
NO (91) No
YES (173) Yes
PathObjectType
10-576 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPathSpecificKinematicsConfig - PathObjectType
The structure elements of 'SpecificKinematics' specify the type and the parameters for the user-spe-cific coordinate transformation.
parameter
Defines the parameters for the transformation.
specTrafoID
Identifies the user-specific coordinate transformation to be used.
Data type: ARRAY [1..32] OF LREAL
Changeable online: Yes, active after restart
System default: [0..31] = 0.0
Data type: UDINT
Changeable online: No
System default: 0
11-577SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PathAxis 11Associated parameters (maximum):
• Execution (ExecutionConfigInfo)• LeadScrew (LeadScrewInfo)• Modulo (ModuloInfo)• Restart (RestartInfo)• RestartCondition (RestartConditionInfo)• Simulation (SimulationInfo)• TypeOfAxis (TypeOfAxisInfo)
AbsBackLash - PathAxis
The structure elements of 'AbsBackLash' specify the backlash compensation for the absolute enco-der.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
_type
Specifies the direction in which backlash compensation is calculated.With 'POSITIVE', the backlash compensation is applied in the positive direction.With 'NEGATIVE', the backlash compensation is applied in the negative direction.
enable
Specifies the monitoring mode for backlash compensation on the absolute encoder.With 'NO', the backlash compensation is not enabled.With 'YES', the backlash compensation is enabled.
length
Specifies the backlash compensation value.
Data type: EnumBackLashType
Changeable online: Yes, active immediately
System default: POSITIVE
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
PathAxis
11-578 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
startUpDifference
Specifies the preferred orientation for backlash compensation.With POSITIVE_DIRECTION, the backlash compensation is applied in the positive direction during the first traversing motion.With NEGATIVE_DIRECTION, the backlash compensation is applied in the negative direction during the first traversing motion.
velocity
Specifies the velocity at which backlash compensation is stopped. If the value is 0, the backlash is calculated without limits.
EnumBackLashType
EnumYesNo
EnumBackLashDiff
Data type: EnumBackLashDiff
Changeable online: Yes, active immediately
System default: DIFF_POSITIVE
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm/s
POSITIVE (0) positive
NEGATIVE (1) negative
NO (91) No
YES (173) Yes
DIFF_POSITIVE (0) positive
DIFF_NEGATIVE (1) negative
PathAxis
11-579SIMOTION Technology Packages Configuration DataList Manual, 11/2010
AbsEncoder - PathAxis
The structure elements of 'AbsEncoder' specify the parameters for an absolute encoder.
NoteFurther information about the following parameters and on fine resolution can be found inFunction Manual "TO Axis Electric/Hydraulic, External Encoder".or in the online help
absBaudRate
Specifies the baud rate data for detecting the actual value of the absolute encoder.Baudrate_5 sets a baud rate of 3 Mbaud.Baudrate_4 sets a baud rate of 1.5 Mbaud.Baudrate_3 sets a baud rate of 750 Kbaud.Baudrate_2 sets a baud rate of 375 Kbaud.Baudrate_1 sets a baud rate of 187.5 Kbaud.
absDataLength
Specifies the number of data bits of the absolute encoder range (packet length).The number of data bits is calculated from the number of steps per revolution multiplied by the number of revolutions.For example: 2048 incr./rev. * rev.= data bit length 23
absMessageFormat
Specifies a message frame format for the absolute encoder.With RIGHT_MARGIN, the protocol format is right-justified.With PINETREE, the pine tree format is selected.
absMessageLength
Specifies the message frame length for detecting the actual value of the absolute encoder.With LENGTH_13, a protocol length of 13 bits is selected.With LENGTH_21, a protocol length of 21 bits is selected.With LENGTH_25, a protocol length of 25 bits is selected.
Data type: EnumAbsBaudrate
Changeable online: No
System default: Baudrate_3
Data type: UDINT
Changeable online: Yes, active after restart
System default: 24
Data type: EnumAbsMsgFormat
Changeable online: No
System default: PINETREE
Data type: EnumAbsMsgLength
Changeable online: No
System default: LENGTH_25
PathAxis
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absResolution
Specifies the number of increments per encoder revolution specified on the encoder rating plate.
absResolutionMultiplierAbsolute
Specifies the multiplication factor of the actual value of the absolute encoder.Evaluation of the absolute encoder during request by the absolute encoder (GxIST2).
absResolutionMultiplierCyclic
Specifies the multiplication factor of the cyclic actual value of the encoder.Evaluation of the incremental signal of the absolute encoder during operation (GxIST1).
absState
Specifies a protocol format for the actual value of the absolute encoder.With BIN_CODE, a binary code is selected.With GRAY_CODE, GRAY code is selected.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 4096
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumAbsState
Changeable online: No
System default: GRAY_CODE
PathAxis
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enableAbsMonitoring
Specifies the monitoring mode of the permissible changes of the actual value for the absolute encoder.
With YES (system default), monitoring of the permissible changes of the actual value for the absolute encoder is activated.
Actual value changes of the absolute encoder greater than or equal to the possible change in accor-dance with the maximum velocity (maxVelocity.maximum) are limited to the change in accordance with the current velocity, i.e. the velocity of the previous cycle.
Incorrect actual values, e.g. due to transmission errors, are adjusted.If the actual value changes are impermissibly high in 5 subsequent cycles, alarm 20005, reason 0, is issued.
With NO, monitoring of the permissible changes of the actual value for the absolute encoder is not activated, i.e., incorrect actual values due to transmission errors, for example, are also not changed and processed as they are.No technological alarm is issued.
NoteSwitch the monitoring function off at your own risk.
After the deactivation of the monitoring, it can no longer be guaranteed that the magnitude of the cal-culated velocity lies within the limits defined by the user.
The position and the velocity and all derived quantities are also displayed and processed also taking account of any measured values recognized as being incorrect (control, stop ramps, interpolations, positioning).
EnumAbsBaudrate
EnumAbsMsgFormat
EnumAbsMsgLength
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: YES
Baudrate_5 (16#01) 3 Mbaud
Baudrate_4 (16#02) 1.5 Mbaud
Baudrate_3 (16#04) 750 Kbaud
Baudrate_2 (16#08) 375 Kbaud
Baudrate_1 (16#10) 187.5 Kbaud
RIGHT_MARGIN (0) Right-justified
PINETREE (1) Pine tree format
LENGTH_13 (13) 13 bits
LENGTH_21 (21) 21 bits
LENGTH_25 (25) 25 bits
PathAxis
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EnumAbsState
EnumYesNo
BIN_CODE (16#00) Binary
GRAY_CODE (16#01) Gray Code
NO (91) No
YES (173) Yes
PathAxis
11-583SIMOTION Technology Packages Configuration DataList Manual, 11/2010
AbsHomingEncoder - PathAxis
The structure elements of 'AbsHomingEncoder' specify the synchronization data for an absolute enco-der.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
absShift
Specifies the offset of the absolute encoder.
setOffsetOfAbsoluteEncoder
Specifies the effect of the absolute encoder offset set in the 'absshift' configuration data (V3.2 and hig-her).
With RELATIVE, the offset is set as an addition (default response).Actual axis value = actual encoder value + (previous offset already in effect + absshift)(new) offset = previous offset + absshift'absshift' is added to the existing absolute encoder offset whenever the _homing() function is called.
With ABSOLUTE, the offset is set as an absolute value (V3.2 and higher).'absshift' is set as the absolute encoder offset whenever the _homing() function is called.Actual axis value = actual encoder value + absshift
EnumAbsoluteRelative
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
Data type: EnumAbsoluteRelative
Changeable online: Yes, active after restart
System default: RELATIVE
ABSOLUTE (1) Absolute
RELATIVE (115) Relative
PathAxis
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ActualAccelerationMonitoring - PathAxis
The structure elements of 'ActualAccelerationMonitoring' specify the monitoring of actual acceleration.
enable
Activation of actual acceleration monitoring.
maximum
Maximum actual acceleration.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 m/min
NO (91) No
YES (173) Yes
PathAxis
11-585SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ActualVelocityMonitoring - PathAxis
The structure elements of 'ActualVelocityMonitoring' specify the monitoring mode for the maximum actual velocity.
enable
Specifies the monitoring mode for the maximum actual velocity.With NO, monitoring of the actual velocity does not take place.With YES, the actual velocity is monitored for the maximum permissible value.When the maximum value is exceeded, the system variable 'sensordata.sensormonitoring.velocity' is output as 'limitexceeded'.The velocity is not limited to this value.
maximum
Specifies the maximum permissible actual velocity.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm/s
NO (91) No
YES (173) Yes
PathAxis
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AdaptDrive - PathAxis
The structure elements of 'AdaptDrive' specify the gear ratio parameters for drive-mounted encoders.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
denFactor
Specifies the denominator of the gear ratio for a measuring gear.
numFactor
Specifies the numerator of the gear ratio for a measuring gear.
AdaptExtern - PathAxis
The structure elements of 'AdaptExtern' specify the gear ratio parameters for the EXTERN mounting type.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
denFactor
Specifies the denominator of the gear ratio for a measuring gear.
numFactor
Specifies the numerator of the gear ratio for a measuring gear.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
PathAxis
11-587SIMOTION Technology Packages Configuration DataList Manual, 11/2010
AdaptLoad - PathAxis
The structure elements of 'AdaptLoad' specify the gear ratio parameters for load-side encoders.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
denFactor
Specifies the denominator of the gear ratio for a measuring gear.
numFactor
Specifies the numerator of the gear ratio for a measuring gear.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
PathAxis
11-588 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
AdditionalSensorDriverInfo - PathAxis
The elements of this structure are used to configure the I/O module of an encoder.
errorToleranceTime
Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Specifies the logical address of the communication module.
maxValue
Specifies the maximum digitalized measured value for the additional encoder.
minValue
Specifies the minimal digitalized measured value for the additional encoder.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1 s
Data type: EnumActualValueFormat
Changeable online: Yes, active after restart
System default: VALUE_LEFT_MARGIN
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
Data type: DINT
Changeable online: Yes, active immediately
System default: 32511
Data type: DINT
Changeable online: Yes, active immediately
System default: -32512
PathAxis
11-589SIMOTION Technology Packages Configuration DataList Manual, 11/2010
resolution
Specifies the number of relevant bits for the additional encoder.
EnumActualValueFormat
Data type: UDINT
Changeable online: Yes, active after restart
System default: 15
VALUE_RIGHT_MARGIN (0) Right-justified
VALUE_LEFT_MARGIN (1) Left-justified
VALUE_LEFT_MARGIN_WITHOUT_SIGN (2) Left-justified without sign
VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3) Right-justified without sign
PathAxis
11-590 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
AdditionalSensorMain - PathAxis
The structure element 'AdditionalSensor' is used to configure an additional encoder.
additionalSensorType
Specifies the interpretation of the encoder values.With STANDARD, the digitalized measured value is interpreted as an absolute actual force/pressure value of an individual encoder.With PRESSURE_DIFFERENCE_MEASUREMENT, the differential pressure measurement between two different encoders is set.With SET_ACTUAL_VALUE, the value is specified with a system variable.
interfaceActivation
Specification to activate the digitized measured values.With STARTUP_ACTIVATED the driver is activated on the technology object following system star-tup.With STARTUP_DEACTIVATED the driver is deactivated on the technology object following system startup.
EnumAxisAdditionalSensorType
EnumAxisInterfaceActivationConfig
Associated parameters (maximum):
Data type: EnumAxisAdditionalSensorType
Changeable online: No
System default: STANDARD
Data type: EnumAxisInterfaceActivationConfig
Changeable online: No
System default: STARTUP_ACTIVATED
STANDARD (0) Pressure measurement
PRESSURE_DIFFERENCE_MEASUREMENT (1)
Differential pressure measurement
SET_ACTUAL_VALUE (2) Actual pressure value via system variable
STARTUP_DEACTIVATED (942) Deactivated after startup
STARTUP_ACTIVATED (943) Active after startup
ConversionData(ConversionData)
Interpretation of the encoder values
DriverInfo(AdditionalSensorDriverInfo)
Analog input module
Filter(Filter)
Filter for actual value smoothing
PressureDifferenceMeasurement(StructPressureDifferenceMeasurement)
Parameters for differential pressure measure-ment
Range(Range)
Definition range of the encoder values
PathAxis
11-591SIMOTION Technology Packages Configuration DataList Manual, 11/2010
AdditionalSensorNumber - PathAxis
The structure element 'AdditionalSensorNumber' is used to configure the assignment of data set to additional encoder.
number
Specifies the encoder number.
AnalogConversionDataType - PathAxis
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder values read.
_type
Specifies the interpretation type for the digitalized measured value.
factor
Specifies the weighting factor for the analog measured value. The weighting factor specifies the rela-tion between distance/velocity per bit.
offset
Specifies the offset for the analog measured value.
EnumConversionDataType
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: EnumConversionDataType
Changeable online: No
System default: LINEAR_CONVERSIONDATA
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
LINEAR_CONVERSIONDATA (1) Linear relationship
PathAxis
11-592 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
AnalogSensorType - PathAxis
The structure elements of 'AnalogSensor' specify actual value smoothing.
Associated parameters (maximum):
AssemblyBase - PathAxis
The structure elements of 'AssemblyBase' specify the parameters for the encoder mounting type.
assemblyBase
Specifies the assembly base of the encoder.With ASSEMBLY_BASE_DRIVE, the encoder is a drive-side assembly type.With ASSEMBLY_BASE_LOAD, the encoder is a load-side assembly type.With ASSEMBLY_BASE_EXTERN, the encoder is an external assembly type.With ASSEMBLY_BASE_LINEAR, the encoder is a linear assembly type.
EnumAxisEncoderAssemblyType
ConversionData(AnalogConversionDataType)
Conversion factors between analog input value and actual position value
DriverInfo(StructSensorDriverInfo)
Driver data
ErrorStateMonitoring(StructAxisAnalogSensorErrorStateMonitoring)
Error-state monitoring
LogAddress(StructLogAddressIoBitType)
Logical address of analog sensor
PositionFilter(PositionFilterType)
Actual position value filter
ReadyStateMonitoring(StructAxisAnalogSensorReadyStateMonito-ring)
Ready-state monitoring
UpdateCounter(StructAxisActualValueUpdateCounter)
Evaluation of actual value update
Data type: EnumAxisEncoderAssemblyType
Changeable online: Yes, active after restart
System default: ASSEMBLY_BASE_DRIVE
ASSEMBLY_BASE_DRIVE (0) Drive side
ASSEMBLY_BASE_LOAD (1) Load side
ASSEMBLY_BASE_EXTERN (2) External
ASSEMBLY_BASE_LINEAR (3) Linear
PathAxis
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ClampingMonitoring - PathAxis
The structure elements of 'ClampingMonitoring' specify the clamping monitoring.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
followingErrorDeviation
Specifies the required following error to detect the end stop.
positionTolerance
Specifies the permissible deviation of the actual value from the setpoint in the clamped state.
recognitionMode
Specifies the type of endstop detection.With 'DO_NOT_CLAMP', the endstop detection is deactivated.With 'CLAMP_BY_FOLLOWING_ERROR_DEVIATION' the endstop detection takes place when the following error specified in 'followingErrorDeviation' is reached.With 'CLAMP_WHEN_TORQUE_LIMIT_REACHED' the endstop detection takes place when the force moment/torque limit value is reached.
EnumRecognitionMode
Data type: LREAL
Changeable online: Yes, active immediately
System default: 20.0 mm
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 mm
Data type: EnumRecognitionMode
Changeable online: Yes, active after restart
System default: DO_NOT_CLAMP
DO_NOT_CLAMP (0) No detection
CLAMP_BY_FOLLOWING_ERROR_DEVIATION (1)
By following error
CLAMP_WHEN_TORQUE_LIMIT_REACHED (2)
By force moment/torque
PathAxis
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ControllerDynamic - PathAxis
The structure elements of 'ControllerDynamic' specify the reference model monitoring.
NoteThe function of the 'ControllerDynamic' (monitoring of actual speed) configuration data element on a drive axis can only be used when a message frame type that also supplies an actual position value to the controller is used.
enable
Specifies the activation status of the reference model monitoring.With 'NO', the monitoring is not activated.With 'YES', the monitoring is activated.
maxVeloTolerance
Specifies the maximum deviation between model and process with reference to maximum velocity.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 2.0 %
NO (91) No
YES (173) Yes
PathAxis
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ControllerStruct - PathAxis
The structure elements of 'ControllerStruct' set the controller structure.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
conType
Specifies the controller type.NODEF has no significance.With PD, a PD controller is used.With PV, a P controller with precontrol is used.With PID, a PID controller is used.With PID_ACTUAL, a PID controller with actual value-dependent D-component is used.
EnumAxisControllerType
Associated parameters (maximum):
ControllerSwitchData - PathAxis
The structure elements for 'ControllerSwitchData' are used to configure digital inputs for force or pres-sure control.
Associated parameters (maximum):
Data type: EnumAxisControllerType
Changeable online: No
System default: PV
NODEF (0) No significance
DIRECT (1) Control only
PD (2) PID controller
PV (3) PV controller
PID (4) PID controller
PID_ACTUAL (5) PID controller with actual value-dependent D-component
PD_Controller(PD_Controller)
PID controller
PID_Controller(PID_ControllerPos)
PID controller
PV_Controller(PV_Controller)
P-controller with precontrol
NumberOfDigitalInputs(NumberOfDigitalInputs)
Digital inputs
PathAxis
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ConversionData - PathAxis
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder values read.
NoteFurther information is provided:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Supplementary Technology Objects Function ManualOnline help
_type
Specifies the interpretation type for the digitalized measured value.
factor
Specifies the evaluation type for the digitalized measured value.
invert
Specifies whether or not the sign of the measured value should be inverted.With NO, the sign is not inverted.With YES, the sign is inverted.
offset
Specifies the offset for the digitalized measured value.
EnumConversionDataType
EnumYesNo
Data type: EnumConversionDataType
Changeable online: No
System default: LINEAR_CONVERSIONDATA
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 Pa
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 Pa
LINEAR_CONVERSIONDATA (1) Linear relationship
NO (91) No
YES (173) Yes
PathAxis
11-597SIMOTION Technology Packages Configuration DataList Manual, 11/2010
DataSetMain - PathAxis
The structure elements belonging to "DataSet_(n)" are used to set the data set (n).
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
Associated parameters (maximum):
AdditionalSensorNumber(AdditionalSensorNumber)
Assignment of a force/pressure sensor to this data record
ClampingMonitoring(ClampingMonitoring)
Clamping monitoring
ControllerDynamic(ControllerDynamic)
Reference model monitoring
ControllerStruct(ControllerStruct)
Controller parameters
DynamicComp(DynamicComp)
Dynamic compensation
DynamicData(DynamicData)
Dynamic data of the cascaded control loop sys-tem
DynamicFollowing(DynamicFollowing)
Dynamic following error monitoring
DynamicQFData(StructPaxDynamicQFData)
Dynamic data of the hydraulic process
EncoderNumber(EncoderNumber)
Assignment of an encoder to this data record
ForceControllerData(ForceControllerData)
Force/pressure controller
ForceControllerDifference(ForceControllerDifference)
System deviation monitoring of the force/pres-sure control loop
Gear(Gear)
Ratio of the load gearbox
InvertQ(StructAxisInvertQOutput)
Inversion of the Q-output in front of the characte-ristic curve
InvertSetPoint(InvertSetPointHydraulicType)
Inversion of the Q-output behind the characteri-stic curve
ProcessModel(ProcessModel)
Process model
PathAxis
11-598 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
DecodingConfig - PathAxis
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
NoteAdditional information is available at:Function Manual "TO Axis Electric/Hydraulic, External Encoder".SIMOTION MCC Motion Control Chart Programming and Operating ManualFunction Manual: Basic Functionsor in the online help
behaviourAtTheEndOfProfile
Specifies the behavior at the end of the profile.
With MOVE_WITH_CONSTANT_SPEED, the axis moves at a constant velocity.In terms of interpolation status, the final condition acts in the same way as the system function _move. If the physical variable is not equal to 0, setpoint generation will not be completed.
With STOP_IN_PROFILE_END, the profile end is the target of the positioning movement, that is, at the target, 'velocity:=0'.
With STOP_WHEN_PROFILE_END_REACHED, the axis is stopped only after the profile end has been reached.
cyclicSetUpInForceLimiting
Specifies how cyclic resetting to the setpoints should occur with active force/pressure limiting.With 'NONE' cyclic resetting does not occur.With 'POSITION_BASED' cyclic resetting is to the setpoint position after allowing for the pressure limi-ting component.With 'POSITION_AND_DYNAMIC_BASED' cyclic resetting is to the setpoint position and setpoint velocity after allowing for the pressure limiting component.
decodeSequentialMotionCommand
Specifies the cycle in which the next 'SEQUENTIAL' or 'NEXT_MOTION' command is transferred to the interpolator.
Data type: EnumEndBehaviourOfProfile
Changeable online: Yes, active immediately
System default: STOP_WHEN_PROFILE_END_REACHED
Data type: EnumAxisCyclicSetUpInForceLimiting
Changeable online: Yes, active immediately
System default: NONE
Data type: EnumDecodeSequentialMotionCommand
Changeable online: Yes, active immediately
System default: IMMEDIATELY
PathAxis
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directionDynamic
Specifies the acceleration model used.With NO, the non-direction-related acceleration model is used.With YES, the direction-related acceleration model is used.
disableMotionOperation
Specifies the behavior for motion commands stopped with 'stopMode := STOP_WITHOUT_ABORT' after the enables have been removed.With 'YES' the motion commands are canceled and cannot be resumed.With 'NO' the motion commands are not canceled and can be resumed after the enables are reset.
numberOfImmediateCommands
Specifies the number of commands, programmed with the IMMEDIATELY command parameter, which can be active simultaneously on one axis.
numberOfMaxBufferedCommandId
Specifies the maximum number of command IDs active simultaneously whose status can be reques-ted at the end of the relevant command.A command ID is added to the list with the ST command '_bufferAxisCommandId'.Removal from the list takes place with the ST command '_removeBufferedAxisCommandId'.
numberOfQueueCommands
Specifies the maximum number of commands which can be active simultaneously on one axis.
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: YES
Data type: DINT
Changeable online: Yes, active after restart
System default: 6
Data type: DINT
Changeable online: Yes, active after restart
System default: 100
Data type: DINT
Changeable online: Yes, active after restart
System default: 6
PathAxis
11-600 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
profileDynamicsLimiting
Specifies the active limits for dynamic parameters.
With 'COMMAND_DYNAMICS' the system ramps up to the profile or the values specified in the Moti-onIn vector using the minimum of the dynamic parameters specified in the command or the configured maximum values in 'MaxJerk', 'MaxAcceleration', and 'MaxVelocity' and is then limited during the course of the profile to the minimum of the programmed values and the configured maximum values.
With 'MAX_CONFIGURED_DYNAMICS' the system ramps up to the profile or the values specified in the MotionIn vector using the minimum of the dynamic parameters specified in the command and the configured maximum values in 'MaxJerk', 'MaxAcceleration', and 'MaxVelocity' and is then limited during the course of the profile to the configured maximum values.
speedModeSetPointZero
Specifies how the axis is traversed to zero velocity when the enables are set.
With 'No', the axis is traversed to zero via a braking ramp with the maximum axis dynamic response.
With 'Yes', the velocity setpoint (and acceleration) is set directly to 0 without ramp.
stopWithJerk
Details of the behavior for a local stop response. This configuration applies only to interpolatory stops.With 'YES' the local stop response is executed with the value from 'Max.Jerk.maximum'.With 'NO', the local stop response is executed without jerk limiting.
transferSuperimposedPosition
Specifies when the coordinate system of the superimposed motion is reset (to 0).
With 'TRANSFER_STANDSTILL' the position of the superimposed coordinate system is reset to 0 after termination of the setpoint generation of the axis or when programming a motion command with mergeMode:=IMMEDIATELY or when the axis is reset.
With 'TRANSFER_MERGE' the position of the superimposed coordinate system is reset to 0 when programming a motion command with mergeMode:=IMMEDIATELY or when the axis is reset.
With ''AXIS_RESET' the position of the superimposed coordinate system is reset to 0 when the axis is reset.
Data type: EnumProfileDynamicsLimiting
Changeable online: Yes, active immediately
System default: COMMAND_DYNAMICS
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumTransferSuperimposedPosition
Changeable online: Yes, active after restart
System default: TRANSFER_STANDSTILL
PathAxis
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EnumEndBehaviourOfProfile
EnumAxisCyclicSetUpInForceLimiting
EnumDecodeSequentialMotionCommand
EnumYesNo
EnumProfileDynamicsLimiting
EnumTransferSuperimposedPosition
MOVE_WITH_CONSTANT_SPEED (0) Motion at constant speed
STOP_IN_PROFILE_END (1) Deceleration to the endpoint / velocity 0
STOP_WHEN_PROFILE_END_REACHED (2) Deceleration after profile completed
NONE (0) No cyclic resetting
POSITION_BASED (1) Cyclic resetting to the setpoint position
POSITION_AND_DYNAMIC_BASED (2) Cyclic resetting to the setpoint position and set-point velocity
IMMEDIATELY (0) Switch to next command immediately
NEXT_IPO_CYCLE (1) Switch to next command in next cycle
NO (91) No
YES (173) Yes
COMMAND_DYNAMICS (0) Limiting of dynamic parameters using the mini-mum value of the configured and programmed values
MAX_CONFIGURED_DYNAMICS (1) Limiting of dynamic parameters using configu-red values
TRANSFER_STANDSTILL (0) Switch to next command at standstill, reset, or according to merge mode
TRANSFER_MERGE (1) Switch to next command at reset, or according to merge mode
TRANSFER_RESET (2) Switch to next command at reset
PathAxis
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DigitalInputMain - PathAxis
The structure elements belonging to 'DigitalInput_(n)' are used to configure a digital input or to assign it to the axis.
bitNumber
Specifies the I/O bit number within the I/O byte specified by the logical address.
logAddress
Specifies the logical address of the communication module.
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 65535
PathAxis
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DistributedMotionInfo - PathAxis
The structure elements for 'DistributedMotion' set the sign-of-life failure tolerance.
enableDelayOfCommandValueOutput
Specifies the master-side output delay.With 'NO', the master-side output delay is deactivated.With 'YES', the master-side output delay is activated.
enableLifeSignMonitoring
Specifies life sign monitoring.With 'NO', the sign of life monitoring is deactivated.With 'YES', the sign of life monitoring is activated.
enableOffsetCompensation
Specifies offset compensation.With 'NO', the compensation of the cycle offset is deactivated.With 'YES', the compensation of the cycle offset is activated.
numberOfLifeSignFailures
Specifies the maximum number of life sign failures tolerated.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
NO (91) No
YES (173) Yes
PathAxis
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Drift - PathAxis
The structure elements of 'Drift' specify drift compensation.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies the activation status of drift compensation.With 'NO', the drift compensation is not activated.With 'YES', the drift compensation is activated.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
NO (91) No
YES (173) Yes
PathAxis
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DriveData - PathAxis
The structure elements for 'DriveData' specify the key drive values.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
maxSpeed
Specifies the maximum speed.
maxTorque
Specifies the maximum torque of the drive.
nominalSpeed
Specifies the reference speed.
nominalTorque
Specifies the nominal torque of the drive.
speedReference
Selection setting for scaling: reference speed or maximum speed.
torqueReductionGranularity
Specifies the fine resolution of the torque reduction.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 3000.0 1/min
Data type: LREAL
Changeable online: Yes, active after restart
System default: 3.2 Nm
Data type: LREAL
Changeable online: Yes, active after restart
System default: 3000.0 1/min
Data type: LREAL
Changeable online: Yes, active after restart
System default: 3.2 Nm
Data type: EnumAxisReferenceMaxNominal
Changeable online: Yes, active after restart
System default: MAX_VALUE
Data type: EnumAxisTorqueForceReductionGranularity
Changeable online: Yes, active after restart
System default: BASIC
PathAxis
11-606 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
torqueReference
Selection setting for scaling: Nominal torque or maximum torque.
EnumAxisReferenceMaxNominal
EnumAxisTorqueForceReductionGranularity
Data type: EnumAxisReferenceMaxNominal
Changeable online: Yes, active after restart
System default: MAX_VALUE
MAX_VALUE (0) Maximum value
NOMINAL_VALUE (1) Nominal value
STANDARD (0) Resolution 1/100
BASIC (16) Resolution 1/16384
PathAxis
11-607SIMOTION Technology Packages Configuration DataList Manual, 11/2010
DriverInfo - PathAxis
The structure elements of 'DriverInfo' specify the parameters for the encoder hardware.
NoteAdditional information is available at:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Technology Objects Synchronous Operation, Cam Function Manualor in the online help
encoderNumberOnDevice
Specifies the number of the encoder actual value for message frames with several actual values, e.g. DP_TEL106_611U_DSC_2_ENCODER.
lifeSignCheck
Specifies the monitoring mode for the PROFIBUS DP sign of life between nodes.With 'NO', the sign of life monitoring is switched off.With 'YES', the sign of life monitoring is activated.
logAddressIn
Specifies the logical address for the input data area.
logAddressOut
Specifies the logical address for the output data area.
Data type: DINT
Changeable online: No
System default: 0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: No
System default: 65535
PathAxis
11-608 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
telegramType
Specifies a PROFIdrive message frame type.With NO_TELEGRAM, a message frame is not specified.With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set up.With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set up.With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one encoder) is set up.With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with two encoders) is set up.With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives with one encoder and DSC) is set up.With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled drives with two encoders and DSC) is set up.
With DP_TEL81_STANDARD, the standard message frame 81, PZD-2/6 for an encoder is set up.With DP_TEL82_STANDARD, the standard message frame 82, PZD-2/7 for an encoder is set up.With DP_TEL83_STANDARD, the standard message frame 83, PZD-2/8 for an encoder is set up.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7 for velocity-controlled drives without encoders is set up.With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for velocity-controlled drives with one encoder is set up.With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for velocity-controlled drives with two encoders is set up.With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for velocity-controlled drives with one encoder and DSC is set up.With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for velocity-controlled drives with two encoders and DSC is set up.
EnumYesNo
EnumAxisTelegramType
Data type: EnumAxisTelegramType
Changeable online: No
System default: DP_TEL102_611U_POSCTRL_1_ENCODER
NO (91) No
YES (173) Yes
NO_TELEGRAM (0) No message frame
DP_TEL1_STANDARD (1) Standard message frame 1, PZD-2/2
DP_TEL2_STANDARD (2) Standard message frame 2, PZD-4/4
DP_TEL3_STANDARD (3) Standard message frame 3, PZD-5/9
DP_TEL4_STANDARD (4) Standard message frame 4, PZD-6/14
DP_TEL5_STANDARD (5) Standard message frame 5, PZD-9/9
DP_TEL6_STANDARD (6) Standard message frame 6, PZD-10/14
DP_TEL81_STANDARD (81) Standard message frame 81, PZD-2/6
DP_TEL83_STANDARD (83) Standard message frame 83, PZD-2/8
PathAxis
11-609SIMOTION Technology Packages Configuration DataList Manual, 11/2010
DP_TEL101_611U_VELCTRL_NO_ENCODER (101)
SIEMENS message frame 101, PZD-6/7
DP_TEL102_611U_POSCTRL_1_ENCODER (102)
SIEMENS message frame 102, PZD-6/10
DP_TEL103_611U_POSCTRL_2_ENCODER (103)
SIEMENS message frame 103, PZD-7/15
DP_TEL105_611U_DSC_1_ENCODER (105) SIEMENS message frame 105, PZD-10/10
DP_TEL106_611U_DSC_2_ENCODER (106) SIEMENS message frame 106/107, PZD-11/15
PathAxis
11-610 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
DynamicComp - PathAxis
The structure elements of 'DynamicComp' specify dynamic compensation.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
T1
Specifies the first time constant.
T2
Specifies the second time constant.
deadTime
Specifies the dead time.
enable
Specifies the activation status of compensation.With 'NO', the compensation is not activated.With 'YES', the compensation is activated.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
PathAxis
11-611SIMOTION Technology Packages Configuration DataList Manual, 11/2010
DynamicData - PathAxis
The structure elements of 'DynamicData' specify the dynamic data of the cascade control system.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
positionTimeConstant
Specifies the equivalent time constant of the position control system.
torqueTimeConstant
Not used.
velocityTimeConstant
Specifies the equivalent time constant of the velocity control system.
NoteThis value can only be checked after download.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.00005 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0005 s
PathAxis
11-612 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
DynamicFollowing - PathAxis
The structure elements of 'DynamicFollowing' set the dynamic following error monitoring system.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies the activation status of dynamic following error monitoring.With 'NO', the monitoring is not activated.With 'YES', the monitoring is activated.
maxPositionTolerance
Specifies the maximum permissible following error at maximum axis velocity.
minPositionTolerance
Specifies the maximum permissible following error for axis velocities between zero and the velocity from which the maximum permissible following error begins to rise in proportion to velocity.
minVelocity
Specifies the axis velocity from which the maximum permissible following error begins to rise in pro-portion to velocity.
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: LREAL
Changeable online: Yes, active immediately
System default: 100.0 mm
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 mm
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 mm/s
PathAxis
11-613SIMOTION Technology Packages Configuration DataList Manual, 11/2010
warningLimit
Specifies the percentage value, relative to the maximum permissible following error calculated, which triggers a warning if exceeded.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 100.0 %
NO (91) No
YES (173) Yes
PathAxis
11-614 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EmergencyRampGenerator - PathAxis
The structure element of 'EmergencyRampGenerator' sets the parameter of the emergency stop ramp generator.
maxDeceleration
Specifies the deceleration of the braking ramp.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10000.0 m/s²
PathAxis
11-615SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EncoderMain - PathAxis
The structure elements of 'Encoder' specify the parameters of the encoder.
dataAdaption
Selects the behaviorFor YES, the selected encoder configuration parameters will be modified by the drive.For NO, the encoder configuration parameters are configured by the user.
encoderIdentification
Specifies the encoder identification (encoder interface).With SIMULATION, the circuit between the motor and encoder is closed by means of software. Enco-der measured values are calculated from the simulated actual speed or velocity of the axis. It is not necessary to use a real encoder when simulating encoder operation.With ONBOARD, the encoder is connected to an ONBOARD encoder interface of the controller (e.g. C230, C240, etc.).With DPMASTER, the encoder is connected to an external module. Encoder data is provided via the DP interface.With DIRECT, the encoder is connected to the inputs of a digital or analog input module.With SET_ACTUAL_VALUE, the encoder measured value is provided via the 'sensorsetting.actual-value' system variable. The measured value is updated cyclically in a user program.
encoderMode
Specifies the encoder mode (encoder signal type).RECTANGLE_TTL should be selected if the incremental position is to be measured by evaluating a rectangular encoder signal.SINUS_1VPP should be selected if the incremental position is to be measured by evaluating a sinu-soidal encoder signal.RESOLVER should be selected if the incremental position is to be measured by evaluating a resol-ver's encoder signal.STEPMOT should be selected, if the incremental position is to be determined by taking a set incre-mental position for a stepper motor without an encoder.INTERVAL_COUNTER should be selected if the velocity/speed is to be measured by using an addi-tional module to count intervals between two pulses.PROFIDRIVE_NIST_A should be selected if the velocity/speed is to be determined by reading actual speed value data (16 bits wide) from the PROFIDrive message frame.PROFIDRIVE_NIST_B should be selected if the velocity/speed is to be determined by reading actual speed value data (32 bits wide) from the PROFIDrive message frame.SSI_MODE should be selected if the incremental position is to be transferred to the controller in accor-dance with the specifications of the SSI protocol (absolute encoder).ENDAT should be selected if the incremental position is to be transferred to the controller in accor-dance with the specifications of the EnDat protocol (incremental/absolute encoder).
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumAxisEncoderIdentification
Changeable online: No
System default: SIMULATION
Data type: EnumAxisEncoderMode
Changeable online: No
System default: RECTANGLE_TTL
PathAxis
11-616 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
encoderSystem
Specifies the encoder system.With ROTARY, a rotary encoder system is used.With LINEAR, a linear encoder system is used.
encoderType
Specifies the encoder type.With SENSOR_INCREMENTAL, the encoder is treated as an incremental encoder.With SENSOR_ABSOLUTE, the encoder is treated as an absolute encoder.With SENSOR_CYCLIC_ABSOLUTE, the encoder is treated as an absolute encoder. The number of encoder overflows is also stored in the controller after disabling.With SENSOR_POSITION_DIFFERENCE_MEASUREMENT, an encoder is configured to allow dif-ferential measurement of position and velocity of two definable encoders.
encoderValueType
Specifies the actual value type from which the encoder value is calculated.With POSITION, the actual value is calculated for both the position and the velocity/speed.With VELOCITY, the actual value for the velocity/speed is calculated.With POSITION_AND_PROFIDRIVE_NIST_B, the actual value is calculated for the position and the actual value of the velocity/speed is read from the PROFIDrive message frame.With POSITION_AND_DIRECT_NIST_B, the actual value is calculated for the position, and the actual value for the velocity/speed is read from an area to be addressed in the process image of the inputs and outputs.
interfaceAllocation
Selects the interface behavior.With EXCLUSIVE, the driver can only be used on this technology object.With NON_EXCLUSIVE_AND_STARTUP_ACTIVATED, the driver can be used on this and any other technology object. The driver is activated on the technology object after system startup.With NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED, the driver can be used on this and any other technology object. The driver is deactivated on the technology object after system startup.
EnumYesNo
Data type: EnumAxisEncoderSystem
Changeable online: No
System default: ROTATORY_SYSTEM
Data type: EnumAxisEncoderType
Changeable online: No
System default: SENSOR_INCREMENTAL
Data type: EnumAxisEncoderValueType
Changeable online: No
System default: POSITION
Data type: EnumAxisSensorInterfaceAllocationConfig
Changeable online: No
System default: EXCLUSIVE
NO (91) No
YES (173) Yes
PathAxis
11-617SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumAxisEncoderIdentification
EnumAxisEncoderMode
EnumAxisEncoderSystem
EnumAxisEncoderType
EnumAxisEncoderValueType
SIMULATION (0) Simulation
ONBOARD (1) Onboard
DPMASTER (2) DPMaster
DIRECT (4) Encoder supplies the value directly
SET_ACTUAL_VALUE (5) Actual value via system variable
RECTANGLE_TTL (1) Rectangle
SSI_MODE (2) SSI
STEPMOTOR (3) Stepper motor
ENDAT (4) Endat
SINUS_1VPP (5) Sine
RESOLVER (6) Resolver
SENSOR_ANALOG (7) Analog encoder
INTERVAL_COUNTER (8) Encoder mode for interval counter
PROFIDRIVE_NIST_A (9) Velocity value 16-bit
PROFIDRIVE_NIST_B (10) Velocity value 32-bit
PROFIDRIVE (11) PROFIdrive profile
ROTATORY_SYSTEM (0) Rotary encoder system
LINEAR_SYSTEM (1) Linear encoder system (linear scale)
SENSOR_INCREMENTAL (1) Incremental encoder
SENSOR_ABSOLUTE (2) Absolute encoder
SENSOR_CYCLIC_ABSOLUTE (3) Absolute encoder cyclic absolute
SENSOR_POSITION_DIFFERENCE_MEASUREMENT (4)
Differential position
POSITION (0) Calculate actual position value
VELOCITY (1) Calculate actual velocity value
POSITION_AND_PROFIDRIVE_NIST_B (2) Calculate actual position values and velocity from DP protocol
POSITION_AND_DIRECT_NIST_B (3) Calculate actual position values and actual velo-city value from I/O
POSITION_AND_PROFIDRIVE_ENCODER_NIST_B (4)
Calculate actual position values and velocity from DP protocol (standard message frame 83)
PathAxis
11-618 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumAxisSensorInterfaceAllocationConfig
Associated parameters (maximum):
EXCLUSIVE (939) Exclusive
NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED (940)
Non-exclusive and deactivated
NON_EXCLUSIVE_AND_STARTUP_ACTIVATED (941)
Non-exclusive and active
AbsBackLash(AbsBackLash)
Backlash compensation for absolute measuring system
AbsEncoder(AbsEncoder)
Absolute encoder
AbsHomingEncoder(AbsHomingEncoder)
Homing for absolute measuring system
AdaptDrive(AdaptDrive)
Gear ratio of the measuring system for a drive-side assembly type
AdaptExtern(AdaptExtern)
Gear ratio of the measuring system for an exter-nal assembly type
AdaptLoad(AdaptLoad)
Gear ratio of the measuring system for a load-side assembly type
AnalogSensor(AnalogSensorType)
Analog measuring system
AssemblyBase(AssemblyBase)
Assembly type of the measuring system
DriverInfo(DriverInfo)
Actual value interface
DriverInfoDirectIncremental(StructDriverInfoDirectIncremental)
Actual value interface of the direct incremental encoder
Filter(Filter)
Actual value filter
FrequencyLimit(FrequencyLimit)
Limit frequency of the measuring system
IncBackLash(IncBackLash)
Backlash compensation for incremental measu-ring system
IncEncoder(IncEncoder)
Incremental encoder
IncHomingEncoder(IncHomingEncoder)
Homing for incremental measuring system
IntervalCounterConversionData(IntervalCounterConversionDataType)
Interval counter
InversCountDirection(InversCountDirection)
Inverse count direction
NistDriverConfig(StructAxisNistDriverConfig)
Actual speed value
PathPerRevolution(PathPerRevolution)
Path per revolution
PositionDifferenceMeasurement(StructPositionDifferenceMeasurement)
PositionDifferenceMeasurement
PathAxis
11-619SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PositionFilter(PT2PositionFilterType)
Position filter
Resolution(Resolution)
Resolution
SensorControlConfig(SensorControlConfig)
Encoder error tolerance
SensorNist(SensorNist)
Actual speed value extrapolation
SensorSetActualValue(SensorSetActualValue)
Actual value via system variable
Slippage(Slippage)
Slippage
StepMotorMonitoring(StepMotorMonitoringType)
Stepper motor
PathAxis
11-620 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EncoderNumber - PathAxis
The assignment between data record number and measuring system number of the position or velo-city sensor is specified with the structure elements for 'EncoderNumber'.
EncoderNumber
Specifies which encoder is assigned to this data set.
ExecutionConfigInfo - PathAxis
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
NoteFurther information is provided:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Technology Objects Synchronous Operation, Cam Function ManualOnline help
executionlevel
Specifies the task level at which the interpolator task of the technology object is running.With IPO, the task is executed in the fast interpolator cycle clock.With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: EnumToExecutionLevel
Changeable online: Yes, active after restart
System default: IPO
IPO (0) IPO
IPO_2 (1) IPO_2
SERVO (2) Servo
IPO_FAST (3) IPO_fast
SERVO_FAST (4) Servo_fast
PathAxis
11-621SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ExtrapolationPositionFilterType - PathAxis
The structure elements belonging to 'ExtrapolationPositionFilter' are used to set the filter for the actual position on the master value axis.
T1
Time constant T1 of the filter for the actual position.
T2
Time constant T2 of the filter for the actual position.
enable
Specifies the activation status of the PT2 filter for the actual position.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
PathAxis
11-622 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Filter - PathAxis
The structure elements of 'Filter' specify actual value smoothing.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies filter functionality.With 'NO', the filter functionality is deactivated.With 'YES', the filter functionality is activated.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
PathAxis
11-623SIMOTION Technology Packages Configuration DataList Manual, 11/2010
FineInterpolator - PathAxis
The structure element of 'FineInterpolator' specifies the parameter of the fine interpolator.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
_type
Specifies the type of fine interpolator used.With DIRECT_MODE, fine interpolation does not take place.With LINEAR_MODE, a linear fine interpolation takes place.With CUBIC_MODE, acceleration-continuous setpoints are generated.With QUADRATIC_MODE, velocity-continuous setpoints are generated.
EnumAxisFineInterpolatorMode
Data type: EnumAxisFineInterpolatorMode
Changeable online: Yes, active after restart
System default: LINEAR_MODE
DIRECT_MODE (0) No interpolation
LINEAR_MODE (1) Linear interpolation
CUBIC_MODE (2) Acceleration-continuous interpolation
QUADRATIC_MODE (3) Velocity-continuous interpolation
PathAxis
11-624 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ForceControlHeldValueMonitoring - PathAxis
The force/pressure final value monitoring is set with the structure elements for 'ForceControlHeldVa-lueMonitoring'.
delayTimeToActivate
Specifies the delay between the time when the actual value exceeds the tolerance window and acti-vation of the message.
tolerance
Specifies the permissible force/pressure value tolerance with a constant setpoint.
ForceControlRunningInWindowMonitoring - PathAxis
The parameters of the force entry window monitoring are specified with the structure elements for 'ForceControlRunningIn WindowMonitoring'.
maxDelayTime
Specifies the delay time from the arrival of the force/pressure actual value in the tolerance window until the activation of the force/pressure value monitoring.
tolerance
Permissible deviation between setpoint and actual value.
winTolTime
Specifies the delay time from the activation of the monitoring until the actual value reaches the tole-rance window.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 20.0 Pa
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 Pa
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
PathAxis
11-625SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ForceControllerData - PathAxis
The structure elements of 'ForceControllerData' parameterize the force controller.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
_type
Controller type for the force controller
invertControlValue
With YES, the manipulated variable of the force controller is inverted.With NO, the manipulated variable of the force controller is not inverted.
typeOfSensorData
UNI_DIRECTION means that negative actual values cannot be measured.BOTH_DIRECTION means negative actual values will be measured.
EnumForceControllerType
EnumYesNo
Data type: EnumForceControllerType
Changeable online: Yes, active after restart
System default: PID
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumSensorDataType
Changeable online: Yes, active after restart
System default: UNI_DIRECTION
PID (1) PID controller
PID_ACTUAL (2) PID controller with actual value-dependent D-component
NO (91) No
YES (173) Yes
PathAxis
11-626 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumSensorDataType
Associated parameters (maximum):
UNI_DIRECTION (1) Unidirectional
BOTH_DIRECTION (2) Bidirectional
FilterForceControl(StructAxisFilterForceControlConfig)
Manipulated variable limitation
OutputLimits(OutputLimits)
Manipulated variable limitation
PID_Controller(PID_ControllerForce)
Parameters for the PID controller
PathAxis
11-627SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ForceControllerDifference - PathAxis
The controller differential monitoring is set with the structure elements for 'ForceControllerDifference'.
enable
With 'YES', the control deviation monitoring of the force controller is activated.With 'NO', the control deviation monitoring of the force controller remains deactivated (system default).
maxForceTolerance
Specifies the maximum permissible control deviation.
EnumYesNo
FrequencyLimit - PathAxis
The structure elements of 'FrequencyLimit' specify the frequency limit of the encoder.
encoderFrequencyLimit
Specifies the frequency limit of the encoder.
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 Pa
NO (91) No
YES (173) Yes
Data type: LREAL
Changeable online: Yes, active immediately
System default: 400000.0 Hz
PathAxis
11-628 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Friction - PathAxis
The structure elements of 'Friction' specify the friction torque compensation.
amplitude
Specifies the maximum value of the friction torque compensation characteristic.
decayTime
Specifies the delay time constant.
delayTimeStandStill
Specifies the delay time for activation of the standstill signal.
enable
Specifies the activation status of friction torque compensation.With NO, the friction torque compensation is not activated.With YES, the friction torque compensation is activated.
maxVeloStandStill
Specifies the maximum velocity at which the standstill signal is active.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 5.0 mm/s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.05 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.2 mm/s
NO (91) No
YES (173) Yes
PathAxis
11-629SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Gear - PathAxis
The structure elements of 'Gear' specify the gear ratio of the load gearbox. The gear ratio is only active for the 'ASSEMBLY_DRIVE' mounting type.
denFactor
Specifies the number of load revolutions.
numFactor
Specifies the number of motor revolutions.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
PathAxis
11-630 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
GearingPosTolerance - PathAxis
The structure elements of 'GearingPosTolerance' specify the synchronization monitoring setting on the slave axis.
Note"Further information can be found in the TO Synchronous Operation, Cam Function Manual and in the online help."
actualValueTolerance
Specifies the permissible actual value deviation. An alarm is output if the value is exceeded.
commandValueTolerance
Specifies the permissible setpoint deviation. An alarm is output if the value is exceeded.
enableActualValue
Specifies the activation status of the actual value tolerance monitoring system.With NO, the tolerance monitoring of the actual values is not activated.With YES, the tolerance monitoring of the actual values is activated.
enableCommandValue
Specifies the activation status of the setpoint tolerance monitoring system.With NO_ACTIVATE, the tolerance monitoring of the setpoints is not activated.With WITHOUT_JERK, the tolerance monitoring of the setpoints is activated without inclusion of the jerk. Alarm 40201 is output if the setpoint tolerance is exceeded.With WITH_JERK, the tolerance monitoring of the setpoints is activated with inclusion of the jerk. Alarm 40201 is output if the setpoint tolerance is exceeded. The jerk on the axis is also monitored.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 mm
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumGearingPosToleranceCommandValue
Changeable online: Yes, active immediately
System default: WITHOUT_JERK
PathAxis
11-631SIMOTION Technology Packages Configuration DataList Manual, 11/2010
enableErrorReporting
Specifies which tolerance violation signals are transmitted to the master.With NO_REPORTING, no 'tolerance exceeded' messages are sent.With COMMAND_VALUE_TOLERANCE, a report is sent when the specified setpoint tolerance is exceeded.With ACTUAL_VALUE_TOLERANCE, a report is sent when the specified actual value tolerance is exceeded.With ALL_ERRORS_WITH_ABORT_SYNCHRONIZATION, all errors that cause cancelation of the synchronous operation coupling are reported.
EnumYesNo
EnumGearingPosToleranceCommandValue
EnumErrorReporting
Data type: EnumErrorReporting
Changeable online: Yes, active after restart
System default: NO_REPORTING
NO (91) No
YES (173) Yes
NO_ACTIVATE (0) No
WITHOUT_JERK (1) Without jerk
WITH_JERK (2) With jerk
NO_REPORTING (0) No
COMMAND_VALUE_TOLERANCE (1) Setpoints
ACTUAL_VALUE_TOLERANCE (2) Actual values
ALL_ERRORS_WITH_ABORT_SYNCHRONIZATION (3)
All errors
PathAxis
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HWEndPos - PathAxis
The structure elements of 'HWEndPos' are used to specify the monitoring mode of the hardware limit switches.
bitNumberNegative
Specifies the I/O bit number within the I/O byte specified by the logical address.
bitNumberPositive
Specifies the I/O bit number within the I/O byte specified by the logical address.
enable
Specifies the activation status of the hardware limit switches.For 'NO', the hardware limit switches are deactivated.For 'YES', the hardware limit switches are activated.
interfaceActivation
Selects the interface behavior.With STARTUP_DEACTIVATED the driver is deactivated on the technology object following system startup.With STARTUP_ACTIVATED the driver is activated on the technology object following system star-tup.
logAddressNegative
Specifies the logical address of the negative hardware limit switch.
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumAxisInterfaceActivationConfig
Changeable online: No
System default: STARTUP_ACTIVATED
Data type: UDINT
Changeable online: No
System default: 65535
PathAxis
11-633SIMOTION Technology Packages Configuration DataList Manual, 11/2010
logAddressPositive
Specifies the logical address of the positive hardware limit switch.
mode
Specifies the position of the hardware limit switch relative to the axis traversing range.With 'END_MOUNTED_SWITCH', the hardware limit switches outside of the permissible traversing range are always active.With 'FLEXIBLE_MOUNTED_SWITCH', the hardware limit switches can be crossed in the direction of the impermissible traversing range.
EnumYesNo
EnumAxisInterfaceActivationConfig
EnumMountSwitch
Data type: UDINT
Changeable online: No
System default: 65535
Data type: EnumMountSwitch
Changeable online: Yes, active after restart
System default: END_MOUNTED_SWITCH
NO (91) No
YES (173) Yes
STARTUP_DEACTIVATED (942) Deactivated after startup
STARTUP_ACTIVATED (943) Active after startup
END_MOUNTED_SWITCH (0) Limit switch outside of the permissible traversing range always active
FLEXIBLE_MOUNTED_SWITCH (1) Limit switch can be crossed
PathAxis
11-634 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Homing - PathAxis
The structure elements of 'Homing' specify the parameters for homing the axis.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
beroDistance
Specifies the maximum distance from the current position to the homing cam or to the external zero mark.
direction
Specifies the direction of approach for active homing.With POSITIVE, the approach direction for homing is selected in the positive direction.With NEGATIVE, the approach direction for homing is selected in the negative direction.
enableBeroDistance
Specifies the monitoring mode of the traversing path from the current position until the reference cam or the external zero mark.With NO, the monitoring is switched off.With 'YES', the monitoring is activated.
referencingNecessary
Specifies whether homing is necessary before commands with absolute position data. Commands with absolute position data can always be traversed without homing.With NO, homing is not necessary for commands with absolute position specifications.With YES, homing is necessary for commands with absolute position specifications.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
Data type: EnumDirectionType
Changeable online: Yes, active immediately
System default: POSITIVE
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
PathAxis
11-635SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumDirectionType
EnumYesNo
Associated parameters (maximum):
POSITIVE (0) Start in positive direction
NEGATIVE (1) Start in negative direction
POSITIVE_ALL_HOMING (2) Positive direction only
NEGATIVE_ALL_HOMING (3) Negative direction only
NO (91) No
YES (173) Yes
ReverseCamNegative(ReverseCamNegative)
Negative reversing cam
ReverseCamPositive(ReverseCamPositive)
Positive reversing cam
PathAxis
11-636 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
IncBackLash - PathAxis
The structure elements of 'IncBackLash' specify the backlash compensation for the incremental enco-der.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
_type
Specifies the direction in which backlash compensation is calculated.With 'POSITIVE', the backlash compensation is applied in the positive direction.With 'NEGATIVE', the backlash compensation is applied in the negative direction.
enable
Specifies the activation status of backlash compensation for the incremental encoder.With 'NO', the backlash compensation is not enabled.With 'YES', the backlash compensation is enabled.
length
Specifies the backlash compensation value.
velocity
Specifies the velocity at which backlash compensation is stopped.If the value is 0, the backlash is calculated without limits.
EnumBackLashType
EnumYesNo
Data type: EnumBackLashType
Changeable online: Yes, active immediately
System default: POSITIVE
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm/s
POSITIVE (0) positive
NEGATIVE (1) negative
NO (91) No
YES (173) Yes
PathAxis
11-637SIMOTION Technology Packages Configuration DataList Manual, 11/2010
IncEncoder - PathAxis
The structure elements of 'IncEncoder' specify the parameters for an incremental encoder.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enableZeroMonitoring
Specifies the activation status of monitoring of the number of increments between two encoder zero marks.With 'NO', monitoring of the number of increments between two encoder zero marks is not activated.With 'YES', monitoring of the number of increments between two encoder zero marks is activated.
incResolution
Specifies the number of increments per encoder revolution specified on the encoder rating plate.
incResolutionMultiplierCyclic
Specifies the multiplication factor of the cyclic actual value.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2048
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
NO (91) No
YES (173) Yes
PathAxis
11-638 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
IncHomingEncoder - PathAxis
The structure elements of 'IncHomingEncoder' specify the parameters for an incremental encoder.
NoteAdditional information is available at:Function Manual "TO Axis Electric/Hydraulic, External Encoder".SIMOTION MCC Motion Control Chart Programming and Operating Manualor in the online help
approachDirection
Specifies the approach direction of the encoder zero mark with the following homing modes: 'homing-Mode:=MODE_ZM' or 'homingMode:=MODE_CAM_AND_ZM'.
With APPROACH_NEGATIVE, the encoder zero mark is approached in negative direction.With APPROACH_POSITIVE, the encoder zero mark is approached in positive direction.
Specifies the edge and side of the external zero mark with the following homing modes: 'homing-Mode:=MODE_CAM' or 'homingMode:=MODE_REFERENCE_CAM_AND_EXTERNAL_ZM'.
With EDGE_POS_SIDE_NEG, homing is carried out with the positive edge on the negative side of the external zero mark. Homing is therefore carried out when the external zero mark is crossed in positive direction.
With EDGE_POS_SIDE_POS, homing is carried out with the positive edge on the positive side of the external zero mark. Homing is therefore carried out when the external zero mark is crossed in negative direction.
With EDGE_NEG_SIDE_POS, homing is carried out with the negative edge on the positive side of the external zero mark. Homing is therefore carried out when the external zero mark is crossed in positive direction.
With EDGE_NEG_SIDE_NEG, homing is carried out with the negative edge on the negative side of the external zero mark. Homing is therefore carried out when the external zero mark is crossed in negative direction.
With 'homingMode:=MODE_ZM', the encoder zero mark is approached immediately in the configured direction.With 'homingMode:=MODE_CAM_AND_ZM', the encoder zero mark is approached in the configured direction after the approach of the reference cam.With 'homingMode:=MODE_CAM' or 'homing-Mode:=MODE_REFERENCE_CAM_AND_EXTERNAL_ZM', the edge and side of the external zero mark are evaluated.
bitNumberBero
Specifies the bit number of the reference cam for homing mode CAM_AND_ZM or MODE_REFERENCE_CAM_AND_EXTERNAL_ZM.
Data type: EnumAxisApproachDirection
Changeable online: Yes, active immediately
System default: APPROACH_NEGATIVE
Data type: UDINT
Changeable online: No
System default: 0
PathAxis
11-639SIMOTION Technology Packages Configuration DataList Manual, 11/2010
enableZeroMarkDistance
Specifies the monitoring mode for the path after leaving the reference cam until the encoder zero mark is reached.With NO, the monitoring of the path after leaving the reference cam until the encoder zero mark is rea-ched is not activated.With YES, the monitoring of the path after leaving the reference cam until the encoder zero mark is reached is activated.
homingMode
Specifies the homing mode.With MODE_NO_REFERENCE, a homing mode is not selected.With MODE_CAM_AND_ZM, the homing mode reference cam with encoder zero mark is selected.With MODE_ZM, the homing mode with encoder zero mark only is selected.With MODE_CAM, the homing mode with external zero mark only is selected.MODE_REFERENCE_CAM_AND_EXTERNAL_ZM is not available.
logAddressBero
Specifies the address of the reference cam for homing mode CAM_AND_ZM or MODE_REFERENCE_CAM_AND_EXTERNAL_ZM.
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumAxisHomingMode
Changeable online: Yes, active after restart
System default: MODE_NO_REFERENCE
Data type: UDINT
Changeable online: No
System default: 65535
PathAxis
11-640 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
passiveApproachDirection
Specifies the expected approach direction for the passive homing.
For the setting 'passiveHomingMode:=ZM_PASSIVE' or 'passiveHoming-Mode:=CAM_AND_ZM_PASSIVE', this configuration data items specifies the approach direction of the encoder zero mark.With 'passiveHomingMode:=ZM_PASSIVE', the encoder zero mark is expected in the configured direction.With 'passiveHomingMode:=CAM_AND_ZM_PASSIVE', the encoder zero mark is expected in the configured direction after the approach of the reference cam.
With APPROACH_NEGATIVE_PASSIVE, the negative approach direction is expected.With APPROACH_POSITIVE_PASSIVE, the positive approach direction is expected.With ACTUAL_DIRECTION_PASSIVE, both approach directions are possible.
With EDGE_POS_SIDE_NEG_PASSIVE, a rising edge on the negative side of the external zero mark is expected.With EDGE_POS_SIDE_POS_PASSIVE, a rising edge on the positive side of the external zero mark is expected.With EDGE_NEG_SIDE_POS_PASSIVE, a falling edge on the positive side of the external zero mark is expected.With EDGE_NEG_SIDE_NEG_PASSIVE, a falling edge on the negative side of the external zero mark is expected.
passiveBitNumberBero
Specifies the bit number of the reference cam during passive homing and for homing mode CAM_AND_ZM_PASSIVE or REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE.
passiveHomingMode
Specifies the homing mode.With CAM_AND_ZM_PASSIVE, homing mode reference cam with encoder zero mark is selected.With ZM_PASSIVE, the homing mode with encoder zero mark only is selected.With CAM_PASSIVE, the homing mode with external zero mark only is selected.With DEFAULT_PASSIVE, the homing mode ZM_PASSIVE or CAM_PASSIVE is preset with or wit-hout the encoder zero mark, depending on the encoder type.REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE is not available.
Data type: EnumAxisPassiveApproachDirection
Changeable online: Yes, active immediately
System default: ACTUAL_DIRECTION_PASSIVE
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumAxisPassiveHomingMode
Changeable online: Yes, active after restart
System default: DEFAULT_PASSIVE
PathAxis
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passiveLogAddressBero
Specifies the address of the reference cam during passive homing and for homing mode CAM_AND_ZM_PASSIVE or REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE.
proceedShiftPos
Specifies the home position offset.
referenceCamType
Selects the reference cam for referencing mode MODE_CAM_AND_ZM.With HARDWARE_LIMIT_SWITCH_POSITIVE, the positive limit switch is used as the reference cam.With HARDWARE_LIMIT_SWITCH_NEGATIVE, the negative limit switch is used as the reference cam.With STANDARD, the reference cam defined in "typeOfAxis.Encoder_x.incHomingEncoder" is used.
zeroMarkDistance
Specifies the maximum length of the path after leaving the reference cam until the encoder zero mode is reached in homing mode MODE_CAM_AND_ZM.Specifies the maximum length until the encoder zero mark in homing mode MODE_ZM.
EnumAxisApproachDirection
EnumYesNo
Data type: UDINT
Changeable online: No
System default: 65535
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
Data type: EnumAxisReferenceCamType
Changeable online: No
System default: STANDARD
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
APPROACH_NEGATIVE (0) Approach direction encoder zero mark negative
APPROACH_POSITIVE (1) Approach direction encoder zero mark positive
EDGE_POS_SIDE_NEG (2) Rising edge negative side external zero mark
EDGE_POS_SIDE_POS (3) Rising edge positive side external zero mark
EDGE_NEG_SIDE_POS (4) Falling edge positive side external zero mark
EDGE_NEG_SIDE_NEG (5) Falling edge negative side external zero mark
NO (91) No
YES (173) Yes
PathAxis
11-642 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumAxisHomingMode
EnumAxisPassiveApproachDirection
EnumAxisPassiveHomingMode
EnumAxisReferenceCamType
Associated parameters (maximum):
MODE_NO_REFERENCE (0) No reference mode
MODE_CAM_AND_ZM (1) Reference cam and encoder zero mark
MODE_ZM (2) Encoder zero mark only
MODE_CAM (3) External zero mark only
MODE_REFERENCE_CAM_AND_EXTERNAL_ZM (4)
Reference cam and external zero mark
APPROACH_NEGATIVE_PASSIVE (0) Approach direction encoder zero mark negative
APPROACH_POSITIVE_PASSIVE (1) Approach direction encoder zero mark positive
EDGE_POS_SIDE_NEG_PASSIVE (2) Rising edge negative side external zero mark
EDGE_POS_SIDE_POS_PASSIVE (3) Rising edge positive side external zero mark
EDGE_NEG_SIDE_POS_PASSIVE (4) Falling edge positive side external zero mark
EDGE_NEG_SIDE_NEG_PASSIVE (5) Falling edge negative side external zero mark
ACTUAL_DIRECTION_PASSIVE (6) Next edge
CAM_AND_ZM_PASSIVE (1) Reference cam and encoder zero mark
ZM_PASSIVE (2) Encoder zero mark only
CAM_PASSIVE (3) External zero mark only
DEFAULT_PASSIVE (4) Default setting depends on encoder type (with/without encoder zero mark)
REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE (5)
Reference cam and external zero mark
STANDARD (358) Reference cam
HARDWARE_LIMIT_SWITCH_POSITIVE (389) Reference cam positive limit switch
HARDWARE_LIMIT_SWITCH_NEGATIVE (390)
Reference cam negative limit switch
StateDriveExternalZeroMark(StateDriveExternalZeroMark)
External zero mark status of digital drive
PathAxis
11-643SIMOTION Technology Packages Configuration DataList Manual, 11/2010
IntervalCounterConversionDataType - PathAxis
The structure elements of 'IntervalCounterConversionData' are used to configure the encoder as an interval counter.
The 'Interval counter' encoder type is used to determine the speed using an interval duration and the number of intervals per encoder revolution.An interval is the time between two successive encoder pulses that are recorded by an encoder module.The duration (interval) between the encoder pulses is measured by the module and provided in the I/O area.
incResolution
Specifies the increments or the number of intervals or encoder pulses per encoder revolution.
referenceTime
Specifies the reference time for the measurement of the interval duration.The reference time is the time after which the counter in the encoder module used to determine the interval duration is incremented by one (interval duration = count * reference time).
Associated parameters (maximum):
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0005 ms
DriverInfo(StructSensorDriverInfo)
AnalogDriverInfo (Only the logical address 'logAddress' of the reference value for the inter-val duration stored by the encoder module in the I/O area has to be specified. The other elements of the 'StructSensorDriverInfo' structure are not taken into account for the configuration of the interval counter.)
PathAxis
11-644 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
InversCountDirection - PathAxis
The structure elements of 'InversCountDirection' specify the counting direction of the actual encoder value.
encoderFeedbackPolarity
Specifies whether the counting direction of the actual encoder value is inverted.With NO, the count direction of the actual encoder value is not inverted. (System default)With YES, the count direction of the actual encoder value is inverted.
EnumYesNo
InvertSetPoint - PathAxis
The inversion of actuating signal is specified with the structure elements for 'InvertSetPoint'.With an electrical axis, this means the adaptation of the direction of rotation of the drive to the rotati-onal direction of the machine.With a hydraulic axis, this means the inversion of the F-output behind the characteristic curve.
invSetPoint
Specifies the activation status of the manipulated variable inversion.With 'NO', the manipulated variable is output unchanged.With 'YES', the manipulated variable is output inverted.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
PathAxis
11-645SIMOTION Technology Packages Configuration DataList Manual, 11/2010
InvertSetPointHydraulicType - PathAxis
The structure element for 'InvertSetPoint' specifies the inversion of the Q-output value after the cha-racteristic.
invert
Specifies the activation status.With NO, the Q-output value behind the characteristic curve is output unchanged.With YES, the Q-output value behind the characteristic curve is output inverted.
EnumYesNo
LeadScrewInfo - PathAxis
The structure elements of 'LeadScrew' set the leadscrew pitch.
efficiency
Efficiency of the spindle/nut combination.
pitchVal
Specifies the leadscrew pitch per spindle revolution.
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
NO (91) No
YES (173) Yes
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
Data type: LREAL
Changeable online: Yes, active after restart
System default: 10.0 mm/rot
PathAxis
11-646 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
LinearMotorDriveData - PathAxis
The structure elements of 'LinearMotorDriveData' specify key drive values for linear motors.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
forceReductionGranularity
Specifies the fine resolution of the force reduction.
forceReference
Selection setting for scaling: Reference force or maximum force.
maxForce
Specifies the maximum force.
maxSpeed
Specifies the maximum traversing velocity.
nominalForce
Specifies the maximum force.
nominalSpeed
Specifies the reference velocity.
Data type: EnumAxisTorqueForceReductionGranularity
Changeable online: Yes, active after restart
System default: BASIC
Data type: EnumAxisReferenceMaxNominal
Changeable online: Yes, active after restart
System default: MAX_VALUE
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1000.0 N
Data type: LREAL
Changeable online: No
System default: 3000.0 1/min
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1000.0 N
Data type: LREAL
Changeable online: No
System default: 3000.0 1/min
PathAxis
11-647SIMOTION Technology Packages Configuration DataList Manual, 11/2010
speedReference
Selection setting for scaling: Reference velocity or maximum velocity.
EnumAxisTorqueForceReductionGranularity
EnumAxisReferenceMaxNominal
Data type: EnumAxisReferenceMaxNominal
Changeable online: Yes, active after restart
System default: MAX_VALUE
STANDARD (0) Resolution 1/100
BASIC (16) Resolution 1/16384
MAX_VALUE (0) Maximum value
NOMINAL_VALUE (1) Nominal value
PathAxis
11-648 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
LinearStepMotorDriveDataType - PathAxis
The structure elements of 'LinearStepMotorDriveData' specify key drive values for stepper motors.
maxFrequency
Specifies the maximum frequency for motor steps.
stepMotorResolution
Specifies the number of motor steps per revolution.
Data type: LREAL
Changeable online: No
System default: 50000.0 Hz
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1000
PathAxis
11-649SIMOTION Technology Packages Configuration DataList Manual, 11/2010
MaxAcceleration - PathAxis
The structure elements of 'MaxAcceleration' define the maximum permissible acceleration and the monitoring mode for the change of the manipulated variable.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enableSetPointMonitoring
Specifies the activation status of the monitoring of the manipulated variable changeWith 'NO', the monitoring is deactivated.With 'YES', the monitoring is activated. The change of the manipulated variable is monitored but not limited.The value specified in 'maxAcceleration.maximum' is converted into the value for the maximum change of the manipulated variable.
maximum
Specifies the maximum permissible acceleration.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10000.0 mm/s²
NO (91) No
YES (173) Yes
PathAxis
11-650 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
MaxForceCommandData - PathAxis
The structure elements for 'MaxForceCommandData' are used to configure the type of setpoint gene-ration.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
maximum
Specifies the maximum force/pressure setpoint.
maximumDerived
Specifies the maximum rise of the maximum force/pressure setpoint.
MaxJerk - PathAxis
The structure element of 'MaxJerk' defines the maximum permissible jerk.
NoteFurther information is provided:Function Manual "TO Axis Electric/Hydraulic, External Encoder".SIMOTION Basic Functions Function ManualOnline help
maximum
Specifies the maximum possible jerk.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1000.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10000.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 200000.0 mm/s³
PathAxis
11-651SIMOTION Technology Packages Configuration DataList Manual, 11/2010
MaxVelocity - PathAxis
The structure element of 'MaxVelocity' defines the maximum permissible velocity.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
maximum
Specifies the maximum permissible velocity.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 500.0 mm/s
PathAxis
11-652 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ModuloInfo - PathAxis
The structure elements of 'Modulo' specify the modulo information.
length
Specifies modulo length.The minimum modulo length that can be set depends on the available resolution!
startValue
Specifies the initial value.
state
Specifies modulo activation.With ACTIVE, a modulo status is activated.With INACTIVE, the modulo status is not activated.
EnumActiveInactive
Data type: LREAL
Changeable online: Yes, active after restart
System default: 360.0 °
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
Data type: EnumActiveInactive
Changeable online: Yes, active after restart
System default: INACTIVE
ACTIVE (4) Active
INACTIVE (61) Inactive
PathAxis
11-653SIMOTION Technology Packages Configuration DataList Manual, 11/2010
NeutralBand - PathAxis
The structure elements of 'NeutralBand' specify the parameters for neutral band compensation.
centreValue
Specifies the center point of the neutral band.
enable
Specifies the activation status of neutral band compensation.With NO, the neutral band compensation is not activated.With YES, the neutral band compensation is activated.
range
Specifies the range of the neutral band.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
NO (91) No
YES (173) Yes
PathAxis
11-654 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
NumberOfAdditionalSensors - PathAxis
The structure elements for 'NumberOfAdditionalSensors' are used to configure the additional enco-ders.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
number
Specifies the number of encoders for a force-controlled axis
Associated parameters (maximum):
Data type: UDINT
Changeable online: No
System default: 1
AdditionalSensor_1(AdditionalSensorMain)
Encoder 1
AdditionalSensor_2(AdditionalSensorMain)
Encoder 2
AdditionalSensor_3(AdditionalSensorMain)
Encoder 3
AdditionalSensor_4(AdditionalSensorMain)
Encoder 4
AdditionalSensor_5(AdditionalSensorMain)
Encoder 5
AdditionalSensor_6(AdditionalSensorMain)
Encoder 6
AdditionalSensor_7(AdditionalSensorMain)
Encoder 7
AdditionalSensor_8(AdditionalSensorMain)
Encoder 8
PathAxis
11-655SIMOTION Technology Packages Configuration DataList Manual, 11/2010
NumberOfDataSets - PathAxis
The structure elements for 'NumberOfDataSets' specify the number of data sets.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
changeMode
Specifies the mode for data set change.With 'NEVER', data record switchover does not take place.With 'IN_POSITION', the data record switchover takes place when the positioning window is reached.With 'IN_STANDSTILL', the data record switchover takes place when the standstill signal is present.With 'IMMEDIATELY', data record switchover takes place immediately.
initDataSet
Specifies the initialization data set.
numberOfDataSets
Specifies the number of data sets.
smoothingTimeByChangeDifference
The time constant parameterizes a PT1 element that smoothes abrupt changes in the manipulated variable. Such jumps occur, for example, as a result of Kv changes.
This filter is not effective for changes in the Kv factor.This filter is effective for data record changes.
EnumChangeMode
Data type: EnumChangeMode
Changeable online: Yes, active after restart
System default: IN_POSITION
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: No
System default: 1
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
NEVER (0) No switchover
IN_POSITION (1) Switchover when axis in positioning window
IN_STANDSTILL (3) Switchover when axis below standstill velocity
IMMEDIATELY (7) Immediate switchover
PathAxis
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Associated parameters (maximum):
DataSet_1(DataSetMain)
Data record 1
DataSet_10(DataSetMain)
Data record 10
DataSet_11(DataSetMain)
Data record 11
DataSet_12(DataSetMain)
Data record 12
DataSet_13(DataSetMain)
Data record 13
DataSet_14(DataSetMain)
Data record 14
DataSet_15(DataSetMain)
Data record 15
DataSet_16(DataSetMain)
Data record 16
DataSet_2(DataSetMain)
Data record 2
DataSet_3(DataSetMain)
Data record 3
DataSet_4(DataSetMain)
Data record 4
DataSet_5(DataSetMain)
Data record 5
DataSet_6(DataSetMain)
Data record 6
DataSet_7(DataSetMain)
Data record 7
DataSet_8(DataSetMain)
Data record 8
DataSet_9(DataSetMain)
Data record 9
PathAxis
11-657SIMOTION Technology Packages Configuration DataList Manual, 11/2010
NumberOfDigitalInputs - PathAxis
The structure elements of 'NumberOfDigitalInputs' are used to configure the number of digital inputs.
number
Specifies the number of inputs.
Associated parameters (maximum):
Data type: UDINT
Changeable online: No
System default: 0
DigitalInput_1(DigitalInputMain)
Digital input 1
DigitalInput_2(DigitalInputMain)
Digital input 2
DigitalInput_3(DigitalInputMain)
Digital input 3
DigitalInput_4(DigitalInputMain)
Digital input 4
DigitalInput_5(DigitalInputMain)
Digital input 5
DigitalInput_6(DigitalInputMain)
Digital input 6
DigitalInput_7(DigitalInputMain)
Digital input 7
DigitalInput_8(DigitalInputMain)
Digital input 8
PathAxis
11-658 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
NumberOfEncoders - PathAxis
The structure element of 'NumberOfEncoders' sets the number of encoders.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
dscEncoderNumber
Specifies the DSC encoder.
numberOfEncoders
Specifies the number of encoders.
Associated parameters (maximum):
Data type: UDINT
Changeable online: No
System default: 1
Data type: UDINT
Changeable online: No
System default: 1
Encoder_1(EncoderMain)
Encoder 1
Encoder_2(EncoderMain)
Encoder 2
Encoder_3(EncoderMain)
Encoder 3
Encoder_4(EncoderMain)
Encoder 4
Encoder_5(EncoderMain)
Encoder 5
Encoder_6(EncoderMain)
Encoder 6
Encoder_7(EncoderMain)
Encoder 7
Encoder_8(EncoderMain)
Encoder 8
PathAxis
11-659SIMOTION Technology Packages Configuration DataList Manual, 11/2010
OutputLimits - PathAxis
The structure element 'OutputLimits' is used to configure the manipulated variable limitation.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
_max
Specifies the maximum output value for the force controller.
_min
Specifies the minimum output value for the force controller.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 500.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: -500.0
PathAxis
11-660 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PD_Controller - PathAxis
The structure elements of 'PD_Controller' specify the parameters of the PD controller.
decayTime
Specifies the delay time constant of the D component.
kd
Specifies the D component gain.
kp
Specifies the P component gain.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 1/s
PathAxis
11-661SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PID_ControllerForce - PathAxis
The structure element 'PID_Controller' is used to configure the PID controller.
decayTime
Delay time constant of D-action component
enableAntiWindup
Specifies the activation status of the integrator limitation.With 'NO', the integrator limitation is not activated.With 'YES', the integrator limitation is activated.
integratorFeedbackTimeConstant
Specifies the time constant to deactivate the I component.
kd
Specifies the D component gain.
ki
Specifies the I component gain.
kp
Specifies the P component gain.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 1/s
PathAxis
11-662 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
kpc
Specifies the pre-control factor.
preCon
Specifies the activation status of the precontrol system.With 'NO', the precontrol is not activated.With 'YES', the precontrol is activated.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 100.0 %
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
PathAxis
11-663SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PID_ControllerPos - PathAxis
The structure element 'PID_Controller' is used to configure the PID controller.
balanceFilterMode
Specifies the balancing filter.
decayTime
Specifies the delay time constant of the D component.
enableAntiWindup
Activation of the integrator limitation.
kd
Specifies the D component gain.
ki
Specifies the I component gain.
kp
Specifies the P component gain.
Data type: EnumBalanceFilterMode
Changeable online: Yes, active after restart
System default: MODE_1
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 1/s²
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 1/s
PathAxis
11-664 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
kpc
Specifies the pre-control factor.
preCon
Specifies the activation status of the precontrol system.With 'NO', the precontrol is not activated.With 'YES', the precontrol is activated.
EnumBalanceFilterMode
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 100.0 %
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
OFF (0) Balancing filter not active
MODE_1 (1) Balancing filter active
MODE_2 (2) Expanded balancing filter active
NO (91) No
YES (173) Yes
PathAxis
11-665SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PT2PositionFilterType - PathAxis
The structure elements of 'PositionFilter' specify the parameters of the position filter.
T1
Time constant T1 of the position filter.
T2
Time constant T2 of the position filter.
enable
Specifies the activation status of the position filter.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
PathAxis
11-666 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PV_Controller - PathAxis
The structure elements of 'PV_Controller' specify the parameters of the P controller with precontrol.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
balanceFilterMode
Specifies the balancing filter type.
enableDSC
Specifies the activation status of DSC.With NO, DSC is not activated.With YES, DSC is activated.
kpc
Specifies the pre-control factor.
kv
Specifies the gain factor of the position feedback loop.
Data type: EnumBalanceFilterMode
Changeable online: Yes, active after restart
System default: MODE_1
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 100.0 %
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 1/s
PathAxis
11-667SIMOTION Technology Packages Configuration DataList Manual, 11/2010
preCon
Specifies the activation status of the precontrol system.With NO, the precontrol is not activated.With YES, the precontrol is activated.
EnumBalanceFilterMode
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
OFF (0) Balancing filter not active
MODE_1 (1) Balancing filter active
MODE_2 (2) Expanded balancing filter active
NO (91) No
YES (173) Yes
PathAxis
11-668 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PathAxisPosTolerance - PathAxis
The setting of the setpoint differential monitoring on the path axis is specified with the structure ele-ments for 'PathAxisPosTolerance'.
Note"Further information can be found in the Path Interpolation Technology Object Function Manual and in online help."
commandValueTolerance
Specifies the permissible setpoint deviation. An alarm is output if the value is exceeded.
enableCommandValue
Specifies the activation status of the setpoint tolerance monitoring system.With NO_ACTIVATE, the tolerance monitoring of the setpoints is not activated.With WITHOUT_JERK, the tolerance monitoring of the setpoints is activated without inclusion of the jerk. An alarm is output if the setpoints are exceeded.With WITH_JERK, the tolerance monitoring of the setpoints is activated with inclusion of the jerk. An alarm is output if the setpoints are exceeded.
EnumAxisPathPosToleranceCommandValue
PathPerRevolution - PathAxis
The structure elements of 'PathPerRevolution' specify the distance of one revolution for the EXTERN assembly base.
length
Specifies the path length of an encoder revolution for EXTERNAL mount type.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 mm
Data type: EnumAxisPathPosToleranceCommandValue
Changeable online: Yes, active immediately
System default: WITHOUT_JERK
NO_ACTIVATE (0) No
WITHOUT_JERK (1) Without jerk
WITH_JERK (2) With jerk
Data type: LREAL
Changeable online: Yes, active after restart
System default: 100.0 mm
PathAxis
11-669SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PathSyncAxisPosTolerance - PathAxis
The setting of the setpoint differential monitoring on the synchronous axis is specified with the struc-ture elements for 'PathSyncAxisPosTolerance'.
Note"Further information can be found in the Path Interpolation Technology Object Function Manual and in online help."
commandValueTolerance
Specifies the permissible setpoint deviation. An alarm is output if the value is exceeded.
enableCommandValue
Specifies the activation status of the setpoint tolerance monitoring system.With NO_ACTIVATE, the tolerance monitoring of the setpoints is not activated.With WITHOUT_JERK, the tolerance monitoring of the setpoints is activated without inclusion of the jerk. An alarm is output if the setpoints are exceeded.With WITH_JERK, the tolerance monitoring of the setpoints is activated with inclusion of the jerk. An alarm is output if the setpoints are exceeded.
EnumAxisPathPosToleranceCommandValue
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10.0 mm
Data type: EnumAxisPathPosToleranceCommandValue
Changeable online: Yes, active immediately
System default: WITHOUT_JERK
NO_ACTIVATE (0) No
WITHOUT_JERK (1) Without jerk
WITH_JERK (2) With jerk
PathAxis
11-670 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PositionFilterType - PathAxis
The structure elements of 'PositionFilter' specify actual value smoothing. The settings take effect on the actual position values in the servo cycle clock.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies filter functionality.With 'NO', the filter functionality is deactivated.With 'YES', the filter functionality is activated.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
PathAxis
11-671SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PositionMonitoring - PathAxis
The structure elements of 'PositionMonitoring' specify position monitoring.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
posWinTolDelayTime
Specifies the delay between the time when the actual value reaches the tolerance window and acti-vation of zero speed monitoring.
posWinTolTime
Specifies the delay between activation of monitoring and the time when the actual value reaches the tolerance window.
tolerance
Specifies the width of the positioning window.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm
PathAxis
11-672 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ProcessModel - PathAxis
The structure elements of 'ProcessModel' set the parameters for the process model.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
T1
Specifies the first time constant.
T2
Specifies the second time constant.
ks
Specifies the transmission factor.
Range - PathAxis
The 'Range' structure elements are used to configure the definition range of the read encoder values.
_max
Specifies the maximum value.
_min
Specifies the minimum value.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.003 s
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0001 s
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.00000095367431640625
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10000.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: -10000.0
PathAxis
11-673SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Resolution - PathAxis
'Resolution' is used to configure the parameters of a linear encoder system (linear scale).
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
distance
Distance between two encoder increments.
NoteThe minimum value that can be set results from the maximum resolution of the TO axis or TO external encoder. Consequently, for an excessive lower limit, the unit for the 'Increments/Position' physical quantity must be varied appropriately.
multiplierCyclic
Incremental resolution
RestartConditionInfo - PathAxis
'RestartConditionInfo' is used to set the state in which axis restart is possible.
restartAxisCondition
Specifies the condition for restart.With 'NO_CONSTRAINTS', restart takes place irrespective of the axis state.With 'STANDSTILL', restart takes place only when a standstill signal is present.With 'AXIS_DISABLED', restart only takes place if there are no enables set on the axis.
EnumRestartAxisCondition
Data type: LREAL
Changeable online: No
System default: 0.001 mm
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumRestartAxisCondition
Changeable online: Yes, active after restart
System default: AXIS_DISABLED
NO_CONSTRAINTS (0) Restart without constraints
STANDSTILL (1) Restart during standstill
AXIS_DISABLED (2) Restart only when no enables are set
PathAxis
11-674 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
RestartInfo - PathAxis
'RestartInfo' is used to enable technology object restart with system variables and/or by command or just by command.
behaviorInvalidSysvarAccess
If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology object is restarted or deactivated.The values stored in the image are supplied when system variables are accessed during the techno-logy object restart or deactivation phase.
restartActivationSetting
With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with system variables and/or by command.With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
EnumToRestartActivationSetting
Data type: EnumToInvalidSysvarAccess
Changeable online: No
System default: LAST_VALUE
Data type: EnumToRestartActivationSetting
Changeable online: Yes, active after restart
System default: RESTART_BY_SYSVAR_AND_COMMAND
DEFAULT_VALUE (2) Supply substitute value from default value
STOP_DEVICE (3) No substitute value, switch to STOP mode
LAST_VALUE (338) Supply substitute value from last valid value
RESTART_BY_SYSVAR_AND_COMMAND (0) Allow restart via system variable and/or com-mand
RESTART_BY_COMMAND (1) Allow restart only via command
PathAxis
11-675SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ReverseCamNegative - PathAxis
The structure elements of 'ReverseCamNegative' specify the parameters for a negative reversing cam.
_type
Specifies the reversing cam selection.With NONE, a negative reversing cam is not present.With SPECIFIC, the reversing cam is defined by an address and bit number.With HARDWARE_LIMIT_SWITCH, the negative hardware limit switch is used as the reversing cam.
bitNumber
Specifies the bit umber of the negative reversing cam for the selection SPECIFIC.
logAddress
Specifies the address of the negative reversing cam for the selection SPECIFIC.
EnumAxisHomingReverseCamType
Data type: EnumAxisHomingReverseCamType
Changeable online: No
System default: NONE
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 65535
NONE (93) No reversing cam
SPECIFIC (387) Newly defined reversing cam
HARDWARE_LIMIT_SWITCH (388) Hardware limit switch as reversing cam
PathAxis
11-676 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ReverseCamPositive - PathAxis
The structure elements of 'ReverseCamPositive' specify the parameters for a positive reversing cam.
_type
Specifies the reversing cam selection.With NONE, a positive reversing cam is not present.With SPECIFIC, the reversing cam is defined by an address and bit number.With HARDWARE_LIMIT_SWITCH, the positive hardware limit switch is used as the reversing cam.
bitNumber
Specifies the bit number of the positive reversing cam for the selection SPECIFIC.
logAddress
Specifies the address of the positive reversing cam for the selection SPECIFIC.
EnumAxisHomingReverseCamType
Data type: EnumAxisHomingReverseCamType
Changeable online: No
System default: NONE
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 65535
NONE (93) No reversing cam
SPECIFIC (387) Newly defined reversing cam
HARDWARE_LIMIT_SWITCH (388) Hardware limit switch as reversing cam
PathAxis
11-677SIMOTION Technology Packages Configuration DataList Manual, 11/2010
SensorControlConfig - PathAxis
The tolerance of an encoder error is specified with the structure elements for 'SensorControlConfig'.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
tolerateSensorDefect
Specifies whether a failure of an encoder not involved in the closed-loop control should be tolerated.With 'NO', a failure is not tolerated.With 'YES', a failure is tolerated.
EnumYesNo
SensorNist - PathAxis
The structure elements of 'SensorNist' specify the parameters for the actual speed value from the I/O area.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
logAddress
Specifies the address of the actual speed value in the I/O area.
referenceValue
Specifies the reference time for the interval measurement.
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
Data type: UDINT
Changeable online: No
System default: 65535
Data type: LREAL
Changeable online: Yes, active after restart
System default: 3000.0
PathAxis
11-678 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
SensorSetActualValue - PathAxis
The structure elements of 'SensorSetActualValue' specify the parameters for actual value read-in via system variable.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
maxFailures
Specifies the number of permissible failures with reference to the update cycle.
updateCycle
Specifies the actual value update cycle via system variable.
EnumAxisUpdateCycle
Data type: UDINT
Changeable online: Yes, active immediately
System default: 1
Data type: EnumAxisUpdateCycle
Changeable online: Yes, active after restart
System default: IPO
IPO (0) IPO
IPO_2 (1) IPO_2
SERVO (2) Servo
IPO_FAST (3) IPO_fast
SERVO_FAST (4) Servo_fast
PathAxis
11-679SIMOTION Technology Packages Configuration DataList Manual, 11/2010
SetPointDriverInfo - PathAxis
The structure elements of 'SetPointDriverInfo' specify the driver information for the drive interface.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
actorType
Specifies the type of drive.With NO_TYPE, there is no interface specification.With 'ANALOG', the interface is configured for analog drives.With 'STEPMOTOR', the interface is configured for stepper motors.
interfaceAllocation
Selects the interface behavior.With EXCLUSIVE, the driver can only be used on this technology object.With NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED, the driver can be used on this or any other technology object. The driver is deactivated on the technology object after system startup.With NON_EXCLUSIVE_AND_STARTUP_ACTIVATED, the driver can be used on this or any other technology object. The driver is activated on the technology object after system startup.
lifeSignCheck
Specifies the activation status of life sign monitoring.With NO, the sign of life monitoring is not activated.With YES, the sign of life monitoring is activated.
logAddressIn
Specifies the logical address for the input data area.
Data type: EnumAxisDioActorType
Changeable online: No
System default: NO_TYPE
Data type: EnumAxisActuatorInterfaceAllocationConfig
Changeable online: No
System default: EXCLUSIVE
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: UDINT
Changeable online: No
System default: 65535
PathAxis
11-680 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
logAddressOut
Specifies the logical address for the output data area.
maxSetPointVoltage
Specifies the standard voltage with which the analog drive reaches its rated speed.
mode
Specifies the type of drive interface.With SIMULATION, actuator and encoder are short-circuited via a delay element.With ONBOARD, the ONBOARD interfaces are used.With DPMASTER, the drive coupling is performed via PROFIBUS DP..
motorType
Specifies the motor type.With STANDARD_MOTORTYPE, operation with a standard motor is configured.With LINEAR_MOTORTYPE, operation with a linear motor is configured.
outputNumberOnDevice
Not used
Data type: UDINT
Changeable online: No
System default: 65535
Data type: LREAL
Changeable online: Yes, active after restart
System default: 10.0 V
Data type: EnumAxisDriverMode
Changeable online: No
System default: SIMULATION
Data type: EnumAxisMotorType
Changeable online: No
System default: STANDARD_MOTORTYPE
Data type: UDINT
Changeable online: No
System default: 0
PathAxis
11-681SIMOTION Technology Packages Configuration DataList Manual, 11/2010
telegramType
Specifies the PROFIBUS message frame type.With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set up.With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set up.With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one encoder) is set up.With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with two encoders) is set up.With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives with one encoder and DSC) is set up.With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled drives with two encoders and DSC) is set up.
The message frames DP_TEL81_STANDARD (81) to DP_TEL83_STANDARD (83) are not relevant for DriveAxis.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7 for velocity-controlled drives without encoders is set up.With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for velocity-controlled drives with one encoder is set up.With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for velocity-controlled drives with two encoders is set up.With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for velocity-controlled drives with one encoder and DSC is set up.With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for velocity-controlled drives with two encoders and DSC is set up.
The message frames DP_TEL125_SIEM_DSC_1_ENCODER_SPLINE (125) and DP_TEL126_SIEM_DSC_2_ENCODER_SPLINE (126) are not supported for he SIMOTION Version V4.2.
EnumAxisDioActorType
EnumAxisActuatorInterfaceAllocationConfig
EnumYesNo
Data type: EnumAxisTelegramType
Changeable online: No
System default: DP_TEL102_611U_POSCTRL_1_ENCODER
NO_TYPE (0) No type
ANALOG (1) Analog
STEPMOTOR (2) Step mode
EXCLUSIVE (939) Technology object (TO) exclusive
NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED (940)
TO non-exclusive and deactivated
NON_EXCLUSIVE_AND_STARTUP_ACTIVATED (941)
TO non-exclusive and active
NO (91) No
YES (173) Yes
PathAxis
11-682 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumAxisDriverMode
EnumAxisMotorType
EnumAxisTelegramType
Associated parameters (maximum):
SIMULATION (0) Simulation
ONBOARD (1) Onboard
DPMASTER (2) DP Master
STANDARD_MOTORTYPE (0) Standard motor
LINEAR_MOTORTYPE (1) Linear motor
NO_TELEGRAM (0) No message frame
DP_TEL1_STANDARD (1) Standard message frame 1, PZD-2/2
DP_TEL2_STANDARD (2) Standard message frame 2, PZD-4/4
DP_TEL3_STANDARD (3) Standard message frame 3, PZD-5/9
DP_TEL4_STANDARD (4) Standard message frame 4, PZD-6/14
DP_TEL5_STANDARD (5) Standard message frame 5, PZD-9/9
DP_TEL6_STANDARD (6) Standard message frame 6, PZD-10/14
DP_TEL81_STANDARD (81) Standard message frame 81, PZD-2/6
DP_TEL83_STANDARD (83) Standard message frame 83, PZD-2/8
DP_TEL101_611U_VELCTRL_NO_ENCODER (101)
SIEMENS message frame 101, PZD-6/7
DP_TEL102_611U_POSCTRL_1_ENCODER (102)
SIEMENS message frame 102, PZD-6/10
DP_TEL103_611U_POSCTRL_2_ENCODER (103)
SIEMENS message frame 103, PZD-7/15
DP_TEL105_611U_DSC_1_ENCODER (105) SIEMENS message frame 105, PZD-10/10
DP_TEL106_611U_DSC_2_ENCODER (106) SIEMENS message frame 106/107, PZD-11/15
DriveData(DriveData)
Drive characteristics for standard motors
InvertSetPoint(InvertSetPoint)
Direction of rotation adaptation
LinearMotorDriveData(LinearMotorDriveData)
Drive characteristics for linear motors
LinearStepMotorDriveData(LinearStepMotorDriveDataType)
Drive characteristics for stepper motors
StepMotorDriveData(StepMotorDriveDataType)
Drive characteristics for stepper motors
PathAxis
11-683SIMOTION Technology Packages Configuration DataList Manual, 11/2010
SimulationInfo - PathAxis
The structure elements of 'SimulationInfo' are used to set a process interface. Simulation mode is not available at present.
simulationMode
Simulation mode activation.With 'Simulation mode = NO', process connection is set.'Simulation mode = YES' is not available.
EnumYesNo
Slippage - PathAxis
Not functional.
slippageLimit
Data type: EnumYesNo
Changeable online: No
System default: NO
NO (91) No
YES (173) Yes
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1000 mm
PathAxis
11-684 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
SmoothingFilter - PathAxis
The structure elements for 'SmoothingFilter' specify actual velocity filtering. The filtered actual velocity is displayed in 'motionStateData.actualVelocity'.'timeConstant':- Time constant for PT1 smoothing.- Time constant for averaging.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies filter functionality.With NO, the filter functionality is deactivated.With YES, the filter functionality is activated.
mode
Specifies criterion for actual value smoothing.With 'DEFAULT_MODE', the ratio of interpolator cycle clock to position servo cycle clock is used.With 'AVERAGING', an average over time is used.With 'PT1', a filter set via 'timeConstant' is used.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
EnumAxisFilterMode
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumAxisFilterMode
Changeable online: Yes, active after restart
System default: DEFAULT_MODE
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
DEFAULT_MODE (0) No filter
AVERAGING (1) Form mean value
PT1 (2) PT1 filter
PathAxis
11-685SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StandStillMonitoring - PathAxis
The structure elements of 'StandStillMonitoring' specify zero speed monitoring.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
delayTimeToActivate
Specifies the delay between the time at which the monitoring window is reached and activation of the message.
stillStandTolerance
Specifies the maximum position tolerance at standstill.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm
PathAxis
11-686 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StandStillSignal - PathAxis
The structure elements of 'StandStillSignal' specify the parameters for the velocity-dependent stand-still signal.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
delayTimeToActivate
Specifies the delay time to activation of the velocity-dependent standstill signal.
filterDegree
Specifies the filter degree.
filterFrequency
Specifies the filter frequency.
maxVeloStandStill
Specifies the velocity limit below which the velocity-dependent standstill signal is active.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: UINT
Changeable online: Yes, active immediately
System default: 0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 Hz
Data type: LREAL
Changeable online: Yes, active immediately
System default: 50.0 mm/min
PathAxis
11-687SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StateDriveExternalZeroMark - PathAxis
The structure elements of 'StateDriveExternalZeroMark' specify the parameters for the status of an external zero mark for a digital drive.
available
Specifies that the external zero mark status for a digital drive is available.
bitNumber
Specifies the bit number of the external zero mark for a digital drive.
logAddress
Specifies the address of the external zero mark for a digital drive.
EnumYesNo
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 65535
NO (91) No
YES (173) Yes
PathAxis
11-688 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StepMotorDriveDataType - PathAxis
The structure elements of 'StepMotorDriveData' specify key drive values for stepper motors.
maxFrequency
Specifies the maximum frequency for motor steps.
stepMotorResolution
Specifies the number of motor steps per revolution.
Data type: LREAL
Changeable online: No
System default: 50000.0 Hz
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1000
PathAxis
11-689SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StepMotorMonitoringType - PathAxis
The structure elements belonging to 'StepMotorMonitoring' are used to set the rotation monitoring for step motor operation.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
beroCycleDistance
Specifies the maximum allowed deviation of motor steps per revolution.
beroCycleTolerance
Specifies a tolerance range around beroCycleDistance.
enable
Specifies the activation status of the step motor monitoring.
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2048
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2048
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
PathAxis
11-690 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisActualValueUpdateCounter - PathAxis
The structure elements of 'UpdateCounter' are used to set the parameters for evaluation of the actual value update.
bitNumber
Specifies the first bit number of the update counter.
enableCounter
Specifies whether the actual value update is evaluated.With NO, the actual value update is not evaluated.With YES, the actual value update is evaluated.
logAddress
Specifies the logical address of the update counter.
maxFailure
Specifies the number of permissible value failures before an error is output.
quantityOfBits
Specifies the number of bits in the update counter.
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
PathAxis
11-691SIMOTION Technology Packages Configuration DataList Manual, 11/2010
updateCycle
Specifies the ratio of the actual value update.
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
NO (91) No
YES (173) Yes
PathAxis
11-692 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisAdditionalOffset - PathAxis
The structure elements belonging to 'AdditionalOffset' are used to set the offset application for traver-sal of the axis with motion/force control.The offset is applied during traversal of the axis with motion control related to the velocity setpoint.For force/pressure specification, the offset application is based on the actual velocity value.
enable
Specifies the activation status of the offset application.With NO, the offset application is not activated.With YES , the offset application is activated.
forceControlLowerLimit
Specifies the activation threshold for 'offsetForceControlPositive/Negative'.The offset acts when the 'forceControlLowerLimit' value has been exceeded.
offsetForceControlNegative
Specifies the offset for traversal with force specification and negative direction of movement.
offsetForceControlPositive
Specifies the offset for traversal with force control and positive direction of movement.
offsetMotionControlNegative
Specifies the offset for traversal with motion control and negative direction of movement.
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm/s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm/s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm/s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm/s
PathAxis
11-693SIMOTION Technology Packages Configuration DataList Manual, 11/2010
offsetMotionControlPositive
Specifies the offset for traversal with motion control and positive direction of movement.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 mm/s
NO (91) No
YES (173) Yes
PathAxis
11-694 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisAnalogSensorErrorStateMonitoring - PathAxis
The structure elements of 'ErrorStateMonitoring' are used to set the parameters for evaluation of the error bit.
bitNumber
Specifies the bit number of the error bit.
bitSemantics
Specifies the evaluation of the error bit.With TRUE, the error bit is evaluated as 1.With FALSE, the error bit is evaluated as 0.
enable
Specifies whether the error bit monitoring is performed.With NO, the logical address is not used.With YES, the logical address is used.
logAddress
Specifies the logical address of the error bit.
EnumTrueFalse
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: EnumTrueFalse
Changeable online: Yes, active after restart
System default: _TRUE
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
_TRUE (405) true
_FALSE (406) false
NO (91) No
YES (173) Yes
PathAxis
11-695SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisAnalogSensorReadyStateMonitoring - PathAxis
The structure elements of 'ReadyStateMonitoring' are used to set the parameters for evaluation of the ready bit.
bitNumber
Specifies the bit number of the ready bit.
bitSemantics
Specifies the evaluation of the ready bit.With TRUE, the ready bit is evaluated as 1.With FALSE, the ready bit is evaluated as 0.
enable
Specifies whether the ready bit monitoring is performed.With NO, the logical address is not used.With YES, the logical address is used.
logAddress
Specifies the logical address of the ready bit.
EnumTrueFalse
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: EnumTrueFalse
Changeable online: Yes, active after restart
System default: _TRUE
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
_TRUE (405) true
_FALSE (406) false
NO (91) No
YES (173) Yes
PathAxis
11-696 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisDriveControlConfig - PathAxis
Settings for the drive are specified with the 'DriveControlConfig' configuration data.
dataAdaption
The 'dataAdaption' configuration data activates the adaptation of the drive data.With 'YES', is the adaptation active.With 'NO', is the adaptation deactivated.
pulsesEnabledEvaluation
The 'PulsesEnabledEvaluation' configuration data describes the behavior of the axis for a drive-inde-pendent stop response.With 'YES', the Pulses-Enabled bit is always processed.With 'COMPATIBILITY_MODE', the Pulses-Enabled bit is only processed for selected safety data block.
releaseDisableMode
The behavior of the drive during the RELEASE_DISABLE error response is specified with the 'release-DisableMode' configuration data.
Specifies the values of bits 0 - 6 to be reset in the PROFIDrive protocol.The bits are negated by the system and ANDed with the existing control word. The specified bits are reset.
Meaning of the bits in the PROFIdrive protocol:Bit0 - ONBit1 - No Coast StopBit2 - No Quick StopBit3 - Enable OperationBit4 - Enable Ramp GeneratorBit5 - Unfreeze Ramp GeneratorBit6 - Enable Setpoint
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumAxisPulsesEnabledEvaluation
Changeable online: Yes, active after restart
System default: COMPATIBILITY_MODE
Data type: UDINT
Changeable online: Yes, active immediately
System default: 127
NO (91) No
YES (173) Yes
PathAxis
11-697SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumAxisPulsesEnabledEvaluation
Associated parameters (maximum):
YES (173) Pulses-Enabled bit is always processed
COMPATIBILITY_MODE (959) The Pulses-Enabled bit is only processed for selected safety data block
pulsesEnabled(StructAxisPulsesEnabledConfig)
Position of PulsesEnabled bit
PathAxis
11-698 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - PathAxis
Specifies the logical address for the communication with the drive.
logAddress
Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data in the cyclic message frame from the drive.
Data type: UDINT
Changeable online: No
System default: 65535
PathAxis
11-699SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisFilterForceControlConfig - PathAxis
The filter at the output of the force controller is configured with the structure element 'FilterForceCon-trol'.
T1
Specifies the T1 time constant of the PT2 filter.
T2
Specifies the T2 time constant of the PT2 filter.
_type
With 'PT2', a PT2 filter is selected.
enable
This data element activates the filter
EnumForceControllerFilterType
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
Data type: EnumForceControllerFilterType
Changeable online: Yes, active after restart
System default: PT2
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
PT2 (909) PT2
NO (91) No
YES (173) Yes
PathAxis
11-700 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisInvertFOutput - PathAxis
The structure element for 'InvertF' specifies the inversion of the F-output value in front of the charac-teristic.
invSetPoint
Specifies the activation status.With 'NO', the F output value in front of the characteristic curve (logical manipulated variable) is output unchanged.With 'YES', the F output value in front of the characteristic curve (logical manipulated variable) is out-put inverted.
EnumYesNo
StructAxisInvertQOutput - PathAxis
The structure element for 'InvertQ' specifies the inversion of the Q-output value in front of the charac-teristic.
invSetPoint
Specifies the activation status.With 'NO', the Q output value in front of the characteristic curve (logical manipulated variable) is output unchanged.With 'YES', the Q output value in front of the characteristic curve (logical manipulated variable) is out-put inverted.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
PathAxis
11-701SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisNistDriverConfig - PathAxis
The parameters for the actual speed value hardware are specified with the structure elements for 'NistDriverConfig' .
logAddress
Specifies the logical address for the actual speed value.
Data type: UDINT
Changeable online: No
System default: 65535
PathAxis
11-702 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisOperatingDataInInfo - PathAxis
Specifies the configuration of the operating character data block.
enableActivePower
Specifies the activation of the effective power display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableActualCurrent
Specifies the activation of the actual current value display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableActualTorqueOrForce
Specifies the activation of the torque / force actual value display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableMotorTemperature
Specifies the activation of the motor temperature display.With 'NO', the display is not activated.With 'YES', the display is activated.
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
PathAxis
11-703SIMOTION Technology Packages Configuration DataList Manual, 11/2010
enableTorqueOrForceUtilization
Specifies the activation of the torque utilization display.With 'NO', the display is not activated.With 'YES', the display is activated.
logAddress
Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data in the cyclic message frame from the drive.
EnumYesNo
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: UDINT
Changeable online: No
System default: 65535
NO (91) No
YES (173) Yes
PathAxis
11-704 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisPulsesEnabledConfig - PathAxis
The bit position for pulsesEnable is defined with the configuration data in 'StructAxisPulsesEnabled-Config'.
bitNumber
Specifies the bit number for pulse enable.
pzdNumber
Specifies the PZD number for pulse enable.
StructAxisServoMonitoringConfig - PathAxis
The structure elements for 'ServoMonitoring' are used to set the activation status of the control loop monitoring for activated limitation by the Q/P valve.
motionMonitoringWhenExternalForceLimiting
Activation of the control loop monitoring with an active pressure limiting command.With 'YES', the monitoring is active.With 'NO', the monitoring is not active.
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 13
Data type: UDINT
Changeable online: Yes, active after restart
System default: 5
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
PathAxis
11-705SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisSetpointFilter - PathAxis
The 'setpointFilter' structure element is used to configure a PT1 filter in the manipulated variable branch.
T1
Specifies the T1 time constant of the PT1 filter.
enable
This data element activates the filter
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
PathAxis
11-706 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisSlidingFriction - PathAxis
The structure elements of 'Sliding Friction' specify sliding friction compensation.
enable
Specifies the activation status of friction torque compensation.With 'NO', the sliding friction compensation is not activated.With 'YES', the sliding friction compensation is activated.
factorForceControl
Factor for the sliding friction compensation relative to the actual velocity whentraversing via force/pressure control.
factorMotionControl
Factor for the sliding friction compensation relative to the setpoint velocity whentraversing via motion control.
maxSlidingFrictionForceControl
Specifies the upper limit for the sliding friction component for pressure control.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
NO (91) No
YES (173) Yes
PathAxis
11-707SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisSpeedLimitation - PathAxis
Parameters for asymmetric manipulated variable limitation. This function is also referred to as a back-stop.
enable
Specifies the activation status of the velocity range limit..With 'NO', the velocity limit is not activated.With 'YES', the velocity limit is activated.
maxSpeed
Specifies the upper limit for the manipulated variable range.
minSpeed
Specifies the lower limit for the manipulated variable range.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 1/min
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 1/min
NO (91) No
YES (173) Yes
PathAxis
11-708 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisSwLimitConfig - PathAxis
The structure elements for 'SwLimit' are used to parameterize the efficiency and the approach func-tionality of the software limit switch.
modeSpecificMonitoring
Specifies the approach behavior at the software limit switch.
monitoringAtMotionStart
Specifies whether a restriction to the software limit switch should take place at the motion start.With a 'YES' setting, a check is performed at the beginning of the motion initiated by the command to determine whether a software limit switch is crossed, and then the target position is adapted to the software limit switch.With a 'NO' setting, a check is not performed at the motion start.
relieveWindow
Tolerance window for the retraction from/via the software limit switch.
EnumAxisSwLimitModeSpecificMonitoring
EnumYesNo
Data type: EnumAxisSwLimitModeSpecificMonitoring
Changeable online: Yes, active after restart
System default: IN_CLOSED_LOOP_POSITION_CONTROL
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
IN_CLOSED_LOOP_POSITION_CONTROL (0)
Stop on the software limit switch only during position-controlled traversing
IN_ALL_CONTROL_MODES (1) Stop on the software limit switch in all operating modes with mandatory switchover to position control
NO (91) No
YES (173) Yes
PathAxis
11-709SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisSystemDeadTimeData - PathAxis
The structure elements belonging to 'SystemDeadTimeData' allow the correction of system-related dead times.
additionalTime
Correction value for system-related dead times.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 s
PathAxis
11-710 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisTechnologicalData - PathAxis
The structure elements belonging to TechnologicalData are used to specify addresses for additional data exchange between drive and control unit.
driveSafetyExtendedFunctionsEnabled
Specifies the activation status of the SINAMICS Safety Integrated Extended Functions data.With 'NO', the data are not activated.With 'YES', the data are activated.
enable
Specifies the activation status of the technological data.With 'NO', the technology data are not activated.With 'YES', the technology data are activated.
EnumYesNo
Associated parameters (maximum):
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
NO (91) No
YES (173) Yes
DriveSafetyExtendedFunctionsInfoDataIn(StructAxisDriveSafetyExtendedFunctionsInfo-DataIn)
Drive interface for SINAMICS Safety Integrated Extended Functions data
OperatingDataInInfo(StructAxisOperatingDataInInfo)
Drive interface for operating characteristics
TechnologicalDataInInfo(StructAxisTechnologicalDataInInfo)
Drive interface for specific actual values
TechnologicalDataOutInfo(StructAxisTechnologicalDataOutInfo)
Drive interface for specific setpoints
PathAxis
11-711SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisTechnologicalDataInInfo - PathAxis
Specifies the logical address for the communication with the drive.
logAddress
Specifies the logical address for the transfer of specific parameters in the cyclical message frame from the drive.
StructAxisTechnologicalDataOutInfo - PathAxis
Specifies the logical address for the communication with the drive.
logAddress
Specifies the logical address for the transfer of specific parameters in the cyclical message frame to the drive.
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: No
System default: 65535
PathAxis
11-712 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructCommandValueQuantization - PathAxis
The structure elements of 'CommandValueQuantization' are used to set the quantization filter.
enable
Specifies the activation status of the quantization filter.With 'NO', the quantization filter is not activated.With 'YES', the quantization filter is activated.
mode
Specifies the quantization mode.With 'REFER_TO_ACTUAL_SENSOR_VALUE_RESOLUTION', the resolution of the current encoder is the base value for quantization.With 'DIRECT', the value specified in 'value' is the base value for quantization.
value
Specifies the manipulated variable quantization.
EnumYesNo
EnumCommandValueQuantizationMode
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumCommandValueQuantizationMode
Changeable online: No
System default: REFER_TO_ACTUAL_SENSOR_VALUE_RESOLUTION
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0e-12 mm
NO (91) No
YES (173) Yes
DIRECT (40) Quantization to input value
REFER_TO_ACTUAL_SENSOR_VALUE_RESOLUTION (936)
Quantization to current sensor
PathAxis
11-713SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructControllerOutput - PathAxis
Configures the controller for a hydraulic axis.
outputType
Type of output interface.With 'DIRECT_OUTPUT', the output takes place via the analog interface.With 'DRIVE_INTERFACE', the output takes place via the onboard interface or via PROFIdrive.
EnumAxisControllerOutput
Associated parameters (maximum):
Data type: EnumAxisControllerOutput
Changeable online: No
System default: DIRECT_OUTPUT
DIRECT_OUTPUT (1) Analog interface
DRIVE_INTERFACE (2) Onboard interface or PROFIdrive
DirectOutputDriverInfo(StructDirectOutputDriverInfo)
Parameters of the analog driver
DriveInterfaceDriverInfo(StructDriveInterfaceDriverInfo)
Parameters of the driver for the drive interface
EnableBit(StructEnableBit)
Enable bit
InvertF(StructAxisInvertFOutput)
Inversion of the F-output in front of the characte-ristic curve
InvertFOutput(InvertSetPoint)
Inversion of the F-output behind the characteris-tic curve
PathAxis
11-714 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructDirectOutputDriverInfo - PathAxis
The structure elements of 'DirectOutputDriverInfo' are used to configure the controller for a hydraulic axis.
format
Specifies the format of the actual value.
logAddress
Specifies the address.
maxOutputVoltage
Not used
resolution
Specifies the number of relevant bits.
EnumActualValueFormat
Data type: EnumActualValueFormat
Changeable online: Yes, active after restart
System default: VALUE_LEFT_MARGIN
Data type: UDINT
Changeable online: No
System default: 65535
Data type: LREAL
Changeable online: Yes, active after restart
System default: 10.0 V
Data type: UDINT
Changeable online: Yes, active after restart
System default: 15
VALUE_RIGHT_MARGIN (0) Right-justified
VALUE_LEFT_MARGIN (1) Left-justified
VALUE_LEFT_MARGIN_WITHOUT_SIGN (2) Left-justified without sign
VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3) Right-justified without sign
PathAxis
11-715SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructDriveInterfaceDriverInfo - PathAxis
The structure elements of 'DriveInterfaceDriverInfo' are used to configure the controller for a hydraulic axis.
actorType
Specifies the type of drive.With NO_TYPE, there is no interface specification.With ANALOG, the interface is configured for analog drives.With STEPMOTOR, the interface is configured for stepper motors.
lifeSignCheck
Specifies the activation status of life sign monitoring.With 'NO', the sign of life monitoring is not activated.With 'YES', the sign of life monitoring is activated.
logAddressIn
Specifies the logical address for the input data area.
logAddressOut
Specifies the logical address for the output data area.
Data type: EnumAxisDioActorType
Changeable online: No
System default: NO_TYPE
Data type: EnumYesNo
Changeable online: No
System default: YES
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: No
System default: 65535
PathAxis
11-716 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
maxOutputVoltage
Specifies the standard voltage on which the analog drive reaches its maximum speed.
mode
Specifies the type of drive interface.With 'ONBOARD', an onboard analog interface is used.With 'DPMASTER', an onboard PROFIBUS DP interface is used.With 'SIMULATION', a drive interface is simulated.
outputNumberOnDevice
Reserved
telegramType
Specifies the PROFIBUS message frame type.With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set up.With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set up.With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one encoder) is set up.With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with two encoders) is set up.With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives with one encoder and DSC) is set up.With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled drives with two encoders and DSC) is set up.With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7 for velocity-controlled drives without encoders is set up.With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for velocity-controlled drives with one encoder is set up.With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for velocity-controlled drives with two encoders is set up.With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for velocity-controlled drives with one encoder and DSC is set up.With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for velocity-controlled drives with two encoders and DSC is set up.
Data type: LREAL
Changeable online: No
System default: 10.0 V
Data type: EnumAxisDriverMode
Changeable online: No
System default: SIMULATION
Data type: DINT
Changeable online: No
System default: 0
Data type: EnumAxisTelegramType
Changeable online: No
System default: DP_TEL102_611U_POSCTRL_1_ENCODER
PathAxis
11-717SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumAxisDioActorType
EnumYesNo
EnumAxisDriverMode
EnumAxisTelegramType
NO_TYPE (0) No type
ANALOG (1) Analog
STEPMOTOR (2) Step mode
NO (91) No
YES (173) Yes
SIMULATION (0) Simulation
ONBOARD (1) Onboard
DPMASTER (2) DP Master
NO_TELEGRAM (0) No message frame
DP_TEL1_STANDARD (1) Standard message frame 1, PZD-2/2
DP_TEL2_STANDARD (2) Standard message frame 2, PZD-4/4
DP_TEL3_STANDARD (3) Standard message frame 3, PZD-5/9
DP_TEL4_STANDARD (4) Standard message frame 4, PZD-6/14
DP_TEL5_STANDARD (5) Standard message frame 5, PZD-9/9
DP_TEL6_STANDARD (6) Standard message frame 6, PZD-10/14
DP_TEL81_STANDARD (81) Standard message frame 81, PZD-2/6
DP_TEL83_STANDARD (83) Standard message frame 83, PZD-2/8
DP_TEL101_611U_VELCTRL_NO_ENCODER (101)
SIEMENS message frame 101, PZD-6/7
DP_TEL102_611U_POSCTRL_1_ENCODER (102)
SIEMENS message frame 102, PZD-6/10
DP_TEL103_611U_POSCTRL_2_ENCODER (103)
SIEMENS message frame 103, PZD-7/15
DP_TEL105_611U_DSC_1_ENCODER (105) SIEMENS message frame 105, PZD-10/10
DP_TEL106_611U_DSC_2_ENCODER (106) SIEMENS message frame 106/107, PZD-11/15
PathAxis
11-718 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructDriverInfoDirectIncremental - PathAxis
The parameters for the direct incremental encoder hardware are specified with the structure elements for 'DriverInfoDirectIncremental' .
logAddress
Specifies the logical address of the communication module.
resolution
Specifies the number of bits of the incremental encoder.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
Data type: UDINT
Changeable online: Yes, active after restart
System default: 16
PathAxis
11-719SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructEnableBit - PathAxis
The structure elements for 'EnableBit' can be used to configure an output bit for indicating the enables.
bitNumberOnDevice
Specifies the I/O bit number within the I/O byte specified by the logical address.
enable
Specifies whether the output cam result is output.With 'NO', the output bit is not used to display the enables.With 'YES', the output bit is used to display the enables.
logAddress
Specifies the address.
EnumYesNo
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: UDINT
Changeable online: No
System default: 65535
NO (91) No
YES (173) Yes
PathAxis
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StructExtrapolation - PathAxis
The structure elements belonging to 'Extrapolation' are used to set the extrapolation time on the mas-ter value axis.
extrapolatedVelocitySwitch
Used to select the velocity master value for master value extrapolation.
extrapolationTime
Time specification for extrapolation. With 0.0, there is no extrapolation.
EnumAxisExtrapolatedVelocitySwitch
Associated parameters (maximum):
Data type: EnumAxisExtrapolatedVelocitySwitch
Changeable online: Yes, active immediately
System default: DIFFERENTIATION
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
DIFFERENTIATION (408) Differentiation of extrapolated master value
TRANSFER (409) Transfer of extrapolated velocity
ExtrapolationPositionFilter(ExtrapolationPositionFilterType)
Filter for actual position
Filter(StructExtrapolationFilter)
Filter for actual velocity
ToleranceRange(StructToleranceRange)
Tolerance range
PathAxis
11-721SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructExtrapolationFilter - PathAxis
The structure elements belonging to 'Filter' are used to set the filter for the actual velocity on the mas-ter value axis.
enable
Specifies filter functionality.With 'NO', the filter functionality is deactivated.With 'YES', the filter functionality is activated.
mode
Specifies criterion for actual value smoothing.With 'DEFAULT_MODE', the actual speed is not smoothed.With 'AVERAGING', an average over time is used.With 'PT1', a filter set via 'timeConstant' is used.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
EnumAxisFilterMode
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumAxisFilterMode
Changeable online: Yes, active after restart
System default: DEFAULT_MODE
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
DEFAULT_MODE (0) No filter
AVERAGING (1) Form mean value
PT1 (2) PT1 filter
PathAxis
11-722 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructLogAddressIoBitType - PathAxis
The structure elements of 'LogAddress' are used to set the logical address.
bitNumber
Specifies the bit number of the measuring input input.
enable
Specifies whether the indicated logical address should be used.With NO, the logical address is not used.With YES, the logical address is used.
logAddress
Specifies the logical base address of the measuring input input.
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
NO (91) No
YES (173) Yes
PathAxis
11-723SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPaxDynamicQFData - PathAxis
The structure elements belonging to 'DynamicQFData' specify the dynamic data of the cascade con-trol system.
positionTimeConstant
Specifies the equivalent time constant of the position control system.
qOutputTimeConstant
Specifies the equivalent time constant of the torque control system.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.00005 s
PathAxis
11-724 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPositionDifferenceMeasurement - PathAxis
The 'PositionDifferenceMeasurement' structure element is used to configure the parameters for the differential position measurement.
invert
Specifies whether the sign of the differential value should be inverted.With NO, the sign is not inverted.With YES, the sign is inverted.
numberEncoderA
Specifies the encoder number for detecting the A actual position.
numberEncoderB
Specifies the encoder number for detecting the B actual position.
offset
Specifies an offset for the calculation with the difference value.
EnumYesNo
Associated parameters (maximum):
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
NO (91) No
YES (173) Yes
Filter(Filter)
Differential value smoothing
Range(Range)
Differential value limitation
PathAxis
11-725SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructPressureDifferenceMeasurement - PathAxis
The structure element 'PressureDifferenceMeasurement' is used to configure the parameters for the differential pressure measurement.
areaA
Specifies the area parameter for pressure sensor A.
areaB
Specifies the area parameter for pressure sensor B.
factor
Specifies a normalization factor for the determined difference value.
invert
Specifies whether the sign of the differential value should be inverted.With NO, the sign is not inverted.With YES, the sign is inverted.
numberSensorA
Specifies the sensor number for detecting the pA pressure.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
PathAxis
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numberSensorB
Specifies the sensor number for detecting the pB pressure.
EnumYesNo
Associated parameters (maximum):
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2
NO (91) No
YES (173) Yes
Filter(Filter)
Differential value smoothing
Range(Range)
Differential value limitation
PathAxis
11-727SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructSensorDriverInfo - PathAxis
The elements of this structure are used to configure the I/O module of the additional encoder.
errorToleranceTime
Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Specifies the logical address of the communication module.
maxValue
Specifies the maximum digitalized measured value for the additional encoder.
minValue
Specifies the minimal digitalized measured value for the additional encoder.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1 s
Data type: EnumActualValueFormat
Changeable online: Yes, active after restart
System default: VALUE_LEFT_MARGIN
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
Data type: DINT
Changeable online: Yes, active immediately
System default: 32511
Data type: DINT
Changeable online: Yes, active immediately
System default: -32512
PathAxis
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resolution
Specifies the number of relevant bits for the additional encoder.
EnumActualValueFormat
Data type: UDINT
Changeable online: Yes, active after restart
System default: 15
VALUE_RIGHT_MARGIN (0) Right-justified
VALUE_LEFT_MARGIN (1) Left-justified
VALUE_LEFT_MARGIN_WITHOUT_SIGN (2) Left-justified without sign
VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3) Right-justified without sign
PathAxis
11-729SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructToleranceRange - PathAxis
The structure elements belonging to 'ToleranceRange' are used to set a tolerance window around the actual position of the master value axis.
enable
Activation of the tolerance range.With 'NO', the tolerance range is deactivated.With 'YES', the tolerance range is activated.
value
Specifies the tolerance window around the actual position value of the master axis.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
NO (91) No
YES (173) Yes
PathAxis
11-730 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
TypeOfAxisInfo - PathAxis
The structure elements of 'TypeOfAxis' specify the axis parameters.
typeOfAxis
Specifies the type of axis configured.
With REAL_AXIS, the axis is connected to a real process.
REAL_QFAXIS corresponds to an axis with quantity and force control.
REAL_QFAXIS_WITH_OPEN_LOOP_FORCE_CONTROL corresponds to an axis with open-loop force control by way of a separate force/pressure limitation valve.
REAL_QFAXIS_WITH_CLOSED_LOOP_FORCE_CONTROL corresponds to an axis with closed-loop force/pressure specification via Q-valve.
EnumAxisIdentification
Associated parameters (maximum):
Data type: EnumAxisIdentification
Changeable online: No
System default: REAL_AXIS
REAL_AXIS (0) Real electric axis
VIRTUAL_AXIS (1) Virtual axis
REAL_AXIS_WITH_FORCE_CONTROL (2) Real electric axis with force/pressure control
REAL_QFAXIS (3) Real hydraulic axis (Q-valve)
REAL_QFAXIS_WITH_OPEN_LOOP_FORCE_CONTROL (4)
Real hydraulic axis with force/pressure specifi-cation (Q-valve and P-valve)
REAL_QFAXIS_WITH_CLOSED_LOOP_FORCE_CONTROL (5)
Real hydraulic axis with force/pressure control (Q-valve)
REAL_QFAXIS_WITH_OPEN_LOOP_FORCE_CONTROL_ONLY (6)
Real hydraulic axis with force/pressure specifi-cation (P-valve)
REAL_AXIS_WITH_SIGNAL_OUTPUT (7) Real electric axis with master value output via encoder signal simulation
ActualAccelerationMonitoring(ActualAccelerationMonitoring)
Actual acceleration monitoring
ActualVelocityMonitoring(ActualVelocityMonitoring)
Actual velocity monitoring
AdditionalOffset(StructAxisAdditionalOffset)
Offset injection for axis traversing with motion/force control
CommandValueQuantization(StructCommandValueQuantization)
Quantization filter
ControllerSwitchData(ControllerSwitchData)
Digital inputs for pressure control
DecodingConfig(DecodingConfig)
Command processing
DistributedMotion(DistributedMotionInfo)
Distributed motion control
Drift(Drift)
Drift compensation
PathAxis
11-731SIMOTION Technology Packages Configuration DataList Manual, 11/2010
DriveControlConfig(StructAxisDriveControlConfig)
Drive-related settings
EmergencyRampGenerator(EmergencyRampGenerator)
Emergency ramp generator
Extrapolation(StructExtrapolation)
Actual value smoothing
FOutput(StructControllerOutput)
Manipulated variable interface for F output
FineInterpolator(FineInterpolator)
Fine interpolator
ForceControlHeldValueMonitoring(ForceControlHeldValueMonitoring)
Force/pressure end value monitoring
ForceControlRunningInWindowMonitoring(ForceControlRunningInWindowMonitoring)
Force/pressure entry monitoring
Friction(Friction)
Friction torque compensation
GearingPosTolerance(GearingPosTolerance)
Monitoring of synchronous operation
HWEndPos(HWEndPos)
Hardware limit switches
Homing(Homing)
Homing
MaxAcceleration(MaxAcceleration)
Maximum acceleration
MaxForceCommandData(MaxForceCommandData)
Limitations for force/pressure setpoint
MaxJerk(MaxJerk)
Maximum jerk
MaxVelocity(MaxVelocity)
Maximum velocity
NeutralBand(NeutralBand)
Neutral band compensation
NumberOfAdditionalSensors(NumberOfAdditionalSensors)
Configured encoder of a force-controlled axis
NumberOfDataSets(NumberOfDataSets)
Data records for the controller configuration
NumberOfEncoders(NumberOfEncoders)
Configured encoder
PathAxisPosTolerance(PathAxisPosTolerance)
Setpoint difference monitoring
PathSyncAxisPosTolerance(PathSyncAxisPosTolerance)
Setpoint differential monitoring of synchronous axis
PositionMonitoring(PositionMonitoring)
Position monitoring
QOutput(StructControllerOutput)
Manipulated variable interface for Q output
ServoMonitoring(StructAxisServoMonitoringConfig)
Activate control loop monitoring with active pres-sure limiting command
PathAxis
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SetPointDriverInfo(SetPointDriverInfo)
Drive interface
SetpointFilter(StructAxisSetpointFilter)
Manipulated variable filter
SlidingFriction(StructAxisSlidingFriction)
Sliding friction compensation
SmoothingFilter(SmoothingFilter)
Actual value smoothing
SpeedLimitation(StructAxisSpeedLimitation)
Manipulated variable limitation
StandStillMonitoring(StandStillMonitoring)
Standstill monitoring
StandStillSignal(StandStillSignal)
Standstill signal
SwLimit(StructAxisSwLimitConfig)
Software limit switches
SystemDeadTimeData(StructAxisSystemDeadTimeData)
System-dependent dead times
TechnologicalData(StructAxisTechnologicalData)
Drive interface for specific parameters
VelocityPositionProfile(VelocityPositionProfile)
Settings for the v(s) profile
PathAxis
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VelocityPositionProfile - PathAxis
The structure elements for 'VelocityPositionProfile' set properties in velocity-position profiles.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
endPositionTolerance
Tolerance for profile end detection.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
PathAxis
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Part IIITP Cam_ext
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Contents-737SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Contents
Part III TP Cam_ext
12 AdditionObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-741ExecutionConfigInfo - AdditionObjectType . . . . . . . . . . . . . . . . . . . . . . . 12-741ModuloInfo - AdditionObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-742RestartInfo - AdditionObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-743StructAdderDecodingConfigType - AdditionObjectType . . . . . . . . . . . . . 12-744StructBaseConfigType - AdditionObjectType . . . . . . . . . . . . . . . . . . . . . 12-744StructMotionInMainType - AdditionObjectType. . . . . . . . . . . . . . . . . . . . 12-745StructMotionInType - AdditionObjectType. . . . . . . . . . . . . . . . . . . . . . . . 12-745StructMotionOutType - AdditionObjectType . . . . . . . . . . . . . . . . . . . . . . 12-746
13 ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-747DecodingConfigInfo - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . 13-747ExecutionConfigInfo - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . 13-748Filter - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-749PT2PositionFilterType - ControllerObjectType . . . . . . . . . . . . . . . . . . . . 13-750RestartInfo - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-751SmoothingFilter - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . 13-752StructCompactControllerControllerType - ControllerObjectType . . . . . . 13-753StructCompactControllerPreControl - ControllerObjectType. . . . . . . . . . 13-753StructControlObjectControlDeviationThreshold - ControllerObjectType . 13-754StructControllerObjectControlDeviationMonitoring - ControllerObjectType13-754StructControllerObjectInputInterface - ControllerObjectType . . . . . . . . . 13-755StructControllerObjectOutputDerivativeLimitingConfig - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-756StructControllerObjectOutputInterface - ControllerObjectType . . . . . . . . 13-757StructControllerObjectOutputLimitConfig - ControllerObjectType . . . . . . 13-758StructControllerObjectPIDContollerDConfig - ControllerObjectType . . . 13-758StructControllerObjectPIDContollerIConfig - ControllerObjectType . . . . 13-759StructControllerObjectPIDContollerIConfigILimit - ControllerObjectType . 13-759StructControllerObjectPIDContollerLimitAntiWindup - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-760StructControllerObjectPIDControllerConfig - ControllerObjectType . . . . 13-760
14 FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-761DecodingConfigInfo - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . . 14-761ExecutionConfigInfo - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . . 14-762RestartInfo - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-763StructDINTInMainType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . 14-764StructDINTInType - FormulaObjectType. . . . . . . . . . . . . . . . . . . . . . . . . 14-764StructDINTOutMainType - FormulaObjectType . . . . . . . . . . . . . . . . . . . 14-765StructDINTOutType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . . 14-765
Contents
Contents-738 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructFormulaObjectMotionOutConfig - FormulaObjectType . . . . . . . . . 14-766StructLREALInMainType - FormulaObjectType . . . . . . . . . . . . . . . . . . . 14-766StructLREALInType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . . 14-767StructLREALOutMainType - FormulaObjectType . . . . . . . . . . . . . . . . . . 14-767StructLREALOutType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . 14-768StructMotionInMainType - FormulaObjectType. . . . . . . . . . . . . . . . . . . . 14-768StructMotionInType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . . 14-769StructMotionOutMainType - FormulaObjectType . . . . . . . . . . . . . . . . . . 14-769
15 FixedGearType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-771DecodingConfigInfo - FixedGearType. . . . . . . . . . . . . . . . . . . . . . . . . . . 15-771ExecutionConfigInfo - FixedGearType . . . . . . . . . . . . . . . . . . . . . . . . . . 15-772ModuloInfo - FixedGearType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-773RestartInfo - FixedGearType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-774StructBaseConfigType - FixedGearType . . . . . . . . . . . . . . . . . . . . . . . . 15-775StructMotionInMainType - FixedGearType . . . . . . . . . . . . . . . . . . . . . . . 15-775StructMotionInType - FixedGearType . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-776StructMotionOutType - FixedGearType . . . . . . . . . . . . . . . . . . . . . . . . . 15-776
16 SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-777AbsEncoder - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-777AdditionalSensorDriverInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . 16-781AnalogConversionDataType - SensorType. . . . . . . . . . . . . . . . . . . . . . . 16-783AnalogSensorType - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-784ConversionData - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-785ConversionDataAdaptType - SensorType. . . . . . . . . . . . . . . . . . . . . . . . 16-786DecodingConfigInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-786DriverInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-787ExecutionConfigInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-790Filter - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-791FrequencyLimit - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-791IncEncoder - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-792IntervalCounterConversionDataType - SensorType . . . . . . . . . . . . . . . . 16-793InversCountDirection - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-794LeadScrewInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-794ModuloInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-795PathPerRevolution - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-795PositionFilterType - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-796Resolution - SensorType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-797RestartInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-798SensorControlConfig - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-799Slippage - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-799StandStillSignal - SensorType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-800StructAxisActualValueUpdateCounter - SensorType . . . . . . . . . . . . . . . 16-801StructAxisAnalogSensorErrorStateMonitoring - SensorType . . . . . . . . . 16-803StructAxisAnalogSensorReadyStateMonitoring - SensorType . . . . . . . . 16-804StructAxisDriveControlConfig - SensorType . . . . . . . . . . . . . . . . . . . . . . 16-805StructAxisDriveSafetyExtendedFunctionsInfoDataIn - SensorType . . . . 16-807StructAxisNistDriverConfig - SensorType . . . . . . . . . . . . . . . . . . . . . . . . 16-807StructAxisOperatingDataInInfo - SensorType . . . . . . . . . . . . . . . . . . . . . 16-808StructAxisPulsesEnabledConfig - SensorType . . . . . . . . . . . . . . . . . . . . 16-810StructAxisSpeedLimitation - SensorType . . . . . . . . . . . . . . . . . . . . . . . . 16-811StructAxisTechnologicalData - SensorType . . . . . . . . . . . . . . . . . . . . . . 16-812
Contents
Contents-739SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisTechnologicalDataInInfo - SensorType. . . . . . . . . . . . . . . . . . 16-812StructAxisTechnologicalDataOutInfo - SensorType . . . . . . . . . . . . . . . . 16-813StructDriverInfoDirectIncremental - SensorType. . . . . . . . . . . . . . . . . . . 16-813StructExtrapolation - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-814StructExtrapolationFilter - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . 16-815StructInSensorMain - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-816StructInputObjectRange - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . 16-816StructLogAddressIoBitType - SensorType . . . . . . . . . . . . . . . . . . . . . . . 16-817StructSensorDriverInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-818StructSensorExtrapolation - SensorType . . . . . . . . . . . . . . . . . . . . . . . . 16-820StructSensorGeneralParameter - SensorType . . . . . . . . . . . . . . . . . . . . 16-820StructToleranceRange - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-821
Contents
Contents-740 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
12-741SIMOTION Technology Packages Configuration DataList Manual, 11/2010
AdditionObjectType 12Associated parameters (maximum):
• BaseConfig (StructBaseConfigType)• DecodingConfig (StructAdderDecodingConfigType)• Execution (ExecutionConfigInfo)• MotionIn (StructMotionInMainType)• MotionOut (StructMotionOutType)• Restart (RestartInfo)
ExecutionConfigInfo - AdditionObjectType
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
NoteFurther information is provided:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Technology Objects Synchronous Operation, Cam Function ManualOnline help
executionlevel
Specifies the task level at which the interpolator task of the technology object is running.With IPO, the task is executed in the fast interpolator cycle clock.With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel
Data type: EnumToExecutionLevel
Changeable online: Yes, active after restart
System default: IPO
IPO (0) IPO
IPO_2 (1) IPO_2
SERVO (2) Servo
IPO_FAST (3) IPO_fast
SERVO_FAST (4) Servo_fast
AdditionObjectType
12-742 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ModuloInfo - AdditionObjectType
The structure elements of 'Modulo' specify the modulo information.
configurationMode
Specifies the active modulo configurationWith SYSTEM, the modulo configuration of the interface interconnected with the output vector is accepted.With DIRECT, the configured modulo parameters are active.
length
Specifies modulo length.The minimum modulo length that can be set depends on the available resolution!
startValue
Specifies the initial value.
state
Specifies modulo activation.With ACTIVE, a modulo status is activated.With INACTIVE, the modulo status is not activated.
EnumSystemDirect
EnumActiveInactive
Data type: EnumSystemDirect
Changeable online: Yes, active after restart
System default: SYSTEM
Data type: LREAL
Changeable online: Yes, active after restart
System default: 360.0 °
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
Data type: EnumActiveInactive
Changeable online: Yes, active after restart
System default: INACTIVE
SYSTEM (0) System selection
DIRECT (1) Selection by configuration
ACTIVE (4) Active
INACTIVE (61) Inactive
AdditionObjectType
12-743SIMOTION Technology Packages Configuration DataList Manual, 11/2010
RestartInfo - AdditionObjectType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or just by command.
behaviorInvalidSysvarAccess
If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology object is restarted or deactivated.The values stored in the image are supplied when system variables are accessed during the techno-logy object restart or deactivation phase.
restartActivationSetting
With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with system variables and/or by command.With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
EnumToRestartActivationSetting
Data type: EnumToInvalidSysvarAccess
Changeable online: No
System default: LAST_VALUE
Data type: EnumToRestartActivationSetting
Changeable online: Yes, active after restart
System default: RESTART_BY_SYSVAR_AND_COMMAND
DEFAULT_VALUE (2) Supply substitute value from default value
STOP_DEVICE (3) No substitute value, switch to STOP mode
LAST_VALUE (338) Supply substitute value from last valid value
RESTART_BY_SYSVAR_AND_COMMAND (0) Allow restart via system variable and/or com-mand
RESTART_BY_COMMAND (1) Allow restart only via command
AdditionObjectType
12-744 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAdderDecodingConfigType - AdditionObjectType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
numberOfMaxBufferedCommandId
Specifies the maximum number of command IDs active simultaneously whose status can be reques-ted at the end of the relevant command.A command ID is added to the list with the ST command '_bufferCommandId'.Removal from the list takes place with the ST command '_removeBufferedCommandId'.
StructBaseConfigType - AdditionObjectType
The structure element for 'BaseConfig' specifies a common adding base for the input vectors.
motionBase
Specifies the common addition basis for the input vectors.With POSITION, a component-by-component addition of position, velocity, and acceleration takes place.With VELOCITY, a component-by-component addition of velocity and acceleration takes place.
EnumMotionBaseType
Data type: DINT
Changeable online: Yes, active after restart
System default: 10
Data type: EnumMotionBaseType
Changeable online: Yes, active after restart
System default: POSITION
POSITION (0) Position
VELOCITY (1) Velocity
AdditionObjectType
12-745SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructMotionInMainType - AdditionObjectType
The structure elements of 'MotionIn' specify the input vectors.
Associated parameters (maximum):
StructMotionInType - AdditionObjectType
The structure elements for 'MotionIn(n)' specify the input vector (n).
behaviorByInvalidInterface
Setting, whether with active but invalid interconnection value, the replacement value or the last valid value should be taken.With DEFAULT_VALUE, the default value is taken.With LAST_VALID_INTERFACE_VALUE, the last valid value from the interface is taken.
invert
Signal inverting at input interfaceWith YES, the input signal is inverted.With NO, the input signal is not inverted.
EnumLastValidInterfaceValueDefaultValue
EnumYesNo
MotionIn1(StructMotionInType)
Input vector 1
MotionIn2(StructMotionInType)
Input vector 2
MotionIn3(StructMotionInType)
Input vector 3
MotionIn4(StructMotionInType)
Input vector 4
Data type: EnumLastValidInterfaceValueDefaultValue
Changeable online: Yes, active after restart
System default: DEFAULT_VALUE
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
LAST_VALID_INTERFACE_VALUE (1) Last valid value
DEFAULT_VALUE (2) Replacement value
NO (91) No
YES (173) Yes
AdditionObjectType
12-746 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructMotionOutType - AdditionObjectType
The structure elements of 'MotionOut' specify the output vector.
Associated parameters (maximum):
Modulo(ModuloInfo)
Modulo configuration
13-747SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ControllerObjectType 13Associated parameters (maximum):
• ActualValueIn (StructControllerObjectInputInterface)• ControlDeviationMonitoring (StructControllerObjectControlDeviationMonitoring)• ControlDeviationThreshold (StructControlObjectControlDeviationThreshold)• ControllerType (StructCompactControllerControllerType)• DecodingConfig (DecodingConfigInfo)• Execution (ExecutionConfigInfo)• OutputDerivativeLimiting (StructControllerObjectOutputDerivativeLimitingConfig)• OutputLimit (StructControllerObjectOutputLimitConfig)• PIDController (StructControllerObjectPIDControllerConfig)• PreControl (StructCompactControllerPreControl)• PreControlValueIn (StructControllerObjectInputInterface)• Restart (RestartInfo)• SetPointIn (StructControllerObjectInputInterface)• ValueOut (StructControllerObjectOutputInterface)
DecodingConfigInfo - ControllerObjectType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
Note"Further information can be found in the TO Synchronous Operation, Cam Function Manual and in the online help."
numberOfMaxBufferedCommandId
Specifies the maximum number of command IDs active simultaneously whose status can be reques-ted at the end of the relevant command.A command ID is added to the list with the ST command '_bufferCommandId'.Removal from the list takes place with the ST command '_removeBufferedCommandId'.
Data type: DINT
Changeable online: Yes, active after restart
System default: 10
ControllerObjectType
13-748 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ExecutionConfigInfo - ControllerObjectType
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
NoteFurther information is provided:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Technology Objects Synchronous Operation, Cam Function ManualOnline help
executionlevel
Specifies the task level at which the interpolator task of the technology object is running.With IPO, the task is executed in the fast interpolator cycle clock.With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel
Data type: EnumToExecutionLevel
Changeable online: Yes, active after restart
System default: IPO
IPO (0) IPO
IPO_2 (1) IPO_2
SERVO (2) Servo
IPO_FAST (3) IPO_fast
SERVO_FAST (4) Servo_fast
ControllerObjectType
13-749SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Filter - ControllerObjectType
The structure elements of 'Filter' specify actual value smoothing.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies filter functionality.With 'NO', the filter functionality is deactivated.With 'YES', the filter functionality is activated.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
ControllerObjectType
13-750 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PT2PositionFilterType - ControllerObjectType
The structure elements of 'PositionFilter' specify the parameters of the position filter.
T1
Time constant T1 of the position filter.
T2
Time constant T2 of the position filter.
enable
Specifies the activation status of the position filter.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
ControllerObjectType
13-751SIMOTION Technology Packages Configuration DataList Manual, 11/2010
RestartInfo - ControllerObjectType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or just by command.
behaviorInvalidSysvarAccess
If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology object is restarted or deactivated.The values stored in the image are supplied when system variables are accessed during the techno-logy object restart or deactivation phase.
restartActivationSetting
With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with system variables and/or by command.With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
EnumToRestartActivationSetting
Data type: EnumToInvalidSysvarAccess
Changeable online: No
System default: LAST_VALUE
Data type: EnumToRestartActivationSetting
Changeable online: Yes, active after restart
System default: RESTART_BY_SYSVAR_AND_COMMAND
DEFAULT_VALUE (2) Supply substitute value from default value
STOP_DEVICE (3) No substitute value, switch to STOP mode
LAST_VALUE (338) Supply substitute value from last valid value
RESTART_BY_SYSVAR_AND_COMMAND (0) Allow restart via system variable and/or com-mand
RESTART_BY_COMMAND (1) Allow restart only via command
ControllerObjectType
13-752 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
SmoothingFilter - ControllerObjectType
The structure elements for 'SmoothingFilter' specify actual velocity filtering. The filtered actual velocity is displayed in 'motionStateData.actualVelocity'.'timeConstant':- Time constant for PT1 smoothing.- Time constant for averaging.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies filter functionality.With NO, the filter functionality is deactivated.With YES, the filter functionality is activated.
mode
Specifies criterion for actual value smoothing.With 'DEFAULT_MODE', the ratio of interpolator cycle clock to position servo cycle clock is used.With 'AVERAGING', an average over time is used.With 'PT1', a filter set via 'timeConstant' is used.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
EnumAxisFilterMode
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumAxisFilterMode
Changeable online: Yes, active after restart
System default: DEFAULT_MODE
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
DEFAULT_MODE (0) No filter
AVERAGING (1) Form mean value
PT1 (2) PT1 filter
ControllerObjectType
13-753SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructCompactControllerControllerType - ControllerObjectType
Controller type
controllerType
The "Controller type" parameter sets the acting controller type.
EnumCompactControllerControllerType
StructCompactControllerPreControl - ControllerObjectType
The structure elements of 'PreControl' specify the precontrol.
addupMode
Precontrol activation.Calculation of the precontrol with effect on antiwindup takes place with BEFORE_ANTIWINDUP_LIMITATION.Calculation of the precontrol after antiwindup takes place with BEHIND_ANTIWINDUP_LIMITATION.
factor
tbd
EnumControllerObjectPrecontrolAddupMode
Data type: EnumCompactControllerControllerType
Changeable online: No
System default: PID_CONTROLLER
P_CONTROLLER (900) P-controller
PID_CONTROLLER (901) PID controller
Data type: EnumControllerObjectPrecontrolAddupMode
Changeable online: Yes, active immediately
System default: BEHIND_ANTIWINDUP_LIMITATION
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0
BEFORE_ANTIWINDUP_LIMITATION (907) With effect on antiwindup
BEHIND_ANTIWINDUP_LIMITATION (908) Without effect on antiwindup
ControllerObjectType
13-754 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructControlObjectControlDeviationThreshold - ControllerObjectType
The response threshold of the controller is set with the structure elements for 'ControlDeviationThres-hold'.A control deviation is not calculated within the response threshold.
value
Response threshold of the controller
StructControllerObjectControlDeviationMonitoring - ControllerObjectType
Monitoring of the permitted system deviation
enable
The "enable" parameter activates the monitoring of the system deviation.
maxDeviation
The "maxDeviation" parameter specifies the maximum permitted system deviation in the positive and thenegative direction.
EnumYesNo
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
NO (91) No
YES (173) Yes
ControllerObjectType
13-755SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructControllerObjectInputInterface - ControllerObjectType
Structure for setting the corresponding input interface.
_type
Setting whether the interconnection with component selection is made to the input side on the LREAL interface or to the MOTION interface.
behaviorByInvalidInterface
Setting, whether with active but invalid interconnection value, the replacement value or the last valid value should be taken.With DEFAULT_VALUE, the default value is taken.With LAST_VALID_INTERFACE_VALUE, the last valid value from the interface is taken.
EnumControllerObjectInputType
EnumLastValidInterfaceValueDefaultValue
Data type: EnumControllerObjectInputType
Changeable online: Yes, active after restart
System default: MOTION_INTERFACE
Data type: EnumLastValidInterfaceValueDefaultValue
Changeable online: Yes, active after restart
System default: DEFAULT_VALUE
LREAL_INTERFACE (926) LREAL interface
MOTION_INTERFACE (927) Motion interface
LAST_VALID_INTERFACE_VALUE (1) Last valid value
DEFAULT_VALUE (2) Replacement value
ControllerObjectType
13-756 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructControllerObjectOutputDerivativeLimitingConfig - ControllerObjectType
The structure elements of 'OutputDerivativeLimiting' are used to set the increase limit at the output.
enable
Activates the increase limiter
maxValue
The "maxValue" parameter specifies the value of the maximum actuating signal increase in the posi-tiveand negative direction.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
NO (91) No
YES (173) Yes
ControllerObjectType
13-757SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructControllerObjectOutputInterface - ControllerObjectType
Structure for setting the output interface.
_type
Setting whether the interconnection with component selection is made to the input side on the LREAL interface or to the MOTION interface.
outputValueErrorBehaviorMode
Indicates how the output value is to be handled with alarm response 'CTRL_STOP'.With LAST_VALUE, the last valid value is set.With ZERO_VALUE, the output value is reset to zero.With DEFAULT_VALUE, the output value is initialized with the value from the 'outputdefault' system variable.
EnumControllerObjectInputType
EnumControllerObjectErrorBehaviorMode
Data type: EnumControllerObjectInputType
Changeable online: Yes, active after restart
System default: MOTION_INTERFACE
Data type: EnumControllerObjectErrorBehaviorMode
Changeable online: Yes, active after restart
System default: DEFAULT_VALUE
LREAL_INTERFACE (926) LREAL interface
MOTION_INTERFACE (927) Motion interface
DEFAULT_VALUE (2) Default
LAST_VALUE (338) Last valid value
ZERO_VALUE (339) Zero
ControllerObjectType
13-758 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructControllerObjectOutputLimitConfig - ControllerObjectType
With the structure elements of 'OutputLimit', the actuating signal limitation is set withouteffect to the AntiWindup mechanism.
_max
Specifies the maximum value.
_min
Specifies the minimum value.
StructControllerObjectPIDContollerDConfig - ControllerObjectType
Weighting factor for the actual value for the D-calculation
factorActualValue
The "factorActualValue" parameter specifies the weighting of the actual value for the controller devi-ation duringD calculation.0: The D-component is calculated from the controller deviation1: The D-component is calculated from the actual value
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10000.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: -10000.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
ControllerObjectType
13-759SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructControllerObjectPIDContollerIConfig - ControllerObjectType
With the structure elements for 'IConfig' ... .
factorFeedBack
The "factorFeedBack" parameter can be used to feedback the I-component to the system deviation.
Associated parameters (maximum):
StructControllerObjectPIDContollerIConfigILimit - ControllerObjectType
Limitation of the I-component in the actuating signal is set with the structure elements of 'ILimit'.
_max
Specifies the maximum value.
_min
Specifies the minimum value.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
ILimit(StructControllerObjectPIDContollerIConfigILi-mit)
Limitation of the I-component in the actuating signal
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10000.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: -10000.0
ControllerObjectType
13-760 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructControllerObjectPIDContollerLimitAntiWindup - ControllerObjectType
With the structure elements of 'LimitAntiWindup', the actuating signal limitation is set witheffect to the AntiWindup mechanism.
_max
Specifies the maximum value.
_min
Specifies the minimum value.
StructControllerObjectPIDControllerConfig - ControllerObjectType
The structure elements of 'PIDController' are used to set the PID controller.
Associated parameters (maximum):
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10000.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: -10000.0
DConfig(StructControllerObjectPIDContollerDConfig)
Weighting factor of the actual value for D-calcu-lation
IConfig(StructControllerObjectPIDContollerIConfig)
Behavior of the I-component in the controller
LimitAntiWindup(StructControllerObjectPIDContollerLimitAnti-Windup)
Actuating signal limitation with integrator stop
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FormulaObjectType 14Associated parameters (maximum):
• DINTIn (StructDINTInMainType)• DINTOut (StructDINTOutMainType)• DecodingConfig (DecodingConfigInfo)• Execution (ExecutionConfigInfo)• LREALIn (StructLREALInMainType)• LREALOut (StructLREALOutMainType)• MotionIn (StructMotionInMainType)• MotionOut (StructMotionOutMainType)• Restart (RestartInfo)
DecodingConfigInfo - FormulaObjectType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
Note"Further information can be found in the TO Synchronous Operation, Cam Function Manual and in the online help."
numberOfMaxBufferedCommandId
Specifies the maximum number of command IDs active simultaneously whose status can be reques-ted at the end of the relevant command.A command ID is added to the list with the ST command '_bufferCommandId'.Removal from the list takes place with the ST command '_removeBufferedCommandId'.
Data type: DINT
Changeable online: Yes, active after restart
System default: 10
FormulaObjectType
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ExecutionConfigInfo - FormulaObjectType
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
NoteFurther information is provided:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Technology Objects Synchronous Operation, Cam Function ManualOnline help
executionlevel
Specifies the task level at which the interpolator task of the technology object is running.With IPO, the task is executed in the fast interpolator cycle clock.With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel
Data type: EnumToExecutionLevel
Changeable online: Yes, active after restart
System default: IPO
IPO (0) IPO
IPO_2 (1) IPO_2
SERVO (2) Servo
IPO_FAST (3) IPO_fast
SERVO_FAST (4) Servo_fast
FormulaObjectType
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RestartInfo - FormulaObjectType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or just by command.
behaviorInvalidSysvarAccess
If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology object is restarted or deactivated.The values stored in the image are supplied when system variables are accessed during the techno-logy object restart or deactivation phase.
restartActivationSetting
With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with system variables and/or by command.With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
EnumToRestartActivationSetting
Data type: EnumToInvalidSysvarAccess
Changeable online: No
System default: LAST_VALUE
Data type: EnumToRestartActivationSetting
Changeable online: Yes, active after restart
System default: RESTART_BY_SYSVAR_AND_COMMAND
DEFAULT_VALUE (2) Supply substitute value from default value
STOP_DEVICE (3) No substitute value, switch to STOP mode
LAST_VALUE (338) Supply substitute value from last valid value
RESTART_BY_SYSVAR_AND_COMMAND (0) Allow restart via system variable and/or com-mand
RESTART_BY_COMMAND (1) Allow restart only via command
FormulaObjectType
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StructDINTInMainType - FormulaObjectType
The structure elements of 'DINTIn' specify the DINT inputs.
Associated parameters (maximum):
StructDINTInType - FormulaObjectType
The structure elements for 'DINTIn(n)' specify the DINT input (n).
behaviorByInvalidInterface
Setting, whether with active but invalid interconnection value, the replacement value or the last valid value should be taken.With DEFAULT_VALUE, the default value is taken.With LAST_VALID_INTERFACE_VALUE, the last valid value from the interface is taken.
EnumLastValidInterfaceValueDefaultValue
DINTIn1(StructDINTInType)
DINT input 1
DINTIn2(StructDINTInType)
DINT input 2
DINTIn3(StructDINTInType)
DINT input 3
DINTIn4(StructDINTInType)
DINT input 4
Data type: EnumLastValidInterfaceValueDefaultValue
Changeable online: Yes, active after restart
System default: DEFAULT_VALUE
LAST_VALID_INTERFACE_VALUE (1) Last valid value
DEFAULT_VALUE (2) Replacement value
FormulaObjectType
14-765SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructDINTOutMainType - FormulaObjectType
The DINT outputs are specified with the structure elements for 'DINTOut'.
Associated parameters (maximum):
StructDINTOutType - FormulaObjectType
The DINT output (n) is specified with the structure elements for 'DINTOut(n)'.
errorBehaviorMode
Specifies how the output value is to be initialized with an active but invalid interconnection.With LAST_VALUE, the last valid value is set.With ZERO_VALUE, the output value is reset to zero.With DEFAULT_VALUE, the output value is initialized with the values from the 'dintout(n)default' sys-tem variable.
EnumFormulaObjectErrorBehaviorMode
DINTOut1(StructDINTOutType)
DINT output 1
DINTOut2(StructDINTOutType)
DINT output 2
DINTOut3(StructDINTOutType)
DINT output 3
DINTOut4(StructDINTOutType)
DINT output 4
Data type: EnumFormulaObjectErrorBehaviorMode
Changeable online: Yes, active after restart
System default: LAST_VALUE
DEFAULT_VALUE (2) Default value
LAST_VALUE (338) Last valid value
ZERO_VALUE (339) Zero
FormulaObjectType
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StructFormulaObjectMotionOutConfig - FormulaObjectType
The output vector (n) is specified with the structure elements for 'MotionOut(n)'.
errorBehaviorMode
Indicates how the output vector is to be initialized with an active but invalid interconnection.With LAST_VALUE, the last valid output vector is set.With ZERO_VALUE, the output vector is reset to zero.
With DEFAULT_VALUE, the output vector is initialized with the values from the 'motionout(n)default' system variable.
EnumFormulaObjectErrorBehaviorMode
StructLREALInMainType - FormulaObjectType
The structure elements of 'LREALIn' specify the LREAL inputs.
Associated parameters (maximum):
Data type: EnumFormulaObjectErrorBehaviorMode
Changeable online: Yes, active after restart
System default: LAST_VALUE
DEFAULT_VALUE (2) Default value
LAST_VALUE (338) Last valid value
ZERO_VALUE (339) Zero
LREALIn1(StructLREALInType)
LREAL input 1
LREALIn2(StructLREALInType)
LREAL input 2
LREALIn3(StructLREALInType)
LREAL input 3
LREALIn4(StructLREALInType)
LREAL input 4
FormulaObjectType
14-767SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructLREALInType - FormulaObjectType
The structure elements for 'LREALIn(n)' specify the LREAL input (n).
behaviorByInvalidInterface
Setting, whether with active but invalid interconnection value, the replacement value or the last valid value should be taken.With DEFAULT_VALUE, the default value is taken.With LAST_VALID_INTERFACE_VALUE, the last valid value from the interface is taken.
EnumLastValidInterfaceValueDefaultValue
StructLREALOutMainType - FormulaObjectType
The LREAL outputs are specified with the structure elements for 'LREALOut'.
Associated parameters (maximum):
Data type: EnumLastValidInterfaceValueDefaultValue
Changeable online: Yes, active after restart
System default: DEFAULT_VALUE
LAST_VALID_INTERFACE_VALUE (1) Last valid value
DEFAULT_VALUE (2) Replacement value
LREALOut1(StructLREALOutType)
LREAL output 1
LREALOut2(StructLREALOutType)
LREAL output 2
LREALOut3(StructLREALOutType)
LREAL output 3
LREALOut4(StructLREALOutType)
LREAL output 4
FormulaObjectType
14-768 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructLREALOutType - FormulaObjectType
The LREAL output (n) is specified with the structure elements for 'LREALOut(n)'.
errorBehaviorMode
Specifies how the output value is to be initialized with an active but invalid interconnection.With LAST_VALUE, the last valid value is set.With ZERO_VALUE, the output value is reset to zero.With DEFAULT_VALUE, the output value is initialized with the values from the 'lrealout(n)default' sys-tem variable.
EnumFormulaObjectErrorBehaviorMode
StructMotionInMainType - FormulaObjectType
The structure elements of 'MotionIn' specify the input vectors.
Associated parameters (maximum):
Data type: EnumFormulaObjectErrorBehaviorMode
Changeable online: Yes, active after restart
System default: LAST_VALUE
DEFAULT_VALUE (2) Default value
LAST_VALUE (338) Last valid value
ZERO_VALUE (339) Zero
MotionIn1(StructMotionInType)
Input vector 1
MotionIn2(StructMotionInType)
Input vector 2
MotionIn3(StructMotionInType)
Input vector 3
FormulaObjectType
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StructMotionInType - FormulaObjectType
The structure elements for 'MotionIn(n)' specify the input vector (n).
behaviorByInvalidInterface
Setting, whether with active but invalid interconnection value, the replacement value or the last valid value should be taken.With DEFAULT_VALUE, the default value is taken.With LAST_VALID_INTERFACE_VALUE, the last valid value from the interface is taken.
EnumLastValidInterfaceValueDefaultValue
StructMotionOutMainType - FormulaObjectType
The output vectors are specified with the structure elements for 'MotionOut'.
Associated parameters (maximum):
Data type: EnumLastValidInterfaceValueDefaultValue
Changeable online: Yes, active after restart
System default: DEFAULT_VALUE
LAST_VALID_INTERFACE_VALUE (1) Last valid value
DEFAULT_VALUE (2) Replacement value
MotionOut1(StructFormulaObjectMotionOutConfig)
Output vector 1
MotionOut2(StructFormulaObjectMotionOutConfig)
Output vector 2
MotionOut3(StructFormulaObjectMotionOutConfig)
Output vector 3
FormulaObjectType
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FixedGearType 15Associated parameters (maximum):
• BaseConfig (StructBaseConfigType)• DecodingConfig (DecodingConfigInfo)• Execution (ExecutionConfigInfo)• MotionIn (StructMotionInType)• MotionOut (StructMotionOutType)• Restart (RestartInfo)
DecodingConfigInfo - FixedGearType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
Note"Further information can be found in the TO Synchronous Operation, Cam Function Manual and in the online help."
numberOfMaxBufferedCommandId
Specifies the maximum number of command IDs active simultaneously whose status can be reques-ted at the end of the relevant command.A command ID is added to the list with the ST command '_bufferCommandId'.Removal from the list takes place with the ST command '_removeBufferedCommandId'.
Data type: DINT
Changeable online: Yes, active after restart
System default: 10
FixedGearType
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ExecutionConfigInfo - FixedGearType
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
NoteFurther information is provided:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Technology Objects Synchronous Operation, Cam Function ManualOnline help
executionlevel
Specifies the task level at which the interpolator task of the technology object is running.With IPO, the task is executed in the fast interpolator cycle clock.With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel
Data type: EnumToExecutionLevel
Changeable online: Yes, active after restart
System default: IPO
IPO (0) IPO
IPO_2 (1) IPO_2
SERVO (2) Servo
IPO_FAST (3) IPO_fast
SERVO_FAST (4) Servo_fast
FixedGearType
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ModuloInfo - FixedGearType
The structure elements of 'Modulo' specify the modulo information.
configurationMode
Specifies the active modulo configurationWith SYSTEM, the modulo configuration of the interface interconnected with the output vector is accepted.With DIRECT, the configured modulo parameters are active.
length
Specifies modulo length.The minimum modulo length that can be set depends on the available resolution!
startValue
Specifies the initial value.
state
Specifies modulo activation.With ACTIVE, a modulo status is activated.With INACTIVE, the modulo status is not activated.
EnumSystemDirect
EnumActiveInactive
Data type: EnumSystemDirect
Changeable online: Yes, active after restart
System default: SYSTEM
Data type: LREAL
Changeable online: Yes, active after restart
System default: 360.0 °
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
Data type: EnumActiveInactive
Changeable online: Yes, active after restart
System default: INACTIVE
SYSTEM (0) System selection
DIRECT (1) Selection by configuration
ACTIVE (4) Active
INACTIVE (61) Inactive
FixedGearType
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RestartInfo - FixedGearType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or just by command.
behaviorInvalidSysvarAccess
If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology object is restarted or deactivated.The values stored in the image are supplied when system variables are accessed during the techno-logy object restart or deactivation phase.
restartActivationSetting
With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with system variables and/or by command.With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
EnumToRestartActivationSetting
Data type: EnumToInvalidSysvarAccess
Changeable online: No
System default: LAST_VALUE
Data type: EnumToRestartActivationSetting
Changeable online: Yes, active after restart
System default: RESTART_BY_SYSVAR_AND_COMMAND
DEFAULT_VALUE (2) Supply substitute value from default value
STOP_DEVICE (3) No substitute value, switch to STOP mode
LAST_VALUE (338) Supply substitute value from last valid value
RESTART_BY_SYSVAR_AND_COMMAND (0) Allow restart via system variable and/or com-mand
RESTART_BY_COMMAND (1) Allow restart only via command
FixedGearType
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StructBaseConfigType - FixedGearType
The structure element of 'BaseConfig' specifies the reference component of the motion vector.
motionBase
Indicates the reference component of the motion vector at the input.With POSITION, both a position-oriented and a velocity-oriented synchronous operation can be rea-lized.With VELOCITY, only a velocity-oriented synchronous operation can be realized.
EnumMotionBaseType
StructMotionInMainType - FixedGearType
The structure elements of 'MotionIn' specify the input vectors.
Associated parameters (maximum):
Data type: EnumMotionBaseType
Changeable online: Yes, active after restart
System default: POSITION
POSITION (0) Position
VELOCITY (1) Velocity
MotionIn1(StructMotionInType)
Input vector 1
MotionIn2(StructMotionInType)
Input vector 2
MotionIn3(StructMotionInType)
Input vector 3
FixedGearType
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StructMotionInType - FixedGearType
The structure elements for 'MotionIn(n)' specify the input vector (n).
behaviorByInvalidInterface
Setting, whether with active but invalid interconnection value, the replacement value or the last valid value should be taken.With DEFAULT_VALUE, the default value is taken.With LAST_VALID_INTERFACE_VALUE, the last valid value from the interface is taken.
EnumLastValidInterfaceValueDefaultValue
StructMotionOutType - FixedGearType
The structure elements of 'MotionOut' specify the output vector.
errorBehaviorMode
Indicates how the output vector is to be initialized with an active but invalid interconnection.With LAST_VALUE, the last valid output vector is set.With ZERO_VALUE, the output vector is reset to zero.
With DEFAULT_VALUE, the output vector is initialized with the values from the 'motionoutdefault' sys-tem variable.
EnumFixedGearErrorBehaviorMode
Associated parameters (maximum):
Data type: EnumLastValidInterfaceValueDefaultValue
Changeable online: Yes, active after restart
System default: DEFAULT_VALUE
LAST_VALID_INTERFACE_VALUE (1) Last valid value
DEFAULT_VALUE (2) Replacement value
Data type: EnumFixedGearErrorBehaviorMode
Changeable online: Yes, active after restart
System default: LAST_VALUE
DEFAULT_VALUE (2) Default value
LAST_VALUE (338) Last valid value
ZERO_VALUE (339) Zero
Modulo(ModuloInfo)
Modulo configuration
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SensorType 16Associated parameters (maximum):
• DecodingConfig (DecodingConfigInfo)• Execution (ExecutionConfigInfo)• Extrapolation (StructSensorExtrapolation)• Restart (RestartInfo)• Sensor (StructInSensorMain)• ValueOut (StructSensorGeneralParameter)
AbsEncoder - SensorType
The structure elements of 'AbsEncoder' specify the parameters for an absolute encoder.
NoteFurther information about the following parameters and on fine resolution can be found inFunction Manual "TO Axis Electric/Hydraulic, External Encoder".or in the online help
absBaudRate
Specifies the baud rate data for detecting the actual value of the absolute encoder.Baudrate_5 sets a baud rate of 3 Mbaud.Baudrate_4 sets a baud rate of 1.5 Mbaud.Baudrate_3 sets a baud rate of 750 Kbaud.Baudrate_2 sets a baud rate of 375 Kbaud.Baudrate_1 sets a baud rate of 187.5 Kbaud.
absDataLength
Specifies the number of data bits of the absolute encoder range (packet length).The number of data bits is calculated from the number of steps per revolution multiplied by the number of revolutions.For example: 2048 incr./rev. * rev.= data bit length 23
Data type: EnumAbsBaudrate
Changeable online: No
System default: Baudrate_3
Data type: UDINT
Changeable online: Yes, active after restart
System default: 24
SensorType
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absMessageFormat
Specifies a message frame format for the absolute encoder.With RIGHT_MARGIN, the protocol format is right-justified.With PINETREE, the pine tree format is selected.
absMessageLength
Specifies the message frame length for detecting the actual value of the absolute encoder.With LENGTH_13, a protocol length of 13 bits is selected.With LENGTH_21, a protocol length of 21 bits is selected.With LENGTH_25, a protocol length of 25 bits is selected.
absResolution
Specifies the number of increments per encoder revolution specified on the encoder rating plate.
absResolutionMultiplierAbsolute
Specifies the multiplication factor of the actual value of the absolute encoder.Evaluation of the absolute encoder during request by the absolute encoder (GxIST2).
absResolutionMultiplierCyclic
Specifies the multiplication factor of the cyclic actual value of the encoder.Evaluation of the incremental signal of the absolute encoder during operation (GxIST1).
Data type: EnumAbsMsgFormat
Changeable online: No
System default: PINETREE
Data type: EnumAbsMsgLength
Changeable online: No
System default: LENGTH_25
Data type: UDINT
Changeable online: Yes, active after restart
System default: 4096
Data type: UDINT
Changeable online: No
System default: 0
Data type: UDINT
Changeable online: No
System default: 0
SensorType
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absState
Specifies a protocol format for the actual value of the absolute encoder.With BIN_CODE, a binary code is selected.With GRAY_CODE, GRAY code is selected.
enableAbsMonitoring
Specifies the monitoring mode of the permissible changes of the actual value for the absolute encoder.
With YES (system default), monitoring of the permissible changes of the actual value for the absolute encoder is activated.
Actual value changes of the absolute encoder greater than or equal to the possible change in accor-dance with the maximum velocity (maxVelocity.maximum) are limited to the change in accordance with the current velocity, i.e. the velocity of the previous cycle.
Incorrect actual values, e.g. due to transmission errors, are adjusted.If the actual value changes are impermissibly high in 5 subsequent cycles, alarm 20005, reason 0, is issued.
With NO, monitoring of the permissible changes of the actual value for the absolute encoder is not activated, i.e., incorrect actual values due to transmission errors, for example, are also not changed and processed as they are.No technological alarm is issued.
NoteSwitch the monitoring function off at your own risk.
After the deactivation of the monitoring, it can no longer be guaranteed that the magnitude of the cal-culated velocity lies within the limits defined by the user.
The position and the velocity and all derived quantities are also displayed and processed also taking account of any measured values recognized as being incorrect (control, stop ramps, interpolations, positioning).
EnumAbsBaudrate
EnumAbsMsgFormat
Data type: EnumAbsState
Changeable online: No
System default: GRAY_CODE
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: YES
Baudrate_5 (16#01) 3 Mbaud
Baudrate_4 (16#02) 1.5 Mbaud
Baudrate_3 (16#04) 750 Kbaud
Baudrate_2 (16#08) 375 Kbaud
Baudrate_1 (16#10) 187.5 Kbaud
RIGHT_MARGIN (0) Right-justified
PINETREE (1) Pine tree format
SensorType
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EnumAbsMsgLength
EnumAbsState
EnumYesNo
LENGTH_13 (13) 13 bits
LENGTH_21 (21) 21 bits
LENGTH_25 (25) 25 bits
BIN_CODE (16#00) Binary
GRAY_CODE (16#01) Gray Code
NO (91) No
YES (173) Yes
SensorType
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AdditionalSensorDriverInfo - SensorType
The elements of this structure are used to configure the I/O module of an encoder.
errorToleranceTime
Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Specifies the logical address of the communication module.
maxValue
Specifies the maximum digitalized measured value for the additional encoder.
minValue
Specifies the minimal digitalized measured value for the additional encoder.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1 s
Data type: EnumActualValueFormat
Changeable online: Yes, active after restart
System default: VALUE_LEFT_MARGIN
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
Data type: DINT
Changeable online: Yes, active immediately
System default: 32511
Data type: DINT
Changeable online: Yes, active immediately
System default: -32512
SensorType
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resolution
Specifies the number of relevant bits for the additional encoder.
EnumActualValueFormat
Data type: UDINT
Changeable online: Yes, active after restart
System default: 15
VALUE_RIGHT_MARGIN (0) Right-justified
VALUE_LEFT_MARGIN (1) Left-justified
VALUE_LEFT_MARGIN_WITHOUT_SIGN (2) Left-justified without sign
VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3) Right-justified without sign
SensorType
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AnalogConversionDataType - SensorType
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder values read.
_type
Specifies the interpretation type for the digitalized measured value.
factor
Specifies the weighting factor for the analog measured value. The weighting factor specifies the rela-tion between distance/velocity per bit.
offset
Specifies the offset for the analog measured value.
EnumConversionDataType
Data type: EnumConversionDataType
Changeable online: No
System default: LINEAR_CONVERSIONDATA
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
LINEAR_CONVERSIONDATA (1) Linear relationship
SensorType
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AnalogSensorType - SensorType
The structure elements of 'AnalogSensor' specify actual value smoothing.
Associated parameters (maximum):
ConversionData(AnalogConversionDataType)
Conversion factors between analog input value and actual position value
DriverInfo(StructSensorDriverInfo)
Driver data
ErrorStateMonitoring(StructAxisAnalogSensorErrorStateMonitoring)
Error-state monitoring
LogAddress(StructLogAddressIoBitType)
Logical address of analog sensor
PositionFilter(PositionFilterType)
Actual position value filter
ReadyStateMonitoring(StructAxisAnalogSensorReadyStateMonito-ring)
Ready-state monitoring
UpdateCounter(StructAxisActualValueUpdateCounter)
Evaluation of actual value update
SensorType
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ConversionData - SensorType
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder values read.
NoteFurther information is provided:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Supplementary Technology Objects Function ManualOnline help
_type
Specifies the interpretation type for the digitalized measured value.
factor
Specifies the evaluation type for the digitalized measured value.
invert
Specifies whether or not the sign of the measured value should be inverted.With NO, the sign is not inverted.With YES, the sign is inverted.
offset
Specifies the offset for the digitalized measured value.
EnumConversionDataType
EnumYesNo
Data type: EnumConversionDataType
Changeable online: No
System default: LINEAR_CONVERSIONDATA
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0
LINEAR_CONVERSIONDATA (1) Linear relationship
NO (91) No
YES (173) Yes
SensorType
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ConversionDataAdaptType - SensorType
The structure elements for 'ConversionDataAdapt' are used to form a quotient with which the digitized measured value is multiplied.
denFactor
Specifies the denominator of the weighting factor.
numFactor
Specifies the numerator of the weighting factor.
DecodingConfigInfo - SensorType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
Note"Further information can be found in the TO Synchronous Operation, Cam Function Manual and in the online help."
numberOfMaxBufferedCommandId
Specifies the maximum number of command IDs active simultaneously whose status can be reques-ted at the end of the relevant command.A command ID is added to the list with the ST command '_bufferCommandId'.Removal from the list takes place with the ST command '_removeBufferedCommandId'.
Data type: UDINT
Changeable online: Yes, active immediately
System default: 1
Data type: UDINT
Changeable online: Yes, active immediately
System default: 1
Data type: DINT
Changeable online: Yes, active after restart
System default: 10
SensorType
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DriverInfo - SensorType
The structure elements of 'DriverInfo' specify the parameters for the encoder hardware.
NoteAdditional information is available at:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Technology Objects Synchronous Operation, Cam Function Manualor in the online help
encoderNumberOnDevice
Specifies the number of the encoder actual value for message frames with several actual values, e.g. DP_TEL106_611U_DSC_2_ENCODER.
lifeSignCheck
Specifies the monitoring mode for the PROFIBUS DP sign of life between nodes.With 'NO', the sign of life monitoring is switched off.With 'YES', the sign of life monitoring is activated.
logAddressIn
Specifies the logical address for the input data area.
logAddressOut
Specifies the logical address for the output data area.
Data type: DINT
Changeable online: No
System default: 0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: YES
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: No
System default: 65535
SensorType
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telegramType
Specifies a PROFIdrive message frame type.With NO_TELEGRAM, a message frame is not specified.With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set up.With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set up.With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one encoder) is set up.With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with two encoders) is set up.With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives with one encoder and DSC) is set up.With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled drives with two encoders and DSC) is set up.
With DP_TEL81_STANDARD, the standard message frame 81, PZD-2/6 for an encoder is set up.With DP_TEL82_STANDARD, the standard message frame 82, PZD-2/7 for an encoder is set up.With DP_TEL83_STANDARD, the standard message frame 83, PZD-2/8 for an encoder is set up.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7 for velocity-controlled drives without encoders is set up.With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for velocity-controlled drives with one encoder is set up.With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for velocity-controlled drives with two encoders is set up.With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for velocity-controlled drives with one encoder and DSC is set up.With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for velocity-controlled drives with two encoders and DSC is set up.
EnumYesNo
EnumAxisTelegramType
Data type: EnumAxisTelegramType
Changeable online: No
System default: DP_TEL102_611U_POSCTRL_1_ENCODER
NO (91) No
YES (173) Yes
NO_TELEGRAM (0) No message frame
DP_TEL1_STANDARD (1) Standard message frame 1, PZD-2/2
DP_TEL2_STANDARD (2) Standard message frame 2, PZD-4/4
DP_TEL3_STANDARD (3) Standard message frame 3, PZD-5/9
DP_TEL4_STANDARD (4) Standard message frame 4, PZD-6/14
DP_TEL5_STANDARD (5) Standard message frame 5, PZD-9/9
DP_TEL6_STANDARD (6) Standard message frame 6, PZD-10/14
DP_TEL81_STANDARD (81) Standard message frame 81, PZD-2/6
DP_TEL83_STANDARD (83) Standard message frame 83, PZD-2/8
SensorType
16-789SIMOTION Technology Packages Configuration DataList Manual, 11/2010
DP_TEL101_611U_VELCTRL_NO_ENCODER (101)
SIEMENS message frame 101, PZD-6/7
DP_TEL102_611U_POSCTRL_1_ENCODER (102)
SIEMENS message frame 102, PZD-6/10
DP_TEL103_611U_POSCTRL_2_ENCODER (103)
SIEMENS message frame 103, PZD-7/15
DP_TEL105_611U_DSC_1_ENCODER (105) SIEMENS message frame 105, PZD-10/10
DP_TEL106_611U_DSC_2_ENCODER (106) SIEMENS message frame 106/107, PZD-11/15
SensorType
16-790 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ExecutionConfigInfo - SensorType
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
NoteFurther information is provided:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Technology Objects Synchronous Operation, Cam Function ManualOnline help
executionlevel
Specifies the task level at which the interpolator task of the technology object is running.With IPO, the task is executed in the fast interpolator cycle clock.With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel
Data type: EnumToExecutionLevel
Changeable online: Yes, active after restart
System default: IPO
IPO (0) IPO
IPO_2 (1) IPO_2
SERVO (2) Servo
IPO_FAST (3) IPO_fast
SERVO_FAST (4) Servo_fast
SensorType
16-791SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Filter - SensorType
The structure elements of 'Filter' specify actual value smoothing.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies filter functionality.With 'NO', the filter functionality is deactivated.With 'YES', the filter functionality is activated.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
FrequencyLimit - SensorType
The structure elements of 'FrequencyLimit' specify the frequency limit of the encoder.
encoderFrequencyLimit
Specifies the frequency limit of the encoder.
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
Data type: LREAL
Changeable online: Yes, active immediately
System default: 400000.0 Hz
SensorType
16-792 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
IncEncoder - SensorType
The structure elements of 'IncEncoder' specify the parameters for an incremental encoder.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enableZeroMonitoring
Specifies the activation status of monitoring of the number of increments between two encoder zero marks.With 'NO', monitoring of the number of increments between two encoder zero marks is not activated.With 'YES', monitoring of the number of increments between two encoder zero marks is activated.
incResolution
Specifies the number of increments per encoder revolution specified on the encoder rating plate.
incResolutionMultiplierCyclic
Specifies the multiplication factor of the cyclic actual value.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 2048
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
NO (91) No
YES (173) Yes
SensorType
16-793SIMOTION Technology Packages Configuration DataList Manual, 11/2010
IntervalCounterConversionDataType - SensorType
The structure elements of 'IntervalCounterConversionData' are used to configure the encoder as an interval counter.
The 'Interval counter' encoder type is used to determine the speed using an interval duration and the number of intervals per encoder revolution.An interval is the time between two successive encoder pulses that are recorded by an encoder module.The duration (interval) between the encoder pulses is measured by the module and provided in the I/O area.
incResolution
Specifies the increments or the number of intervals or encoder pulses per encoder revolution.
referenceTime
Specifies the reference time for the measurement of the interval duration.The reference time is the time after which the counter in the encoder module used to determine the interval duration is incremented by one (interval duration = count * reference time).
Associated parameters (maximum):
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0005
DriverInfo(StructSensorDriverInfo)
AnalogDriverInfo (Only the logical address 'logAddress' of the reference value for the inter-val duration stored by the encoder module in the I/O area has to be specified. The other elements of the 'StructSensorDriverInfo' structure are not taken into account for the configuration of the interval counter.)
SensorType
16-794 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
InversCountDirection - SensorType
The structure elements of 'InversCountDirection' specify the counting direction of the actual encoder value.
encoderFeedbackPolarity
Specifies whether the counting direction of the actual encoder value is inverted.With NO, the count direction of the actual encoder value is not inverted. (System default)With YES, the count direction of the actual encoder value is inverted.
EnumYesNo
LeadScrewInfo - SensorType
The structure elements of 'LeadScrew' set the leadscrew pitch.
efficiency
Efficiency of the spindle/nut combination.
pitchVal
Specifies the leadscrew pitch per spindle revolution.
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
Data type: LREAL
Changeable online: Yes, active after restart
System default: 1.0
Data type: LREAL
Changeable online: Yes, active after restart
System default: 10.0 mm/rot
SensorType
16-795SIMOTION Technology Packages Configuration DataList Manual, 11/2010
ModuloInfo - SensorType
The structure elements of 'Modulo' specify the modulo information.
length
Specifies modulo length.The minimum modulo length that can be set depends on the available resolution!
startValue
Specifies the initial value.
state
Specifies modulo activation.With ACTIVE, a modulo status is activated.With INACTIVE, the modulo status is not activated.
EnumActiveInactive
PathPerRevolution - SensorType
The structure elements of 'PathPerRevolution' specify the distance of one revolution for the EXTERN assembly base.
length
Specifies the path length of an encoder revolution for EXTERNAL mount type.
Data type: LREAL
Changeable online: Yes, active after restart
System default: 360.0 °
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 °
Data type: EnumActiveInactive
Changeable online: Yes, active after restart
System default: INACTIVE
ACTIVE (4) Active
INACTIVE (61) Inactive
Data type: LREAL
Changeable online: Yes, active after restart
System default: 100.0 mm
SensorType
16-796 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
PositionFilterType - SensorType
The structure elements of 'PositionFilter' specify actual value smoothing. The settings take effect on the actual position values in the servo cycle clock.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
enable
Specifies filter functionality.With 'NO', the filter functionality is deactivated.With 'YES', the filter functionality is activated.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
SensorType
16-797SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Resolution - SensorType
'Resolution' is used to configure the parameters of a linear encoder system (linear scale).
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
distance
Distance between two encoder increments.
NoteThe minimum value that can be set results from the maximum resolution of the TO axis or TO external encoder. Consequently, for an excessive lower limit, the unit for the 'Increments/Position' physical quantity must be varied appropriately.
multiplierCyclic
Incremental resolution
Data type: LREAL
Changeable online: No
System default: 0.001 mm
Data type: UDINT
Changeable online: No
System default: 0
SensorType
16-798 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
RestartInfo - SensorType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or just by command.
behaviorInvalidSysvarAccess
If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology object is restarted or deactivated.The values stored in the image are supplied when system variables are accessed during the techno-logy object restart or deactivation phase.
restartActivationSetting
With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with system variables and/or by command.With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
EnumToRestartActivationSetting
Data type: EnumToInvalidSysvarAccess
Changeable online: No
System default: LAST_VALUE
Data type: EnumToRestartActivationSetting
Changeable online: Yes, active after restart
System default: RESTART_BY_SYSVAR_AND_COMMAND
DEFAULT_VALUE (2) Supply substitute value from default value
STOP_DEVICE (3) No substitute value, switch to STOP mode
LAST_VALUE (338) Supply substitute value from last valid value
RESTART_BY_SYSVAR_AND_COMMAND (0) Allow restart via system variable and/or com-mand
RESTART_BY_COMMAND (1) Allow restart only via command
SensorType
16-799SIMOTION Technology Packages Configuration DataList Manual, 11/2010
SensorControlConfig - SensorType
The tolerance of an encoder error is specified with the structure elements for 'SensorControlConfig'.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
tolerateSensorDefect
Specifies whether a failure of an encoder not involved in the closed-loop control should be tolerated.With 'NO', a failure is not tolerated.With 'YES', a failure is tolerated.
EnumYesNo
Slippage - SensorType
Not functional.
slippageLimit
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
NO (91) No
YES (173) Yes
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1000 mm
SensorType
16-800 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StandStillSignal - SensorType
The structure elements of 'StandStillSignal' specify the parameters for the velocity-dependent stand-still signal.
Note"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function Manual and in the online help."
delayTimeToActivate
Specifies the delay time to activation of the velocity-dependent standstill signal.
filterDegree
Specifies the filter degree.
filterFrequency
Specifies the filter frequency.
maxVeloStandStill
Specifies the velocity limit below which the velocity-dependent standstill signal is active.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
Data type: UINT
Changeable online: Yes, active immediately
System default: 0
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 Hz
Data type: LREAL
Changeable online: Yes, active immediately
System default: 50.0 mm/min
SensorType
16-801SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisActualValueUpdateCounter - SensorType
The structure elements of 'UpdateCounter' are used to set the parameters for evaluation of the actual value update.
bitNumber
Specifies the first bit number of the update counter.
enableCounter
Specifies whether the actual value update is evaluated.With NO, the actual value update is not evaluated.With YES, the actual value update is evaluated.
logAddress
Specifies the logical address of the update counter.
maxFailure
Specifies the number of permissible value failures before an error is output.
quantityOfBits
Specifies the number of bits in the update counter.
Data type: UDINT
Changeable online: No
System default: 0
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
SensorType
16-802 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
updateCycle
Specifies the ratio of the actual value update.
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 1
NO (91) No
YES (173) Yes
SensorType
16-803SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisAnalogSensorErrorStateMonitoring - SensorType
The structure elements of 'ErrorStateMonitoring' are used to set the parameters for evaluation of the error bit.
bitNumber
Specifies the bit number of the error bit.
bitSemantics
Specifies the evaluation of the error bit.With TRUE, the error bit is evaluated as 1.With FALSE, the error bit is evaluated as 0.
enable
Specifies whether the error bit monitoring is performed.With NO, the logical address is not used.With YES, the logical address is used.
logAddress
Specifies the logical address of the error bit.
EnumTrueFalse
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: EnumTrueFalse
Changeable online: Yes, active after restart
System default: _TRUE
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
_TRUE (405) true
_FALSE (406) false
NO (91) No
YES (173) Yes
SensorType
16-804 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisAnalogSensorReadyStateMonitoring - SensorType
The structure elements of 'ReadyStateMonitoring' are used to set the parameters for evaluation of the ready bit.
bitNumber
Specifies the bit number of the ready bit.
bitSemantics
Specifies the evaluation of the ready bit.With TRUE, the ready bit is evaluated as 1.With FALSE, the ready bit is evaluated as 0.
enable
Specifies whether the ready bit monitoring is performed.With NO, the logical address is not used.With YES, the logical address is used.
logAddress
Specifies the logical address of the ready bit.
EnumTrueFalse
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: EnumTrueFalse
Changeable online: Yes, active after restart
System default: _TRUE
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
_TRUE (405) true
_FALSE (406) false
NO (91) No
YES (173) Yes
SensorType
16-805SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisDriveControlConfig - SensorType
Settings for the drive are specified with the 'DriveControlConfig' configuration data.
dataAdaption
The 'dataAdaption' configuration data activates the adaptation of the drive data.With 'YES', is the adaptation active.With 'NO', is the adaptation deactivated.
pulsesEnabledEvaluation
The 'PulsesEnabledEvaluation' configuration data describes the behavior of the axis for a drive-inde-pendent stop response.With 'YES', the Pulses-Enabled bit is always processed.With 'COMPATIBILITY_MODE', the Pulses-Enabled bit is only processed for selected safety data block.
releaseDisableMode
The behavior of the drive during the RELEASE_DISABLE error response is specified with the 'release-DisableMode' configuration data.
Specifies the values of bits 0 - 6 to be reset in the PROFIDrive protocol.The bits are negated by the system and ANDed with the existing control word. The specified bits are reset.
Meaning of the bits in the PROFIdrive protocol:Bit0 - ONBit1 - No Coast StopBit2 - No Quick StopBit3 - Enable OperationBit4 - Enable Ramp GeneratorBit5 - Unfreeze Ramp GeneratorBit6 - Enable Setpoint
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: EnumAxisPulsesEnabledEvaluation
Changeable online: Yes, active after restart
System default: COMPATIBILITY_MODE
Data type: UDINT
Changeable online: Yes, active immediately
System default: 127
NO (91) No
YES (173) Yes
SensorType
16-806 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumAxisPulsesEnabledEvaluation
Associated parameters (maximum):
YES (173) Pulses-Enabled bit is always processed
COMPATIBILITY_MODE (959) The Pulses-Enabled bit is only processed for selected safety data block
pulsesEnabled(StructAxisPulsesEnabledConfig)
Position of PulsesEnabled bit
SensorType
16-807SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - SensorType
Specifies the logical address for the communication with the drive.
logAddress
Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data in the cyclic message frame from the drive.
StructAxisNistDriverConfig - SensorType
The parameters for the actual speed value hardware are specified with the structure elements for 'NistDriverConfig' .
logAddress
Specifies the logical address for the actual speed value.
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: No
System default: 65535
SensorType
16-808 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisOperatingDataInInfo - SensorType
Specifies the configuration of the operating character data block.
enableActivePower
Specifies the activation of the effective power display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableActualCurrent
Specifies the activation of the actual current value display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableActualTorqueOrForce
Specifies the activation of the torque / force actual value display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableMotorTemperature
Specifies the activation of the motor temperature display.With 'NO', the display is not activated.With 'YES', the display is activated.
enableTorqueOrForceUtilization
Specifies the activation of the torque utilization display.With 'NO', the display is not activated.With 'YES', the display is activated.
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
SensorType
16-809SIMOTION Technology Packages Configuration DataList Manual, 11/2010
logAddress
Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data in the cyclic message frame from the drive.
EnumYesNo
Data type: UDINT
Changeable online: No
System default: 65535
NO (91) No
YES (173) Yes
SensorType
16-810 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisPulsesEnabledConfig - SensorType
The bit position for pulsesEnable is defined with the configuration data in 'StructAxisPulsesEnabled-Config'.
bitNumber
Specifies the bit number for pulse enable.
pzdNumber
Specifies the PZD number for pulse enable.
Data type: UDINT
Changeable online: Yes, active after restart
System default: 13
Data type: UDINT
Changeable online: Yes, active after restart
System default: 5
SensorType
16-811SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisSpeedLimitation - SensorType
Parameters for asymmetric manipulated variable limitation. This function is also referred to as a back-stop.
enable
Specifies the activation status of the velocity range limit..With 'NO', the velocity limit is not activated.With 'YES', the velocity limit is activated.
maxSpeed
Specifies the upper limit for the manipulated variable range.
minSpeed
Specifies the lower limit for the manipulated variable range.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 1/min
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 1/min
NO (91) No
YES (173) Yes
SensorType
16-812 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisTechnologicalData - SensorType
The structure elements belonging to TechnologicalData are used to specify addresses for additional data exchange between drive and control unit.
driveSafetyExtendedFunctionsEnabled
Specifies the activation status of the SINAMICS Safety Integrated Extended Functions data.With 'NO', the data are not activated.With 'YES', the data are activated.
enable
Specifies the activation status of the technological data.With 'NO', the technology data are not activated.With 'YES', the technology data are activated.
EnumYesNo
Associated parameters (maximum):
StructAxisTechnologicalDataInInfo - SensorType
Specifies the logical address for the communication with the drive.
logAddress
Specifies the logical address for the transfer of specific parameters in the cyclical message frame from the drive.
Data type: EnumYesNo
Changeable online: No
System default: NO
Data type: EnumYesNo
Changeable online: No
System default: NO
NO (91) No
YES (173) Yes
DriveSafetyExtendedFunctionsInfoDataIn(StructAxisDriveSafetyExtendedFunctionsInfo-DataIn)
Drive interface for SINAMICS Safety Integrated Extended Functions data
OperatingDataInInfo(StructAxisOperatingDataInInfo)
Drive interface for operating characteristics
TechnologicalDataInInfo(StructAxisTechnologicalDataInInfo)
Drive interface for specific actual values
TechnologicalDataOutInfo(StructAxisTechnologicalDataOutInfo)
Drive interface for specific setpoints
Data type: UDINT
Changeable online: No
System default: 65535
SensorType
16-813SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructAxisTechnologicalDataOutInfo - SensorType
Specifies the logical address for the communication with the drive.
logAddress
Specifies the logical address for the transfer of specific parameters in the cyclical message frame to the drive.
StructDriverInfoDirectIncremental - SensorType
The parameters for the direct incremental encoder hardware are specified with the structure elements for 'DriverInfoDirectIncremental' .
logAddress
Specifies the logical address of the communication module.
resolution
Specifies the number of bits of the incremental encoder.
Data type: UDINT
Changeable online: No
System default: 65535
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
Data type: UDINT
Changeable online: Yes, active after restart
System default: 16
SensorType
16-814 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructExtrapolation - SensorType
The structure elements belonging to 'Extrapolation' are used to set the extrapolation time on the mas-ter value axis.
extrapolatedVelocitySwitch
Used to select the velocity master value for master value extrapolation.
extrapolationTime
Time specification for extrapolation. With 0.0, there is no extrapolation.
EnumAxisExtrapolatedVelocitySwitch
Associated parameters (maximum):
Data type: EnumAxisExtrapolatedVelocitySwitch
Changeable online: Yes, active immediately
System default: DIFFERENTIATION
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
DIFFERENTIATION (408) Differentiation of extrapolated master value
TRANSFER (409) Transfer of extrapolated velocity
Filter(StructExtrapolationFilter)
Filter for actual velocity
ToleranceRange(StructToleranceRange)
Tolerance range
SensorType
16-815SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructExtrapolationFilter - SensorType
The structure elements belonging to 'Filter' are used to set the filter for the actual velocity on the mas-ter value axis.
enable
Specifies filter functionality.With 'NO', the filter functionality is deactivated.With 'YES', the filter functionality is activated.
mode
Specifies criterion for actual value smoothing.With 'DEFAULT_MODE', the actual speed is not smoothed.With 'AVERAGING', an average over time is used.With 'PT1', a filter set via 'timeConstant' is used.
timeConstant
Time constant for PT1 smoothing.
EnumYesNo
EnumAxisFilterMode
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: EnumAxisFilterMode
Changeable online: Yes, active after restart
System default: DEFAULT_MODE
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.01 s
NO (91) No
YES (173) Yes
DEFAULT_MODE (0) No filter
AVERAGING (1) Form mean value
PT1 (2) PT1 filter
SensorType
16-816 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructInSensorMain - SensorType
The 'Sensor' structure element is used to configure an encoder.
Associated parameters (maximum):
StructInputObjectRange - SensorType
The 'Range' structure elements are used to configure the definition range of the read encoder values.
_max
Specifies the maximum value.
_min
Specifies the minimum value.
AbsEncoder(AbsEncoder)
Absolute encoder
AnalogSensorDriverInfo(AdditionalSensorDriverInfo)
Analog input module
ConversionData(ConversionData)
Interpretation of the encoder values
ConversionDataAdapt(ConversionDataAdaptType)
Gear ratio
DriverInfo(DriverInfo)
Input module
Filter(Filter)
Filter for actual value smoothing
FrequencyLimit(FrequencyLimit)
Limit frequency of the measuring system
IncEncoder(IncEncoder)
Incremental encoder
IntervalCounterConversionData(IntervalCounterConversionDataType)
Interval counter
InversCountDirection(InversCountDirection)
Inverse count direction
Range(StructInputObjectRange)
Definition range of the encoder values
SensorControlConfig(SensorControlConfig)
Encoder error tolerance
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10000.0
Data type: LREAL
Changeable online: Yes, active immediately
System default: -10000.0
SensorType
16-817SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructLogAddressIoBitType - SensorType
The structure elements of 'LogAddress' are used to set the logical address.
bitNumber
Specifies the bit number of the measuring input input.
enable
Specifies whether the indicated logical address should be used.With NO, the logical address is not used.With YES, the logical address is used.
logAddress
Specifies the logical base address of the measuring input input.
EnumYesNo
Data type: UDINT
Changeable online: Yes, active after restart
System default: 0
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
NO (91) No
YES (173) Yes
SensorType
16-818 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructSensorDriverInfo - SensorType
The elements of this structure are used to configure the I/O module of the additional encoder.
errorToleranceTime
Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Specifies the logical address of the communication module.
maxValue
Specifies the maximum digitalized measured value for the additional encoder.
minValue
Specifies the minimal digitalized measured value for the additional encoder.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1 s
Data type: EnumActualValueFormat
Changeable online: Yes, active after restart
System default: VALUE_LEFT_MARGIN
Data type: UDINT
Changeable online: Yes, active after restart
System default: 65535
Data type: DINT
Changeable online: Yes, active immediately
System default: 32511
Data type: DINT
Changeable online: Yes, active immediately
System default: -32512
SensorType
16-819SIMOTION Technology Packages Configuration DataList Manual, 11/2010
resolution
Specifies the number of relevant bits for the additional encoder.
EnumActualValueFormat
Data type: UDINT
Changeable online: Yes, active after restart
System default: 15
VALUE_RIGHT_MARGIN (0) Right-justified
VALUE_LEFT_MARGIN (1) Left-justified
VALUE_LEFT_MARGIN_WITHOUT_SIGN (2) Left-justified without sign
VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3) Right-justified without sign
SensorType
16-820 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructSensorExtrapolation - SensorType
The weighted derived value can be applied to the output value. The weighting value is specified as a factor and not as an extrapolation time..
enable
Activates the extrapolation of the input value
factor
Factor for the extrapolation of the input value
EnumYesNo
StructSensorGeneralParameter - SensorType
The substitute value strategy for technological alarm is selected with the structure elements for Valu-eOut.
outputValueErrorBehaviorMode
Specifies how the output value is to be initialized with an active but invalid interconnection.With LAST_VALUE, the last valid value is set.With ZERO_VALUE, the output value is reset to zero.With DEFAULT_VALUE, the output values are initialized with the values from the 'outputdefault' and "outputderivativedefault' system variables.
EnumSensorValueBehaviorMode
Data type: EnumYesNo
Changeable online: Yes, active after restart
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0
NO (91) No
YES (173) Yes
Data type: EnumSensorValueBehaviorMode
Changeable online: Yes, active after restart
System default: DEFAULT_VALUE
DEFAULT_VALUE (2) Replacement value
LAST_VALUE (338) Last value
ZERO_VALUE (339) Substitute value zero
SensorType
16-821SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructToleranceRange - SensorType
The structure elements belonging to 'ToleranceRange' are used to set a tolerance window around the actual position of the master value axis.
enable
Activation of the tolerance range.With 'NO', the tolerance range is deactivated.With 'YES', the tolerance range is activated.
value
Specifies the tolerance window around the actual position value of the master axis.
EnumYesNo
Data type: EnumYesNo
Changeable online: Yes, active immediately
System default: NO
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 mm
NO (91) No
YES (173) Yes
SensorType
16-822 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
IV-823SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Part IVTP TControl
IV-824 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Contents-825SIMOTION Technology Packages Configuration DataList Manual, 11/2010
Contents
Part IV TP TControl
17 TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-827StructTControllerCfgActualIdentificationType - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-827StructTControllerCfgAnalogDevice - TemperatureControllerType . . . . . 17-828StructTControllerCfgBinaryDevice - TemperatureControllerType . . . . . . 17-828StructTControllerCfgConfigUpdate - TemperatureControllerType . . . . . 17-829StructTControllerCfgControlRangeParameter - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-829StructTControllerCfgControlledSystemParameter - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-830StructTControllerCfgController - TemperatureControllerType. . . . . . . . . 17-830StructTControllerCfgCycleParameter - TemperatureControllerType . . . 17-831StructTControllerCfgDPIDController - TemperatureControllerType . . . . 17-831StructTControllerCfgDPIDParameter - TemperatureControllerType. . . . 17-832StructTControllerCfgDataConversionOutput - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-834StructTControllerCfgExecutionParameter - TemperatureControllerType . 17-835StructTControllerCfgGeneralParameter - TemperatureControllerType. . 17-837StructTControllerCfgHTempController - TemperatureControllerType. . . 17-838StructTControllerCfgIdentificationMinimumStepSize - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-838StructTControllerCfgIdentificationModifiedTangentMethod - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-839StructTControllerCfgIdentificationOutputValue - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-839StructTControllerCfgIdentificationStandardType - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-840StructTControllerCfgIdentificationStaticCondition - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-841StructTControllerCfgIdentificationTransitionMode - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-841StructTControllerCfgInput - TemperatureControllerType . . . . . . . . . . . . 17-842StructTControllerCfgInputAnalog - TemperatureControllerType . . . . . . . 17-842StructTControllerCfgInputDisplayValueParameter - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-843StructTControllerCfgInputFilterParameter - TemperatureControllerType . 17-843StructTControllerCfgInputGradientCheckParameter - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-844StructTControllerCfgInputLimitCheckParameter - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-844StructTControllerCfgInputSingleLimitCheckParameter -
Contents
Contents-826 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-845StructTControllerCfgLimits - TemperatureControllerType. . . . . . . . . . . . 17-846StructTControllerCfgLimitsControllerParameter - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-847StructTControllerCfgLimitsGeneralParameter - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-849StructTControllerCfgLimitsProcessParameter - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-850StructTControllerCfgOutput - TemperatureControllerType . . . . . . . . . . . 17-852StructTControllerCfgOutputAnalog - TemperatureControllerType . . . . . 17-852StructTControllerCfgOutputPwm - TemperatureControllerType . . . . . . . 17-853StructTControllerCfgOutputSingleOutput - TemperatureControllerType . 17-853StructTControllerCfgParameterMatlab - TemperatureControllerType. . . 17-854StructTControllerCfgParameterNetwork1 - TemperatureControllerType . 17-855StructTControllerCfgParameterPT4Tt - TemperatureControllerType . . . 17-857StructTControllerCfgPlausibilityParameter - TemperatureControllerType 17-858StructTControllerCfgProcessMode - TemperatureControllerType . . . . . 17-860StructTControllerCfgPwmParameter - TemperatureControllerType . . . . 17-861StructTControllerCfgSetpointHandling - TemperatureControllerType. . . 17-861StructTControllerCfgSetpointSmoothing - TemperatureControllerType . 17-862StructTControllerCfgSetpointStartupProfile - TemperatureControllerType 17-863StructTControllerCfgSimulation - TemperatureControllerType . . . . . . . . 17-864StructTControllerCfgSimulationControlledSystemParameter - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-865StructTControllerCfgSimulationParameter - TemperatureControllerType. 17-866StructTControllerCfgSimulationSystemNetwork1 - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-867StructTControllerCfgSimulationSystemPT4Tt - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-868StructTControllerConversionConverterRange - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-869StructTControllerConversionLinear - TemperatureControllerType . . . . . 17-870StructTControllerConversionTemperatureRange - TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17-870StructTControllerConversionVector - TemperatureControllerType . . . . . 17-871StructTControllerDataConversionConfig - TemperatureControllerType . 17-872StructTcontrollerCfgIdentification - TemperatureControllerType. . . . . . . 17-872
17-827SIMOTION Technology Packages Configuration DataList Manual, 11/2010
TemperatureControllerType 17Associated parameters (maximum):
• @setpointHandling (StructTControllerCfgSetpointHandling)• @simulation (StructTControllerCfgSimulation)• configUpdate (StructTControllerCfgConfigUpdate)• controller (StructTControllerCfgController)• execution (StructTControllerCfgExecutionParameter)• generalParameter (StructTControllerCfgGeneralParameter)• identification (StructTcontrollerCfgIdentification)• input (StructTControllerCfgInput)• limits (StructTControllerCfgLimits)• output (StructTControllerCfgOutput)
StructTControllerCfgActualIdentificationType - TemperatureControllerType
Controlled-system identification type
identificationType
Controlled-system identification type
EnumTControllerIdentificationTypeControlled-system identification type
Data type: EnumTControllerIdentificationType
Changeable online: Yes, active immediately
System default: MODIFIED_TANGENTMETHOD
NONE (93) No type selected
MODIFIED_TANGENTMETHOD (605) Modified tangent method
STANDARD_TANGENTMETHOD (606) Standard tangent method
TemperatureControllerType
17-828 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgAnalogDevice - TemperatureControllerType
Analog input device parameter
logicAddress
Logical address of assigned input
StructTControllerCfgBinaryDevice - TemperatureControllerType
Binary I/O device parameter
channel
Bit selection on assigned output
logicAddress
Logical address of assigned output
EnumTControllerBinaryIObitsBit assignment of I/O channels
Data type: UDINT
Changeable online: No
System default: 0xffff
Data type: EnumTControllerBinaryIObits
Changeable online: No
System default: CHANNEL_0
Data type: UDINT
Changeable online: No
System default: 0xffff
CHANNEL_0 (800) Channel 0
CHANNEL_1 (801) Channel 1
CHANNEL_2 (802) Channel 2
CHANNEL_3 (803) Channel 3
CHANNEL_4 (804) Channel 4
CHANNEL_5 (805) Channel 5
CHANNEL_6 (806) Channel 6
CHANNEL_7 (807) Channel 7
TemperatureControllerType
17-829SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgConfigUpdate - TemperatureControllerType
Update of the configuration data
configUpdateParameter
Update parameters of the configuration data
EnumTControllerConfigUpdate
StructTControllerCfgControlRangeParameter - TemperatureControllerType
Range parameters
lowerControlRange
Lower control range
upperControlRange
Upper control range
Data type: EnumTControllerConfigUpdate
Changeable online: Yes, active after restart
System default: BY_COMMAND
AUTOMATICALLY (607) Automatic
BY_COMMAND (608) Only by command
Data type: LREAL
Changeable online: Yes, active immediately
System default: 200.0 K
Data type: LREAL
Changeable online: Yes, active immediately
System default: 200.0 K
TemperatureControllerType
17-830 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgControlledSystemParameter - TemperatureControllerType
Controlled-system parameter
delayTime
Controlled-system delay time
maxGradient
Maximum temperature gradient of the controlled system
symmetry
Controlled-system symmetry
StructTControllerCfgController - TemperatureControllerType
Controller configuration
controllerType
Current controller type
EnumTControllerControllerTypeList of possible controllers
Associated parameters (maximum):
Data type: LREAL
Changeable online: No
System default: 100.0 s
Data type: LREAL
Changeable online: No
System default: 0.01 K/s
Data type: LREAL
Changeable online: No
System default: 1.0
Data type: EnumTControllerControllerType
Changeable online: No
System default: STANDARD_TYPE
ADVANCED_TYPE (770) Advanced controller for plastics
STANDARD_TYPE (771) DPIDT1 standard controller
advanced(StructTControllerCfgHTempController)
Advanced controller
standard(StructTControllerCfgDPIDController)
Standard controller
TemperatureControllerType
17-831SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgCycleParameter - TemperatureControllerType
Cycle parameter
controllerCycleTime
Controller cycle
StructTControllerCfgDPIDController - TemperatureControllerType
Configuration of DPIDT1 controller
Associated parameters (maximum):
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 s
DPIDParameter(StructTControllerCfgDPIDParameter)
1. controller parameter set
DPIDParameterSecondary(StructTControllerCfgDPIDParameter)
2. controller parameter set
cycleParameter(StructTControllerCfgCycleParameter)
1. cycle parameter set
cycleParameterSecondary(StructTControllerCfgCycleParameter)
2. cycle parameter set
lowerPlausibilityParameter(StructTControllerCfgPlausibilityParameter)
1. lower control loop plausibility
lowerPlausibilityParameterSecondary(StructTControllerCfgPlausibilityParameter)
2. lower control loop plausibility
upperPlausibilityParameter(StructTControllerCfgPlausibilityParameter)
1. upper control loop plausibility
upperPlausibilityParameterSecondary(StructTControllerCfgPlausibilityParameter)
2. upper control loop plausibility
TemperatureControllerType
17-832 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgDPIDParameter - TemperatureControllerType
DPID controller parameter
derivativeActionTime
Controller derivative-action time (derivative component, Tv)
derivativeActionTime2
Second order controller derivative-action time (D2 component, Tv2)
gain
Controller gain (proportional component, Kr)
integrationMode
Activates or deactivates the integral component of the controller
integrationTime
Controller integral-action time (integral component, Tn)
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 %/K
Data type: EnumTControllerIntegrationMode
Changeable online: Yes, active immediately
System default: ACTIVE
Data type: LREAL
Changeable online: Yes, active immediately
System default: 86400.0 s
TemperatureControllerType
17-833SIMOTION Technology Packages Configuration DataList Manual, 11/2010
integratorResetValue
Start value of integrator
EnumTControllerIntegrationMode
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 %
ACTIVE (4) Active
INACTIVE (61) Inactive
TemperatureControllerType
17-834 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgDataConversionOutput - TemperatureControllerType
Output normalization
factor
Input normalization: Factor
offset
Input normalization: Offset
Data type: LREAL
Changeable online: No
System default: 1.0
Data type: LREAL
Changeable online: No
System default: 0.0 %
TemperatureControllerType
17-835SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgExecutionParameter - TemperatureControllerType
Execution parameter
behaviorInvalidSysvarAccess
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology object is restarted or deactivated. The values stored in the image are supplied when system variables are accessed during the technology object restart or deactivation phase.
The default values of the variables are provided in the 'DEFAULT_VALUE' setting.If 'STOP_DEVICE' is selected, no substitute values are supplied. In this setting, the controller switches to STOP mode when variables are accessed.
executionlevel
Time classification of cyclic input, controller, and output components:
• Slow: Slow task levels (Input1 = read the actual values, Control1 = controller cycle)• Fast: Fast task levels (Input2 = read the actual values, Control2 = controller cycle)
restartActivationSetting
Activation mode for TO restart:RESTART_NONE : TO restart impossibleRESTART_BY_COMMAND: TO restart possible using a commandRESTART_BY_SYSVAR_AND_COMMAND: technology object restart possible by system variable and command
restartCondition
Activation condition for TO restart:NO_CONSTRAINTS : Restart independent of TO stateINACTIVE: Restart if controller is OFF (operatingMode)
EnumTControllerInvalidSysvarAccess
Data type: EnumTControllerInvalidSysvarAccess
Changeable online: No
System default: LAST_VALUE
Data type: EnumTControllerExecutionLevel
Changeable online: No
System default: FAST
Data type: EnumTControllerRestartActivationSetting
Changeable online: No
System default: RESTART_BY_SYSVAR_AND_COMMAND
Data type: EnumTControllerRestartCondition
Changeable online: No
System default: NO_CONSTRAINTS
DEFAULT_VALUE (2) Supply substitute value from default value
STOP_DEVICE (3) No substitute value, switch to STOP mode
LAST_VALUE (338) Supply substitute value from last valid value
TemperatureControllerType
17-836 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
EnumTControllerExecutionLevel
EnumTControllerRestartActivationSettingActivation modes for TO restart.
EnumTControllerRestartCondition
SLOW (750) Slow temperature controller task (Control2,Input2)
FAST (751) Fast temperature controller task (Control1,Input1)
RESTART_NONE (760) Restart not permissible
RESTART_BY_COMMAND (761) Restart by command
RESTART_BY_SYSVAR_AND_COMMAND (762)
Restart by system variable and command
INACTIVE (61) Restart when controller off (operatingMode)
NO_CONSTRAINTS (96) Restart without constraints
TemperatureControllerType
17-837SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgGeneralParameter - TemperatureControllerType
generalParameters:Default values for controller mode, setpoint, and manual output value
manualOutputValue
Manual manipulated variable value
operatingMode
Default control operating mode
setpoint
Default setpoint
EnumTControllerOperatingModeController mode
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 %
Data type: EnumTControllerOperatingMode
Changeable online: Yes, active immediately
System default: INACTIVE
Data type: LREAL
Changeable online: Yes, active immediately
System default: 60.0 °C
INACTIVE (61) Controller off
CONTROL (601) Controller mode
MEASURING_AND_MANUAL_OUTPUT (602) Metering mode, output of manual output value
MEASURING_AND_OUTPUT_ZERO (603) Metering mode, output 0
IDENTIFICATION (604) Identification of the controlled system parame-ters
TemperatureControllerType
17-838 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgHTempController - TemperatureControllerType
Configuration of an advanced controller
Associated parameters (maximum):
StructTControllerCfgIdentificationMinimumStepSize - TemperatureControllerType
Minimum step size
minimumStepSize
Minimum step size
DPIDParameter(StructTControllerCfgDPIDParameter)
1. controller parameter set
DPIDParameterSecondary(StructTControllerCfgDPIDParameter)
2. controller parameter set
controlRangeParameter(StructTControllerCfgControlRangeParameter)
Parameters of the control range
cycleParameter(StructTControllerCfgCycleParameter)
1. cycle parameter set
cycleParameterSecondary(StructTControllerCfgCycleParameter)
2. cycle parameter set
lowerPlausibilityParameter(StructTControllerCfgPlausibilityParameter)
1. lower control loop plausibility
lowerPlausibilityParameterSecondary(StructTControllerCfgPlausibilityParameter)
2. lower control loop plausibility
processModeParameter(StructTControllerCfgProcessMode)
Adaptation parameters
upperPlausibilityParameter(StructTControllerCfgPlausibilityParameter)
1. upper control loop plausibility
upperPlausibilityParameterSecondary(StructTControllerCfgPlausibilityParameter)
2. upper control loop plausibility
Data type: LREAL
Changeable online: Yes, active immediately
System default: 60.0 K
TemperatureControllerType
17-839SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgIdentificationModifiedTangentMethod - TemperatureControllerType
Parameter for controlled-system identification based on modified tangent method.
availablity
Identification type is available and can be started.
EnumTControllerIdentificationAvailableTypeIdentification type is available and can be started.
Associated parameters (maximum):
StructTControllerCfgIdentificationOutputValue - TemperatureControllerType
Output signal during controlled-system identification.
outputValue
Output signal during controlled-system identification.
Data type: EnumTControllerIdentificationAvailableType
Changeable online: No
System default: AVAILABLE
AVAILABLE (609) Available
NON_AVAILABLE (610) Not available
@secondaryParameter(StructTControllerCfgIdentificationSecondary-Parameter)
Determine secondary parameters
minimumStepSize(StructTControllerCfgIdentificationMinimum-StepSize)
Minimum step size
startCondition(StructTControllerCfgIdentificationStaticCondi-tion)
Start condition
transitionMode(StructTControllerCfgIdentificationTransiti-onMode)
Identification phase transition
Data type: LREAL
Changeable online: Yes, active immediately
System default: 5.0 %
TemperatureControllerType
17-840 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgIdentificationStandardType - TemperatureControllerType
Parameter for standard self-tuning
availablity
Only available self-tuning types can be started during runtime.
EnumTControllerIdentificationAvailableTypeIdentification type is available and can be started.
Associated parameters (maximum):
Data type: EnumTControllerIdentificationAvailableType
Changeable online: No
System default: AVAILABLE
AVAILABLE (609) Available
NON_AVAILABLE (610) Not available
endCondition(StructTControllerCfgIdentificationStaticCondi-tion)
End condition
outputValue(StructTControllerCfgIdentificationOutputValue)
Step actuating signal
startCondition(StructTControllerCfgIdentificationStaticCondi-tion)
Start condition
transitionMode(StructTControllerCfgIdentificationTransiti-onMode)
Transition condition
TemperatureControllerType
17-841SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgIdentificationStaticCondition - TemperatureControllerType
Condition for a static state (idle system)
permissableTemperatureChange
Tolerated temperature change during waiting time.
waitingTime
Waiting time, during which the actual value must remain stable.
StructTControllerCfgIdentificationTransitionMode - TemperatureControllerType
Determines the type of transition between selected identification stages.
transitionMode
Determines whether the transition occurs automatically or has to be initiated.
EnumTControllerIdentificationTransitionModeDetermines the type of transition between selected identification stages.
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.2 °C
Data type: LREAL
Changeable online: Yes, active immediately
System default: 30.0 s
Data type: EnumTControllerIdentificationTransitionMode
Changeable online: Yes, active immediately
System default: BY_COMMAND
AUTOMATICALLY (607) Automatic
BY_COMMAND (608) Forced transition with an ST command
TemperatureControllerType
17-842 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgInput - TemperatureControllerType
Input configuration
inputType
EnumTControllerInputType
Associated parameters (maximum):
StructTControllerCfgInputAnalog - TemperatureControllerType
Configuration of analog input channel
relationControllerCycleToInputCycleRatio of input cycle to controller cycle
Associated parameters (maximum):
Data type: EnumTControllerInputType
Changeable online: No
System default: ANALOG_TEMPERATURE
ANALOG_TEMPERATURE (670) Analog temperature measurement
@conversion(StructTControllerDataConversionConfig)
@conversionConverterRange(StructTControllerConversionConverterRange)
@conversionTemperatureRange(StructTControllerConversionTemperatureR-ange)
analog(StructTControllerCfgInputAnalog)
device(StructTControllerCfgAnalogDevice)
Data type: UDINT
Changeable online: No
System default: 4
displayValueParameter(StructTControllerCfgInputDisplayValuePara-meter)
filterParameter(StructTControllerCfgInputFilterParameter)
gradientCheckParameter(StructTControllerCfgInputGradientCheckPara-meter)
limitCheckParameter(StructTControllerCfgInputLimitCheckParame-ter)
TemperatureControllerType
17-843SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgInputDisplayValueParameter - TemperatureControllerType
Initial values of extreme value calculation
initMaxDisplayValue
Input display filter: Start value for maximum display value
initMinDisplayValue
Input display filter: Start value for minimum display value
StructTControllerCfgInputFilterParameter - TemperatureControllerType
Input filter
controlTimeConstant
Input filter: Filter time constant control value
displayTimeConstant
Input display filter: Filter time constant
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 °C
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 °C
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 s
TemperatureControllerType
17-844 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgInputGradientCheckParameter - TemperatureControllerType
Input value gradient check parameter
checkMode
Check mode
maxNegativeGradient
Maximum negative input value change
maxPositiveGradient
Maximum positive input value change
numberOfTolerancedViolations
Number of violations tolerated
EnumTControllerInputGradientCheckMode
StructTControllerCfgInputLimitCheckParameter - TemperatureControllerType
Input-value-check parameter
Associated parameters (maximum):
Data type: EnumTControllerInputGradientCheckMode
Changeable online: Yes, active immediately
System default: INACTIVE
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1 K/s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.1 K/s
Data type: UDINT
Changeable online: Yes, active immediately
System default: 4
ACTIVE (4) Active
INACTIVE (61) Not active
innerLimitCheck(StructTControllerCfgInputSingleLimitCheckPa-rameter)
outerLimitCheck(StructTControllerCfgInputSingleLimitCheckPa-rameter)
TemperatureControllerType
17-845SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgInputSingleLimitCheckParameter - TemperatureControllerType
Input-value-check parameter
lowerLimitMode
Lower limit mode
lowerLimitValue
Lower limit value
upperLimitMode
Upper limit mode
upperLimitValue
Upper limit value
EnumTControllerInputLimitCheckMode
Data type: EnumTControllerInputLimitCheckMode
Changeable online: Yes, active immediately
System default: INACTIVE
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 °C
Data type: EnumTControllerInputLimitCheckMode
Changeable online: Yes, active immediately
System default: INACTIVE
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 °C
ABSOLUTE (1) Active, check relative (to setpoint)
INACTIVE (61) Inactive
RELATIVE (115) Active, check absolute
TemperatureControllerType
17-846 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgLimits - TemperatureControllerType
Limit values
Associated parameters (maximum):
controller(StructTControllerCfgLimitsControllerParame-ter)
Controller parameter limits
general(StructTControllerCfgLimitsGeneralParameter)
General limits for temperature controller
process(StructTControllerCfgLimitsProcessParameter)
Limit values of system to be controlled
TemperatureControllerType
17-847SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgLimitsControllerParameter - TemperatureControllerType
Controller parameter limits
maxControllerCycle
Maximum controller cycle
maxDerivativeActionTime
Maximum value for the controller derivative-action time (D component)
maxDerivativeActionTime2
Maximum value for the controller derivative-action time of the 2nd order (D2 component)
maxGain
Maximum value for the controller gain (P component)
maxIntegrationTime
Maximum value for the controller integral-action time (I component)
minControllerCycle
Minimum controller cycle
Data type: LREAL
Changeable online: No
System default: 600.0 s
Data type: LREAL
Changeable online: No
System default: 100.0 s
Data type: LREAL
Changeable online: No
System default: 100.0 s
Data type: LREAL
Changeable online: No
System default: 1000.0 %/K
Data type: LREAL
Changeable online: No
System default: 86400.0 s
Data type: LREAL
Changeable online: No
System default: 0.2 s
TemperatureControllerType
17-848 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
minDerivativeActionTime
Minimum value for the controller derivative-action time (D component)
minDerivativeActionTime2
Minimum value for the controller derivative-action time of the 2nd order (D2 component)
minGain
Minimum value for the controller gain (P component)
minIntegrationTime
Minimum value for the controller integral-action time (I component)
Data type: LREAL
Changeable online: No
System default: 0.0 s
Data type: LREAL
Changeable online: No
System default: 0.0 s
Data type: LREAL
Changeable online: No
System default: 0.0 %/K
Data type: LREAL
Changeable online: No
System default: 0.001 s
TemperatureControllerType
17-849SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgLimitsGeneralParameter - TemperatureControllerType
General limits for temperature controller
maxTemperature
Maximum value for a temperature
maxTime
Maximum value for a controller time
minTemperature
Minimum value for a temperature
minTime
Minimum value for a controller time
Data type: LREAL
Changeable online: No
System default: 10000.0 °C
Data type: LREAL
Changeable online: No
System default: 3153600000.0 s
Data type: LREAL
Changeable online: No
System default: -273.15 °C
Data type: LREAL
Changeable online: No
System default: 0.0 s
TemperatureControllerType
17-850 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgLimitsProcessParameter - TemperatureControllerType
Controlled-system limits
maxDelayTime
Maximum value for the delay time of the controlled system
maxGradient
Maximum value for a temperature change
maxProcGain
Maximum value for the controlled-system gain
maxRiseTime
Maximum value for the rise time of the controlled system
minDelayTime
Minimum value for the delay time of the controlled system
minGradient
Minimum value for a temperature change
Data type: LREAL
Changeable online: No
System default: 7200.0 s
Data type: LREAL
Changeable online: No
System default: 10.0 K/s
Data type: LREAL
Changeable online: No
System default: 10000.0 K/%
Data type: LREAL
Changeable online: No
System default: 86400.0 s
Data type: LREAL
Changeable online: No
System default: 0.0 s
Data type: LREAL
Changeable online: No
System default: 0.0 K/s
TemperatureControllerType
17-851SIMOTION Technology Packages Configuration DataList Manual, 11/2010
minProcGain
Minimum value for the controlled-system gain
minRiseTime
Minimum value for the rise time of the controlled system
Data type: LREAL
Changeable online: No
System default: 0.0 K/%
Data type: LREAL
Changeable online: No
System default: 180.0 s
TemperatureControllerType
17-852 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgOutput - TemperatureControllerType
Output configuration
Associated parameters (maximum):
StructTControllerCfgOutputAnalog - TemperatureControllerType
Analog output parameter
Associated parameters (maximum):
out(StructTControllerCfgOutputSingleOutput)
Parameters of the 1st output
outSecondary(StructTControllerCfgOutputSingleOutput)
Parameters of the 2nd output
device(StructTControllerCfgAnalogDevice)
Parameters of an analog output
TemperatureControllerType
17-853SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgOutputPwm - TemperatureControllerType
PWM output parameter
Associated parameters (maximum):
StructTControllerCfgOutputSingleOutput - TemperatureControllerType
Controller output parameter
outputType
Output type
EnumTControllerOutputTypePossible output types
Associated parameters (maximum):
PWMParameter(StructTControllerCfgPwmParameter)
PWM parameters
binaryDevice(StructTControllerCfgBinaryDevice)
Parameters of the digital output
Data type: EnumTControllerOutputType
Changeable online: No
System default: PWM
PWM (780) Pulse-width modulated binary output
PWM_(StructTControllerCfgOutputPwm)
Parameters of the PWM output
analog(StructTControllerCfgOutputAnalog)
Parameters of the analog output
conversion(StructTControllerCfgDataConversionOutput)
Output adaptation parameters
TemperatureControllerType
17-854 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgParameterMatlab - TemperatureControllerType
Configuration for Matlab access
portNumber
Data type: UDINT
Changeable online: Yes, active after restart
System default: 7000
TemperatureControllerType
17-855SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgParameterNetwork1 - TemperatureControllerType
Type 1 thermal network controlled-system parameters
C1
Factor that describes the heat storage capability of the first subsystem.
C2
Factor that describes the heat storage capability of the second subsystem.
Ih
Factor that describes the impressed heat flow
R1
Factor that describes the heat loss in the first subsystem.
R12
Factor that describes heat transfer between the first and the second subsystem.
R2
Factor that describes the heat loss in the second subsystem.
Data type: LREAL
Changeable online: No
System default: 0.0
Data type: LREAL
Changeable online: No
System default: 0.0
Data type: LREAL
Changeable online: No
System default: 0.0
Data type: LREAL
Changeable online: No
System default: 0.0
Data type: LREAL
Changeable online: No
System default: 0.0
Data type: LREAL
Changeable online: No
System default: 0.0
TemperatureControllerType
17-856 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
RK
Factor that describes the heat loss caused by active cooling in the second subsystem.
UK
Factor that describes the coolant temperature.
Data type: LREAL
Changeable online: No
System default: 0.0
Data type: LREAL
Changeable online: No
System default: 0.0 °C
TemperatureControllerType
17-857SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgParameterPT4Tt - TemperatureControllerType
PT4 element with dead time controlled-system parameter
exponentialGain
linearGain
timeConstant1
timeConstant2
timeConstant3
timeConstant4
Data type: LREAL
Changeable online: No
System default: 1.0
Data type: LREAL
Changeable online: No
System default: 1.0 K/%
Data type: LREAL
Changeable online: No
System default: 0.0 s
Data type: LREAL
Changeable online: No
System default: 0.0 s
Data type: LREAL
Changeable online: No
System default: 0.0 s
Data type: LREAL
Changeable online: No
System default: 0.0 s
TemperatureControllerType
17-858 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgPlausibilityParameter - TemperatureControllerType
Gradient check parameters
checkMode
Activates or deactivates the gradient check
delayTime
Delay time
lowerLimitOutputValue
Lower output value limit for gradient check
lowerLimitTemperatureValue
Lower temperature limit for gradient check
minimalTemperatureGradient
Minimum permissible temperature gradient
Data type: EnumTControllerPlausibilityCheckMode
Changeable online: Yes, active immediately
System default: INACTIVE
Data type: LREAL
Changeable online: Yes, active immediately
System default: 600.0 s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 100.0 %
Data type: LREAL
Changeable online: Yes, active immediately
System default: -273.15 °C
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 K/s
TemperatureControllerType
17-859SIMOTION Technology Packages Configuration DataList Manual, 11/2010
upperLimitTemperatureValue
Upper temperature limit for gradient check
EnumTControllerPlausibilityCheckMode
Data type: LREAL
Changeable online: Yes, active immediately
System default: 10000.0 °C
ACTIVE (4) Active
INACTIVE (61) Inactive
TemperatureControllerType
17-860 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgProcessMode - TemperatureControllerType
Controller adaptation parameter for heating controller
mode
Process adaptation mode
EnumTControllerProcessModeInformation regarding process type setting for adaptive control.With INACTIVE, adaptation is not set.With CONTINUOUS, adaptation is set for a continuous process mode.With DISCONTINUOUS, adaptation is set for a discontinuous process mode.
Data type: EnumTControllerProcessMode
Changeable online: Yes, active immediately
System default: INACTIVE
INACTIVE (61) Deactivated
CONTINUOUS (621) Continuous process
DISCONTINUOUS (622) Discontinuous process
TemperatureControllerType
17-861SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgPwmParameter - TemperatureControllerType
PWM output parameter
lowerOperatingThreshold
Lower threshold value: Influences effective manipulated variableif (manipulated variable < lowerOperatingThreshold)effective manipulated variable = 0%else
effective manipulated variable = manipulated variable
numberOfOutputCycles
Number of PWM blocks within a PWM cycle, clocked actuating signal output
upperOperatingThreshold
Upper threshold: Influences effective manipulated variableif (manipulated variable > upperOperatingThreshold)effective manipulated variable = 100%else
effective manipulated variable = manipulated variable
StructTControllerCfgSetpointHandling - TemperatureControllerType
Processing the setpoint
Associated parameters (maximum):
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 %
Data type: UDINT
Changeable online: Yes, active immediately
System default: 1
Data type: LREAL
Changeable online: Yes, active immediately
System default: 100.0 %
smoothingParameter(StructTControllerCfgSetpointSmoothing)
Parameters for the setpoint smoothing
startupProfileParameter(StructTControllerCfgSetpointStartupProfile)
Parameters for startup profile
TemperatureControllerType
17-862 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgSetpointSmoothing - TemperatureControllerType
Parameters for the setpoint smoothing
mode
Setpoint smoothing mode
negativeGradient
Cooling gradient
positiveGradient
Heating gradient
startCondition
Setpoint smoothing type
threshold
Effective separation of the smoothing
EnumTControllerSetpointSmoothingMode
EnumTControllerSetpointSmoothingStartCondition
Data type: EnumTControllerSetpointSmoothingMode
Changeable online: Yes, active immediately
System default: INACTIVE
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 K/s
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 K/s
Data type: EnumTControllerSetpointSmoothingStartCondi-tion
Changeable online: Yes, active immediately
System default: ACTUALVALUE_START
Data type: LREAL
Changeable online: Yes, active immediately
System default: 1.0 K
ACTIVE (4) Active
INACTIVE (61) Inactive
ACTUALVALUE_START (830) Ramp start after the actual value
SETPOINT_START (831) Ramp start after the current setpoint
TemperatureControllerType
17-863SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgSetpointStartupProfile - TemperatureControllerType
Parameters for startup profile
initialTime
Starting time
mode
Startup profile mode
outputValue
Startup actuator value
setpoint
Startup setpoint
temperature
Startup temperature
EnumTControllerSetpointStartupProfileMode
Data type: LREAL
Changeable online: Yes, active immediately
System default: 100.0 s
Data type: EnumTControllerSetpointStartupProfileMode
Changeable online: Yes, active immediately
System default: INACTIVE
Data type: LREAL
Changeable online: Yes, active immediately
System default: 100.0 %
Data type: LREAL
Changeable online: Yes, active immediately
System default: 60.0 °C
Data type: LREAL
Changeable online: Yes, active immediately
System default: 60.0 °C
ACTIVE (4) Active
INACTIVE (61) Inactive
TemperatureControllerType
17-864 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgSimulation - TemperatureControllerType
Configuration of simulation internal to technology object
mode
Simulation ON/OFF
EnumTControllerSimulationModeSimulation mode
Associated parameters (maximum):
Data type: EnumTControllerSimulationMode
Changeable online: No
System default: INACTIVE
INACTIVE (61) Simulation off
parameter(StructTControllerCfgSimulationParameter)
PT2 simulation model parameters
parameterMatlab(StructTControllerCfgParameterMatlab)
Matlab access parameters
parameterNetwork1(StructTControllerCfgSimulationSystemNetwork1)
Network model type 1 parameters
parameterPT4Tt(StructTControllerCfgSimulationSystemPT4Tt)
PT4 model with dead time parameters
TemperatureControllerType
17-865SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgSimulationControlledSystemParameter - TemperatureControllerType
Simulation controlled-system parameters (PT2 element)
exponentialGain
linearGain
timeConstant1
timeConstant2
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 K/%
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 s
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 s
TemperatureControllerType
17-866 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgSimulationParameter - TemperatureControllerType
Simulation parameter
noiseLevel
Noise in temperature signal
quantification
Quantization of the measurement signal
Associated parameters (maximum):
Data type: LREAL
Changeable online: No
System default: 0.0 K
Data type: LREAL
Changeable online: No
System default: 0.0 K
controlledSystemParameter(StructTControllerCfgSimulationControlledSys-temParameter)
1. PT2 simulation model
controlledSystemParameterSecondary(StructTControllerCfgSimulationControlledSys-temParameter)
2. PT2 simulation model
TemperatureControllerType
17-867SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgSimulationSystemNetwork1 - TemperatureControllerType
Simulation system network type 1 parameters
noiseLevel
Noise in temperature signal
quantification
Quantization of the measurement signal
Associated parameters (maximum):
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 K
Data type: LREAL
Changeable online: Yes, active after restart
System default: 0.0 K
systemParameter(StructTControllerCfgParameterNetwork1)
Simulation model for all controlled system types
TemperatureControllerType
17-868 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerCfgSimulationSystemPT4Tt - TemperatureControllerType
Simulation system network type 1 parameters
noiseLevel
Noise in temperature signal
quantification
Quantization of the measurement signal
Associated parameters (maximum):
Data type: LREAL
Changeable online: No
System default: 0.0 K
Data type: LREAL
Changeable online: No
System default: 0.0 K
systemParameter(StructTControllerCfgParameterPT4Tt)
1. PT4 simulation model with dead time
systemParameterSecondary(StructTControllerCfgParameterPT4Tt)
2. PT4 simulation model with dead time
TemperatureControllerType
17-869SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerConversionConverterRange - TemperatureControllerType
AD converter range
maxNominalRange
AD converter range: Linear range upper limit
minNominalRange
AD converter range: Linear range lower limit
overflowRange
AD converter range: "Overload range upper limit"
underflowRange
AD converter range: Overload range lower limit
Data type: INT
Changeable online: Yes, active immediately
System default: 27648
Data type: INT
Changeable online: Yes, active immediately
System default: 0
Data type: INT
Changeable online: Yes, active immediately
System default: 32767
Data type: INT
Changeable online: Yes, active immediately
System default: -32768
TemperatureControllerType
17-870 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerConversionLinear - TemperatureControllerType
Linear input normalization
factor
Input normalization: Factor
offset
Input normalization: Offset
StructTControllerConversionTemperatureRange - TemperatureControllerType
Range adaptation
maxTemperatureRange
Input: Adaptation of the temperature range to the AD converter range
minTemperatureRange
Range adaptation: Lower limit of the temperature measurement range
Data type: LREAL
Changeable online: No
System default: 1.0
Data type: LREAL
Changeable online: No
System default: 0.0 °C
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 °C
Data type: LREAL
Changeable online: Yes, active immediately
System default: 0.0 °C
TemperatureControllerType
17-871SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerConversionVector - TemperatureControllerType
Input normalization vector
denFactor1
Input normalization: 1. Nominal factor
denFactor2
Input normalization: 2. Nominal factor
numFactor1
Input normalization: 1. Counter factor
numFactor2
Input normalization: 2. Counter factor
Data type: LREAL
Changeable online: No
System default: 1.0
Data type: LREAL
Changeable online: No
System default: 2.0
Data type: LREAL
Changeable online: No
System default: 1.0
Data type: LREAL
Changeable online: No
System default: 1.0
TemperatureControllerType
17-872 SIMOTION Technology Packages Configuration DataList Manual, 11/2010
StructTControllerDataConversionConfig - TemperatureControllerType
Input normalization
_type
EnumTControllerDataConversionType
Associated parameters (maximum):
StructTcontrollerCfgIdentification - TemperatureControllerType
Configuration of controlled-system identification
Associated parameters (maximum):
Data type: EnumTControllerDataConversionType
Changeable online: No
System default: LINEAR
LINEAR (72) Rise and offset
VECTOR (952) Vector
conversionLinear(StructTControllerConversionLinear)
conversionVector(StructTControllerConversionVector)
actualIdentificationType(StructTControllerCfgActualIdentificationType)
Current identification type
modifiedTangentMethod(StructTControllerCfgIdentificationModifiedTan-gentMethod)
Modified step response
standardTangentMethod(StructTControllerCfgIdentificationStandard-Type)
Standard method (step response)