simotion technology packages ( motors ) configurationdata

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:


hhtp://www.siemens.com/motioncontrol/docu



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

http://support.automation.siemens.com

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

Contents

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


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


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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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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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

Contents


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


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

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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


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


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


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


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


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


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


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

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


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


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


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

Contents


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

Contents


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

Contents


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


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


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


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


System default: PINETREE

Data type: EnumAbsMsgLength


System default: LENGTH_25

Data type: UDINT


System default: 4096

Data type: UDINT


System default: 0

Data type: UDINT


System default: 0

DriveAxis


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


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_1 (16#10) 187.5 Kbaud

RIGHT_MARGIN (0) Right-justified

PINETREE (1) Pine tree format

DriveAxis


EnumAbsMsgLength

EnumAbsState

EnumYesNo

LENGTH_13 (13) 13 bits



BIN_CODE (16#00) Binary

GRAY_CODE (16#01) Gray Code

NO (91) No

YES (173) Yes

DriveAxis


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



System default: NO

Data type: LREAL


System default: 0.0 1/min

NO (91) No

YES (173) Yes

DriveAxis


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.


denFactor


numFactor


Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

DriveAxis


AdaptLoad - DriveAxis

The structure elements of 'AdaptLoad' specify the gear ratio parameters for load-side encoders.


denFactor


numFactor


Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

DriveAxis


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


System default: 0.1 s

Data type: EnumActualValueFormat


System default: VALUE_LEFT_MARGIN

Data type: UDINT



Data type: DINT



Data type: DINT


System default: -32512

Data type: UDINT


System default: 15

DriveAxis


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


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


System default: STANDARD

Data type: EnumAxisInterfaceActivationConfig


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


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


System default: 0

Data type: EnumConversionDataType


System default: LINEAR_CONVERSIONDATA

Data type: LREAL


System default: 1.0

Data type: LREAL


System default: 0.0

LINEAR_CONVERSIONDATA (1) Linear relationship

DriveAxis


AnalogSensorType - DriveAxis

The structure elements of 'AnalogSensor' specify actual value smoothing.


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


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


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



System default: NO

Data type: LREAL


System default: 2.0 %

NO (91) No

YES (173) Yes

DriveAxis


ControllerStruct - DriveAxis

The structure elements of 'ControllerStruct' set the controller structure.


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


Data type: EnumAxisControllerType


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


ConversionData - DriveAxis


NoteFurther information is provided:Function Manual "TO Axis Electric/Hydraulic, External Encoder".Supplementary Technology Objects Function ManualOnline help

_type


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.


EnumYesNo




Data type: LREAL


System default: 1.0 Pa



System default: NO

Data type: LREAL




NO (91) No

YES (173) Yes

DriveAxis


DataSetMain - DriveAxis

The structure elements belonging to "DataSet_(n)" are used to set the data set (n).



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


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


System default: STOP_WHEN_PROFILE_END_REACHED

Data type: EnumAxisCyclicSetUpInForceLimiting


System default: NONE

Data type: EnumDecodeSequentialMotionCommand


System default: IMMEDIATELY

DriveAxis


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.



System default: NO



System default: YES

Data type: DINT


System default: 6

Data type: DINT


System default: 100

Data type: DINT


System default: 6

DriveAxis


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


System default: COMMAND_DYNAMICS



System default: NO



System default: NO

Data type: EnumTransferSuperimposedPosition


System default: TRANSFER_STANDSTILL

DriveAxis


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


Drift - DriveAxis

The structure elements of 'Drift' specify drift compensation.


enable

Specifies the activation status of drift compensation.With 'NO', the drift compensation is not activated.With 'YES', the drift compensation is activated.

EnumYesNo



System default: NO

NO (91) No

YES (173) Yes

DriveAxis


DriveData - DriveAxis

The structure elements for 'DriveData' specify the key drive values.


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



Data type: LREAL


System default: 3.2 Nm

Data type: LREAL



Data type: LREAL



Data type: EnumAxisReferenceMaxNominal


System default: MAX_VALUE

Data type: EnumAxisTorqueForceReductionGranularity


System default: BASIC

DriveAxis


torqueReference

Selection setting for scaling: Nominal torque or maximum torque.

EnumAxisReferenceMaxNominal

EnumAxisTorqueForceReductionGranularity




MAX_VALUE (0) Maximum value

NOMINAL_VALUE (1) Nominal value

STANDARD (0) Resolution 1/100

BASIC (16) Resolution 1/16384

DriveAxis


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


System default: 0



System default: YES

Data type: UDINT



Data type: UDINT



DriveAxis


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


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








DriveAxis


DP_TEL101_611U_VELCTRL_NO_ENCODER (101)

SIEMENS message frame 101, PZD-6/7

DP_TEL102_611U_POSCTRL_1_ENCODER (102)




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


DynamicData - DriveAxis

The structure elements of 'DynamicData' specify the dynamic data of the cascade control system.


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



Data type: LREAL



DriveAxis


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


System default: 3600000.0 m/s²

DriveAxis


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).



System default: NO

Data type: EnumAxisEncoderIdentification


System default: SIMULATION

Data type: EnumAxisEncoderMode


System default: RECTANGLE_TTL

DriveAxis


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


System default: SENSOR_INCREMENTAL

Data type: EnumAxisEncoderValueType


System default: VELOCITY

Data type: EnumAxisSensorInterfaceAllocationConfig


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


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



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


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


System default: 0

DriveAxis


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


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


Filter - DriveAxis

The structure elements of 'Filter' specify actual value smoothing.


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



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

DriveAxis


FineInterpolator - DriveAxis

The structure element of 'FineInterpolator' specifies the parameter of the fine interpolator.


_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


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


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



Data type: LREAL



DriveAxis


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



Data type: LREAL



Data type: LREAL



DriveAxis


ForceControllerData - DriveAxis

The structure elements of 'ForceControllerData' parameterize the force controller.


_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


System default: PID



System default: NO

Data type: EnumSensorDataType


System default: UNI_DIRECTION



NO (91) No

YES (173) Yes

UNI_DIRECTION (1) Unidirectional

BOTH_DIRECTION (2) Bidirectional

DriveAxis



FilterForceControl(StructAxisFilterForceControlConfig)

Manipulated variable limitation

OutputLimits(OutputLimits)


PID_Controller(PID_ControllerForce)

Parameters for the PID controller

DriveAxis


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.



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

Data type: LREAL


System default: 400000.0 Hz

DriveAxis


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


System default: 5.0 mm/s

Data type: LREAL



Data type: LREAL





System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

DriveAxis


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


System default: 1

Data type: UDINT


System default: 1

DriveAxis


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


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


System default: 0

Data type: UDINT


System default: 0



System default: NO




Data type: UDINT



DriveAxis


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


EnumMountSwitch

Data type: UDINT



Data type: EnumMountSwitch


System default: END_MOUNTED_SWITCH

NO (91) No

YES (173) Yes



END_MOUNTED_SWITCH (0) Limit switch outside of the permissible traversing range always active

FLEXIBLE_MOUNTED_SWITCH (1) Limit switch can be crossed

DriveAxis


IncEncoder - DriveAxis

The structure elements of 'IncEncoder' specify the parameters for an incremental encoder.


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


incResolutionMultiplierCyclic

Specifies the multiplication factor of the cyclic actual value.

EnumYesNo



System default: NO

Data type: UDINT



Data type: UDINT


System default: 0

NO (91) No

YES (173) Yes

DriveAxis


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).


Data type: UDINT


System default: 1

Data type: LREAL


System default: 0.0005 ms


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


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



System default: NO

NO (91) No

YES (173) Yes

DriveAxis


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



System default: NO

NO (91) No

YES (173) Yes



System default: NO

NO (91) No

YES (173) Yes

DriveAxis


LinearMotorDriveData - DriveAxis

The structure elements of 'LinearMotorDriveData' specify key drive values for linear motors.


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


nominalSpeed

Specifies the reference velocity.







Data type: LREAL


System default: 1000.0 N

Data type: LREAL



Data type: LREAL



Data type: LREAL



DriveAxis


speedReference

Selection setting for scaling: Reference velocity or maximum velocity.










DriveAxis


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



Data type: UDINT



DriveAxis


MaxAcceleration - DriveAxis

The structure elements of 'MaxAcceleration' define the maximum permissible acceleration and the monitoring mode for the change of the manipulated variable.


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



System default: NO

Data type: LREAL


System default: 3600000.0 1/min²

NO (91) No

YES (173) Yes

DriveAxis


MaxForceCommandData - DriveAxis

The structure elements for 'MaxForceCommandData' are used to configure the type of setpoint gene-ration.


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


System default: 1000.0

Data type: LREAL



Data type: LREAL


System default: 4320000000.0 1/min³

DriveAxis


MaxVelocity - DriveAxis

The structure element of 'MaxVelocity' defines the maximum permissible velocity.


maximum

Specifies the maximum permissible velocity.

Data type: LREAL



DriveAxis


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


System default: 0.0



System default: NO

Data type: LREAL


System default: 0.0

NO (91) No

YES (173) Yes

DriveAxis


NumberOfAdditionalSensors - DriveAxis

The structure elements for 'NumberOfAdditionalSensors' are used to configure the additional enco-ders.


number

Specifies the number of encoders for a force-controlled axis


Data type: UDINT


System default: 1

AdditionalSensor_1(AdditionalSensorMain)

Encoder 1


Encoder 2


Encoder 3


Encoder 4


Encoder 5


Encoder 6


Encoder 7


Encoder 8

DriveAxis


NumberOfDataSets - DriveAxis

The structure elements for 'NumberOfDataSets' specify the number of data sets.


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


System default: IN_STANDSTILL

Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

Data type: LREAL



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



DataSet_1(DataSetMain)

Data record 1


Data record 10


Data record 11


Data record 12


Data record 13


Data record 14


Data record 15


Data record 16


Data record 2


Data record 3


Data record 4


Data record 5


Data record 6


Data record 7


Data record 8


Data record 9

DriveAxis


NumberOfEncoders - DriveAxis

The structure element of 'NumberOfEncoders' sets the number of encoders.


dscEncoderNumber

Specifies the DSC encoder.

numberOfEncoders

Specifies the number of encoders.


Data type: UDINT


System default: 0

Data type: UDINT


System default: 0

Encoder_1(EncoderMain)

Encoder 1


Encoder 2


Encoder 3


Encoder 4


Encoder 5


Encoder 6


Encoder 7


Encoder 8

DriveAxis


OutputLimits - DriveAxis

The structure element 'OutputLimits' is used to configure the manipulated variable limitation.


_max

Specifies the maximum output value for the force controller.

_min

Specifies the minimum output value for the force controller.

Data type: LREAL



Data type: LREAL


System default: -500.0

DriveAxis


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





System default: YES

Data type: LREAL



Data type: LREAL


System default: 0.0

Data type: LREAL


System default: 0.0

Data type: LREAL


System default: 1.0

DriveAxis


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





System default: NO

NO (91) No

YES (173) Yes

DriveAxis


PID_ControllerPos - DriveAxis


balanceFilterMode

Specifies the balancing filter.

decayTime

Specifies the delay time constant of the D component.

enableAntiWindup

Activation of the integrator limitation.

kd


ki


kp


Data type: EnumBalanceFilterMode


System default: MODE_1

Data type: LREAL





System default: YES

Data type: LREAL



Data type: LREAL


System default: 0.0 1/s

Data type: LREAL


System default: 1.0

DriveAxis


kpc


preCon


EnumBalanceFilterMode

EnumYesNo

Data type: LREAL





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


ProcessModel - DriveAxis

The structure elements of 'ProcessModel' set the parameters for the process model.


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



Data type: LREAL



Data type: LREAL


System default: 0.00000095367431640625

Data type: LREAL



Data type: LREAL



DriveAxis


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


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


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


System default: LAST_VALUE

Data type: EnumToRestartActivationSetting


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


SensorControlConfig - DriveAxis

The tolerance of an encoder error is specified with the structure elements for 'SensorControlConfig'.


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



System default: NO

NO (91) No

YES (173) Yes

DriveAxis


SensorSetActualValue - DriveAxis

The structure elements of 'SensorSetActualValue' specify the parameters for actual value read-in via system variable.


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


System default: 1

Data type: EnumAxisUpdateCycle


System default: IPO

IPO (0) IPO

IPO_2 (1) IPO_2

SERVO (2) Servo



DriveAxis


SetPointDriverInfo - DriveAxis

The structure elements of 'SetPointDriverInfo' specify the driver information for the drive interface.


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


Data type: EnumAxisDioActorType


System default: NO_TYPE

Data type: EnumAxisActuatorInterfaceAllocationConfig





System default: YES

Data type: UDINT



DriveAxis


logAddressOut


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



Data type: LREAL


System default: 10.0 V

Data type: EnumAxisDriverMode



Data type: EnumAxisMotorType


System default: STANDARD_MOTORTYPE

Data type: UDINT


System default: 0

DriveAxis


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.


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




NO_TYPE (0) No type

ANALOG (1) Analog

STEPMOTOR (2) Step mode

EXCLUSIVE (939) Technology object (TO) exclusive


TO non-exclusive and deactivated


TO non-exclusive and active

NO (91) No

YES (173) Yes

DriveAxis


EnumAxisDriverMode

EnumAxisMotorType




ONBOARD (1) Onboard

DPMASTER (2) DP Master

STANDARD_MOTORTYPE (0) Standard motor

LINEAR_MOTORTYPE (1) Linear motor


















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)


DriveAxis


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



System default: NO

NO (91) No

YES (173) Yes

DriveAxis


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.


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


EnumYesNo

EnumAxisFilterMode



System default: NO

Data type: EnumAxisFilterMode


System default: DEFAULT_MODE

Data type: LREAL



NO (91) No

YES (173) Yes

DEFAULT_MODE (0) No filter

AVERAGING (1) Form mean value

PT1 (2) PT1 filter

DriveAxis


StandStillSignal - DriveAxis

The structure elements of 'StandStillSignal' specify the parameters for the velocity-dependent stand-still signal.


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



Data type: UINT


System default: 0

Data type: LREAL



Data type: LREAL


System default: 30.0 mm/min

DriveAxis


StepMotorDriveDataType - DriveAxis

The structure elements of 'StepMotorDriveData' specify key drive values for stepper motors.

maxFrequency


stepMotorResolution


Data type: LREAL



Data type: UDINT



DriveAxis


StepMotorMonitoringType - DriveAxis

The structure elements belonging to 'StepMotorMonitoring' are used to set the rotation monitoring for step motor operation.


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



Data type: UDINT





System default: NO

NO (91) No

YES (173) Yes

DriveAxis


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.



System default: NO

Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL



DriveAxis


offsetMotionControlPositive

Specifies the offset for traversal with motion control and positive direction of movement.

EnumYesNo

Data type: LREAL



NO (91) No

YES (173) Yes

DriveAxis


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



System default: NO

Data type: EnumAxisPulsesEnabledEvaluation


System default: COMPATIBILITY_MODE

Data type: UDINT


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



pulsesEnabled(StructAxisPulsesEnabledConfig)

Position of PulsesEnabled bit

DriveAxis


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



DriveAxis


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


_type

With 'PT2', a PT2 filter is selected.

enable

This data element activates the filter

EnumForceControllerFilterType

EnumYesNo

Data type: LREAL



Data type: LREAL



Data type: EnumForceControllerFilterType


System default: PT2



System default: NO

PT2 (909) PT2

NO (91) No

YES (173) Yes

DriveAxis


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



System default: NO

NO (91) No

YES (173) Yes



System default: NO

NO (91) No

YES (173) Yes

DriveAxis


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



DriveAxis


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.



System default: NO



System default: NO



System default: NO



System default: NO



System default: NO

DriveAxis


logAddress


EnumYesNo

Data type: UDINT



NO (91) No

YES (173) Yes

DriveAxis


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


System default: 13

Data type: UDINT


System default: 5



System default: NO

NO (91) No

YES (173) Yes

DriveAxis


StructAxisSetpointFilter - DriveAxis

The 'setpointFilter' structure element is used to configure a PT1 filter in the manipulated variable branch.

T1


enable


EnumYesNo

Data type: LREAL





System default: NO

NO (91) No

YES (173) Yes

DriveAxis


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



System default: NO

Data type: LREAL



Data type: LREAL



Data type: LREAL


System default: 0.0

NO (91) No

YES (173) Yes

DriveAxis


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.



System default: NO

Data type: LREAL



Data type: LREAL



NO (91) No

YES (173) Yes

Data type: LREAL



DriveAxis


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




System default: 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


StructAxisTechnologicalDataInInfo - DriveAxis


logAddress

Specifies the logical address for the transfer of specific parameters in the cyclical message frame from the drive.

StructAxisTechnologicalDataOutInfo - DriveAxis


logAddress

Specifies the logical address for the transfer of specific parameters in the cyclical message frame to the drive.

Data type: UDINT



Data type: UDINT



DriveAxis


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


Data type: EnumAxisControllerOutput


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


StructDaxDynamicQFData - DriveAxis

The structure elements belonging to 'DynamicQFData' specify the dynamic data of the cascade con-trol system.

qOutputTimeConstant




Data type: LREAL



Data type: LREAL



DriveAxis


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.





Data type: UDINT



Data type: LREAL



Data type: UDINT


System default: 15





DriveAxis


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


logAddressOut


maxOutputVoltage

Specifies the standard voltage on which the analog drive reaches its maximum speed.






System default: YES

Data type: UDINT



Data type: UDINT



Data type: LREAL



DriveAxis


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.


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: DINT


System default: 0




NO_TYPE (0) No type

ANALOG (1) Analog


DriveAxis


EnumYesNo

EnumAxisDriverMode


NO (91) No

YES (173) Yes


ONBOARD (1) Onboard



















DriveAxis


StructDriverInfoDirectIncremental - DriveAxis

The parameters for the direct incremental encoder hardware are specified with the structure elements for 'DriverInfoDirectIncremental' .

logAddress


resolution

Specifies the number of bits of the incremental encoder.

Data type: UDINT



Data type: UDINT


System default: 16

DriveAxis


StructEnableBit - DriveAxis

The structure elements for 'EnableBit' can be used to configure an output bit for indicating the enables.

bitNumberOnDevice


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


EnumYesNo

Data type: UDINT


System default: 0



System default: NO

Data type: UDINT



NO (91) No

YES (173) Yes

DriveAxis


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


System default: 1.0

Data type: LREAL


System default: 1.0

Data type: LREAL


System default: 1.0



System default: NO

Data type: UDINT


System default: 1

Data type: UDINT


System default: 2

DriveAxis


EnumYesNo


NO (91) No

YES (173) Yes

Filter(Filter)

Differential value smoothing

Range(Range)

Differential value limitation

DriveAxis


StructSensorDriverInfo - DriveAxis

The elements of this structure are used to configure the I/O module of the additional encoder.

errorToleranceTime


format


logAddress


maxValue


minValue


Data type: LREAL






Data type: UDINT



Data type: DINT



Data type: DINT



DriveAxis


resolution



Data type: UDINT


System default: 15





DriveAxis


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


Data type: EnumAxisIdentification


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


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)


StandStillSignal(StandStillSignal)

Standstill signal

SystemDeadTimeData(StructAxisSystemDeadTimeData)

System-dependent dead times

TechnologicalData(StructAxisTechnologicalData)

Drive interface for specific parameters

DriveAxis



ExternalEncoderType 2Associated parameters (maximum):

• Execution (ExecutionConfigInfo)• LeadScrew (LeadScrewInfo)• Modulo (ModuloInfo)• Restart (RestartInfo)• TypeOfAxis (TypeOfAxisInfo)

AbsEncoder - ExternalEncoderType



absBaudRate


absDataLength





Data type: UDINT


System default: 24

ExternalEncoderType


absMessageFormat


absMessageLength


absResolution












Data type: UDINT



Data type: UDINT


System default: 0

Data type: UDINT


System default: 0

ExternalEncoderType


absState


enableAbsMonitoring









EnumAbsBaudrate

EnumAbsMsgFormat






System default: YES








ExternalEncoderType


EnumAbsMsgLength

EnumAbsState

EnumYesNo






NO (91) No

YES (173) Yes

ExternalEncoderType


AbsHomingEncoder - ExternalEncoderType

The structure elements of 'AbsHomingEncoder' specify the synchronization data for an absolute enco-der.


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


System default: 0.0 mm

Data type: EnumAbsoluteRelative


System default: RELATIVE

ABSOLUTE (1) Absolute

RELATIVE (115) Relative

ExternalEncoderType


ActualVelocityMonitoring - ExternalEncoderType


enable


maximum


EnumYesNo

AdaptDrive - ExternalEncoderType



denFactor


numFactor




System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

ExternalEncoderType


AdaptExtern - ExternalEncoderType



denFactor


numFactor


AdaptLoad - ExternalEncoderType



denFactor


numFactor


Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

ExternalEncoderType


AnalogConversionDataType - ExternalEncoderType


_type


factor


offset






Data type: LREAL


System default: 1.0

Data type: LREAL


System default: 0.0


ExternalEncoderType


AnalogSensorType - ExternalEncoderType






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


AssemblyBase - ExternalEncoderType


assemblyBase



DecodingConfig - ExternalEncoderType












Data type: DINT


System default: 100

ExternalEncoderType


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



System default: NO



System default: YES



System default: YES

Data type: UDINT


System default: 1

NO (91) No

YES (173) Yes

ExternalEncoderType


DriverInfo - ExternalEncoderType





lifeSignCheck


logAddressIn


logAddressOut


Data type: DINT


System default: 0



System default: YES

Data type: UDINT



Data type: UDINT



ExternalEncoderType


telegramType




EnumYesNo




System default: DP_TEL81_STANDARD

NO (91) No

YES (173) Yes










ExternalEncoderType










ExternalEncoderType


EncoderMain - ExternalEncoderType


dataAdaption




encoderMode




System default: NO







ExternalEncoderType


encoderSystem

Specifies the encoder system.With ROTARY, a rotary encoder system is used.With LINEAR, a linear encoder system is used.

encoderType


encoderValueType


EnumYesNo


Data type: EnumAxisEncoderSystem


System default: ROTATORY_SYSTEM






System default: POSITION

NO (91) No

YES (173) Yes


ONBOARD (1) Onboard




ExternalEncoderType


EnumAxisEncoderMode

EnumAxisEncoderSystem

EnumAxisEncoderType



SSI_MODE (2) SSI


ENDAT (4) Endat

SINUS_1VPP (5) Sine







ROTATORY_SYSTEM (0) Rotary encoder system

LINEAR_SYSTEM (1) Linear encoder system (linear scale)












ExternalEncoderType




Absolute encoder

AbsHomingEncoder(AbsHomingEncoder)

Homing for absolute measuring system















Filter(Filter)

Actual value filter




Incremental encoder

IncHomingEncoder(IncHomingEncoder)

Homing for incremental measuring system


Interval counter




Actual speed value

PathPerRevolution(PathPerRevolution)

Path per revolution

PositionFilter(PT2PositionFilterType)

Position filter

Resolution(Resolution)

Resolution



SensorNist(SensorNist)

Actual speed value extrapolation




Stepper motor

ExternalEncoderType


ExecutionConfigInfo - ExternalEncoderType



executionlevel





System default: IPO

IPO (0) IPO

IPO_2 (1) IPO_2

SERVO (2) Servo



ExternalEncoderType


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


enable

Specifies the activation status of the PT2 filter for the actual position.

EnumYesNo

Data type: LREAL



Data type: LREAL





System default: NO

NO (91) No

YES (173) Yes

ExternalEncoderType


Filter - ExternalEncoderType



enable


timeConstant


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

ExternalEncoderType


FrequencyLimit - ExternalEncoderType




Gear - ExternalEncoderType


denFactor


numFactor


Data type: LREAL



Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

ExternalEncoderType


IncEncoder - ExternalEncoderType





incResolution




EnumYesNo



System default: NO

Data type: UDINT



Data type: UDINT


System default: 0

NO (91) No

YES (173) Yes

ExternalEncoderType


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.



System default: NO

Data type: EnumAxisPassiveApproachDirection


System default: ACTUAL_DIRECTION_PASSIVE

Data type: UDINT


System default: 0

ExternalEncoderType


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


System default: DEFAULT_PASSIVE

Data type: UDINT



Data type: LREAL



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


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


IntervalCounterConversionDataType - ExternalEncoderType



incResolution


referenceTime



Data type: UDINT


System default: 1

Data type: LREAL





ExternalEncoderType


InversCountDirection - ExternalEncoderType




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.



System default: NO

NO (91) No

YES (173) Yes

Data type: LREAL


System default: 1.0

Data type: LREAL


System default: 10.0 mm/rot

ExternalEncoderType


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


System default: 360.0 °

Data type: LREAL



Data type: EnumActiveInactive


System default: INACTIVE

ACTIVE (4) Active

INACTIVE (61) Inactive

ExternalEncoderType


PT2PositionFilterType - ExternalEncoderType

The structure elements of 'PositionFilter' specify the parameters of the position filter.

T1

Time constant T1 of the position filter.

T2


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



Data type: LREAL





System default: NO

NO (91) No

YES (173) Yes

Data type: LREAL



ExternalEncoderType


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.


enable


timeConstant


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

ExternalEncoderType


Resolution - ExternalEncoderType

'Resolution' is used to configure the parameters of a linear encoder system (linear scale).


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



Data type: UDINT


System default: 0

ExternalEncoderType


RestartInfo - ExternalEncoderType





















ExternalEncoderType


SensorControlConfig - ExternalEncoderType





EnumYesNo

SensorNist - ExternalEncoderType

The structure elements of 'SensorNist' specify the parameters for the actual speed value from the I/O area.


logAddress

Specifies the address of the actual speed value in the I/O area.

referenceValue

Specifies the reference time for the interval measurement.



System default: NO

NO (91) No

YES (173) Yes

Data type: UDINT



Data type: LREAL



ExternalEncoderType


SensorSetActualValue - ExternalEncoderType



maxFailures


updateCycle


EnumAxisUpdateCycle

Data type: UDINT


System default: 1



System default: IPO

IPO (0) IPO

IPO_2 (1) IPO_2

SERVO (2) Servo



ExternalEncoderType


SmoothingFilter - ExternalEncoderType



enable


mode


timeConstant


EnumYesNo

EnumAxisFilterMode



System default: NO




Data type: LREAL



NO (91) No

YES (173) Yes



PT1 (2) PT1 filter

ExternalEncoderType


StandStillSignal - ExternalEncoderType



delayTimeToActivate


filterDegree


filterFrequency


maxVeloStandStill


Data type: LREAL



Data type: UINT


System default: 0

Data type: LREAL



Data type: LREAL



ExternalEncoderType


StepMotorMonitoringType - ExternalEncoderType



beroCycleDistance


beroCycleTolerance


enable


EnumYesNo

Data type: UDINT



Data type: UDINT





System default: NO

NO (91) No

YES (173) Yes

ExternalEncoderType


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


System default: 0



System default: NO

Data type: UDINT



Data type: UDINT


System default: 0

Data type: UDINT


System default: 1

ExternalEncoderType


updateCycle

Specifies the ratio of the actual value update.

EnumYesNo

Data type: UDINT


System default: 1

NO (91) No

YES (173) Yes

ExternalEncoderType


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


System default: 0

Data type: EnumTrueFalse


System default: _TRUE



System default: NO

Data type: UDINT



_TRUE (405) true

_FALSE (406) false

NO (91) No

YES (173) Yes

ExternalEncoderType


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


System default: 0






System default: NO

Data type: UDINT



_TRUE (405) true

_FALSE (406) false

NO (91) No

YES (173) Yes

ExternalEncoderType


StructAxisDriveControlConfig - ExternalEncoderType


dataAdaption




releaseDisableMode






System default: NO




Data type: UDINT


System default: 127

ExternalEncoderType


EnumYesNo



NO (91) No

YES (173) Yes





ExternalEncoderType


StructAxisDriveSafetyExtendedFunctionsInfoDataIn - ExternalEncoderType


logAddress


StructAxisNistDriverConfig - ExternalEncoderType


logAddress


Data type: UDINT



Data type: UDINT



ExternalEncoderType


StructAxisOperatingDataInInfo - ExternalEncoderType


enableActivePower


enableActualCurrent










System default: NO



System default: NO



System default: NO



System default: NO



System default: NO

ExternalEncoderType


logAddress


EnumYesNo

Data type: UDINT



NO (91) No

YES (173) Yes

ExternalEncoderType


StructAxisPulsesEnabledConfig - ExternalEncoderType


bitNumber


pzdNumber


Data type: UDINT


System default: 13

Data type: UDINT


System default: 5

ExternalEncoderType


StructAxisSpeedLimitation - ExternalEncoderType


enable


maxSpeed


minSpeed


EnumYesNo



System default: NO

Data type: LREAL



Data type: LREAL



NO (91) No

YES (173) Yes

ExternalEncoderType


StructAxisTechnologicalData - ExternalEncoderType




enable


EnumYesNo




System default: NO



System default: NO

NO (91) No

YES (173) Yes









ExternalEncoderType


StructAxisTechnologicalDataInInfo - ExternalEncoderType


logAddress


StructAxisTechnologicalDataOutInfo - ExternalEncoderType


logAddress


Data type: UDINT



Data type: UDINT



ExternalEncoderType


StructDriverInfoDirectIncremental - ExternalEncoderType


logAddress


resolution


Data type: UDINT



Data type: UDINT


System default: 16

ExternalEncoderType


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


Data type: EnumAxisExtrapolatedVelocitySwitch


System default: DIFFERENTIATION

Data type: LREAL



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


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


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


EnumYesNo

EnumAxisFilterMode



System default: NO




Data type: LREAL



NO (91) No

YES (173) Yes



PT1 (2) PT1 filter

ExternalEncoderType


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


System default: 0



System default: NO

Data type: UDINT



NO (91) No

YES (173) Yes

ExternalEncoderType


StructSensorDriverInfo - ExternalEncoderType


errorToleranceTime


format


logAddress


maxValue


minValue


Data type: LREAL






Data type: UDINT



Data type: DINT



Data type: DINT



ExternalEncoderType


resolution



Data type: UDINT


System default: 15





ExternalEncoderType


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



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

ExternalEncoderType


TypeOfAxisInfo - ExternalEncoderType


typeOfAxis

Specifies the type of encoder configured.

With REAL_AXIS, the encoder is connected to a real process.

EnumEncoderIdentification


Data type: EnumEncoderIdentification



REAL_AXIS (0) Real external encoder




Command processing

DistributedMotion(DistributedMotionInfo)

Distributed motion control


Measuring system

Extrapolation(StructExtrapolation)


Gear(Gear)

Load gearbox




Standstill signal

ExternalEncoderType



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.


_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


System default: POSITIVE



System default: NO

Data type: LREAL



PosAxis


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


System default: DIFF_POSITIVE

Data type: LREAL



POSITIVE (0) positive

NEGATIVE (1) negative

NO (91) No

YES (173) Yes

DIFF_POSITIVE (0) positive

DIFF_NEGATIVE (1) negative

PosAxis


AbsEncoder - PosAxis



absBaudRate


absDataLength


absMessageFormat


absMessageLength





Data type: UDINT


System default: 24







PosAxis


absResolution






absState


Data type: UDINT



Data type: UDINT


System default: 0

Data type: UDINT


System default: 0




PosAxis


enableAbsMonitoring









EnumAbsBaudrate

EnumAbsMsgFormat

EnumAbsMsgLength



System default: YES











PosAxis


EnumAbsState

EnumYesNo



NO (91) No

YES (173) Yes

PosAxis


AbsHomingEncoder - PosAxis



absShift







Data type: LREAL








PosAxis


ActualAccelerationMonitoring - PosAxis

The structure elements of 'ActualAccelerationMonitoring' specify the monitoring of actual acceleration.

enable

Activation of actual acceleration monitoring.

maximum

Maximum actual acceleration.

EnumYesNo



System default: NO

Data type: LREAL


System default: 0.0 m/min

NO (91) No

YES (173) Yes

PosAxis


ActualVelocityMonitoring - PosAxis


enable


maximum


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

PosAxis


AdaptDrive - PosAxis



denFactor


numFactor


AdaptExtern - PosAxis



denFactor


numFactor


Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

PosAxis


AdaptLoad - PosAxis



denFactor


numFactor


Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

PosAxis


AdditionalSensorDriverInfo - PosAxis


errorToleranceTime


format


logAddress


maxValue


minValue


resolution


Data type: LREAL






Data type: UDINT



Data type: DINT



Data type: DINT



Data type: UDINT


System default: 15

PosAxis







PosAxis


AdditionalSensorMain - PosAxis




interfaceActivation




















Analog input module

Filter(Filter)




Range(Range)


PosAxis


AdditionalSensorNumber - PosAxis


number


AnalogConversionDataType - PosAxis


_type


factor


offset



Data type: UDINT


System default: 0




Data type: LREAL


System default: 1.0

Data type: LREAL


System default: 0.0


PosAxis


AnalogSensorType - PosAxis



AssemblyBase - PosAxis


assemblyBase






Driver data


















PosAxis


ClampingMonitoring - PosAxis

The structure elements of 'ClampingMonitoring' specify the clamping monitoring.


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



Data type: LREAL



Data type: EnumRecognitionMode


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


ControllerDynamic - PosAxis



enable


maxVeloTolerance


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

PosAxis


ControllerStruct - PosAxis



conType




ControllerSwitchData - PosAxis

The structure elements for 'ControllerSwitchData' are used to configure digital inputs for force or pres-sure control.




System default: PV







PD_Controller(PD_Controller)

PID controller


PID controller

PV_Controller(PV_Controller)

P-controller with precontrol

NumberOfDigitalInputs(NumberOfDigitalInputs)

Digital inputs

PosAxis


ConversionData - PosAxis



_type


factor


invert


offset



EnumYesNo




Data type: LREAL





System default: NO

Data type: LREAL




NO (91) No

YES (173) Yes

PosAxis


DataSetMain - PosAxis






ClampingMonitoring(ClampingMonitoring)

Clamping monitoring





DynamicComp(DynamicComp)

Dynamic compensation



DynamicFollowing(DynamicFollowing)

Dynamic following error monitoring

DynamicQFData(StructPaxDynamicQFData)








Gear(Gear)







Process model

PosAxis


DecodingConfig - PosAxis





















PosAxis


directionDynamic












System default: NO



System default: YES

Data type: DINT


System default: 6

Data type: DINT


System default: 100

Data type: DINT


System default: 6

PosAxis










stopWithJerk












System default: NO



System default: NO




PosAxis





EnumYesNo











NO (91) No

YES (173) Yes






PosAxis


DigitalInputMain - PosAxis

The structure elements belonging to 'DigitalInput_(n)' are used to configure a digital input or to assign it to the axis.

bitNumber


logAddress


Data type: UDINT


System default: 0

Data type: UDINT



PosAxis


DistributedMotionInfo - PosAxis










EnumYesNo



System default: NO



System default: YES



System default: YES

Data type: UDINT


System default: 1

NO (91) No

YES (173) Yes

PosAxis


Drift - PosAxis



enable


EnumYesNo



System default: NO

NO (91) No

YES (173) Yes

PosAxis


DriveData - PosAxis



maxSpeed


maxTorque


nominalSpeed


nominalTorque


speedReference




Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL









PosAxis


torqueReference











PosAxis


DriverInfo - PosAxis





lifeSignCheck


logAddressIn


logAddressOut


Data type: DINT


System default: 0



System default: YES

Data type: UDINT



Data type: UDINT



PosAxis


telegramType




EnumYesNo





NO (91) No

YES (173) Yes










PosAxis










PosAxis


DynamicComp - PosAxis

The structure elements of 'DynamicComp' specify dynamic compensation.


T1


T2


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



Data type: LREAL



Data type: LREAL





System default: NO

NO (91) No

YES (173) Yes

PosAxis


DynamicData - PosAxis



positionTimeConstant

Specifies the equivalent time constant of the position control system.

torqueTimeConstant

Not used.




Data type: LREAL



Data type: LREAL



Data type: LREAL



PosAxis


DynamicFollowing - PosAxis

The structure elements of 'DynamicFollowing' set the dynamic following error monitoring system.


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.



System default: YES

Data type: LREAL



Data type: LREAL



Data type: LREAL



PosAxis


warningLimit

Specifies the percentage value, relative to the maximum permissible following error calculated, which triggers a warning if exceeded.

EnumYesNo

Data type: LREAL



NO (91) No

YES (173) Yes

PosAxis


EmergencyRampGenerator - PosAxis


maxDeceleration


Data type: LREAL



PosAxis


EncoderMain - PosAxis


dataAdaption




encoderMode




System default: NO







PosAxis


encoderSystem


encoderType


encoderValueType


interfaceAllocation


EnumYesNo













NO (91) No

YES (173) Yes

PosAxis



EnumAxisEncoderMode


EnumAxisEncoderType



ONBOARD (1) Onboard





SSI_MODE (2) SSI


ENDAT (4) Endat

SINUS_1VPP (5) Sine




















PosAxis









AbsBackLash(AbsBackLash)

Backlash compensation for absolute measuring system


Absolute encoder

















Filter(Filter)

Actual value filter



IncBackLash(IncBackLash)

Backlash compensation for incremental measu-ring system


Incremental encoder




Interval counter




Actual speed value


Path per revolution

PositionDifferenceMeasurement(StructPositionDifferenceMeasurement)

PositionDifferenceMeasurement

PosAxis



Position filter


Resolution







Slippage(Slippage)

Slippage


Stepper motor

PosAxis


EncoderNumber - PosAxis


EncoderNumber


ExecutionConfigInfo - PosAxis



executionlevel



Data type: UDINT


System default: 1



System default: IPO

IPO (0) IPO

IPO_2 (1) IPO_2

SERVO (2) Servo



PosAxis


ExtrapolationPositionFilterType - PosAxis


T1


T2


enable


EnumYesNo

Data type: LREAL



Data type: LREAL





System default: NO

NO (91) No

YES (173) Yes

PosAxis


Filter - PosAxis



enable


timeConstant


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

PosAxis


FineInterpolator - PosAxis



_type



ForceControlHeldValueMonitoring - PosAxis


delayTimeToActivate


tolerance









Data type: LREAL



Data type: LREAL



PosAxis


ForceControlRunningInWindowMonitoring - PosAxis


maxDelayTime


tolerance


winTolTime


Data type: LREAL



Data type: LREAL



Data type: LREAL



PosAxis


ForceControllerData - PosAxis



_type


invertControlValue


typeOfSensorData



EnumYesNo



System default: PID



System default: NO






NO (91) No

YES (173) Yes

PosAxis


EnumSensorDataType










PosAxis


ForceControllerDifference - PosAxis


enable


maxForceTolerance


EnumYesNo

FrequencyLimit - PosAxis






System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

Data type: LREAL



PosAxis


Friction - PosAxis


amplitude


decayTime


delayTimeStandStill


enable


maxVeloStandStill


EnumYesNo

Data type: LREAL



Data type: LREAL



Data type: LREAL





System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

PosAxis


Gear - PosAxis


denFactor


numFactor


Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

PosAxis


HWEndPos - PosAxis


bitNumberNegative


bitNumberPositive


enable


interfaceActivation


logAddressNegative


Data type: UDINT


System default: 0

Data type: UDINT


System default: 0



System default: NO




Data type: UDINT



PosAxis


logAddressPositive


mode


EnumYesNo


EnumMountSwitch

Data type: UDINT






NO (91) No

YES (173) Yes





PosAxis


Homing - PosAxis

The structure elements of 'Homing' specify the parameters for homing the axis.


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



Data type: EnumDirectionType





System default: NO

PosAxis


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




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


IncBackLash - PosAxis

The structure elements of 'IncBackLash' specify the backlash compensation for the incremental enco-der.


_type


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


velocity

Specifies the velocity at which backlash compensation is stopped.If the value is 0, the backlash is calculated without limits.

EnumBackLashType

EnumYesNo






System default: NO

Data type: LREAL



Data type: LREAL





NO (91) No

YES (173) Yes

PosAxis


IncEncoder - PosAxis





incResolution




EnumYesNo



System default: NO

Data type: UDINT



Data type: UDINT


System default: 0

NO (91) No

YES (173) Yes

PosAxis


IncHomingEncoder - PosAxis



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


System default: APPROACH_NEGATIVE

Data type: UDINT


System default: 0

PosAxis




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.



System default: NO

Data type: EnumAxisHomingMode


System default: MODE_NO_REFERENCE

Data type: UDINT



PosAxis









passiveHomingMode





Data type: UDINT


System default: 0




PosAxis




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


EnumAxisApproachDirection

EnumYesNo

Data type: UDINT



Data type: LREAL



Data type: EnumAxisReferenceCamType



Data type: LREAL



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


EnumAxisHomingMode



EnumAxisReferenceCamType


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)















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


IntervalCounterConversionDataType - PosAxis



incResolution


referenceTime



Data type: UDINT


System default: 1

Data type: LREAL





PosAxis


InversCountDirection - PosAxis




EnumYesNo

InvertSetPoint - PosAxis


invSetPoint


EnumYesNo



System default: NO

NO (91) No

YES (173) Yes



System default: NO

NO (91) No

YES (173) Yes

PosAxis


InvertSetPointHydraulicType - PosAxis


invert


EnumYesNo

LeadScrewInfo - PosAxis


efficiency


pitchVal




System default: NO

NO (91) No

YES (173) Yes

Data type: LREAL


System default: 1.0

Data type: LREAL



PosAxis


LinearMotorDriveData - PosAxis





forceReference


maxForce


maxSpeed


nominalForce


nominalSpeed








Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL



PosAxis


speedReference











PosAxis


LinearStepMotorDriveDataType - PosAxis


maxFrequency


stepMotorResolution


Data type: LREAL



Data type: UDINT



PosAxis


MaxAcceleration - PosAxis





maximum


EnumYesNo



System default: NO

Data type: LREAL


System default: 10000.0 mm/s²

NO (91) No

YES (173) Yes

PosAxis


MaxForceCommandData - PosAxis



maximum


maximumDerived


MaxJerk - PosAxis



maximum


Data type: LREAL



Data type: LREAL



Data type: LREAL


System default: 200000.0 mm/s³

PosAxis


MaxVelocity - PosAxis



maximum


ModuloInfo - PosAxis


length


startValue


state


EnumActiveInactive

Data type: LREAL



Data type: LREAL



Data type: LREAL






ACTIVE (4) Active


PosAxis


NeutralBand - PosAxis


centreValue


enable


range


EnumYesNo

Data type: LREAL


System default: 0.0



System default: NO

Data type: LREAL


System default: 0.0

NO (91) No

YES (173) Yes

PosAxis


NumberOfAdditionalSensors - PosAxis



number



Data type: UDINT


System default: 1


Encoder 1


Encoder 2


Encoder 3


Encoder 4


Encoder 5


Encoder 6


Encoder 7


Encoder 8

PosAxis


NumberOfDataSets - PosAxis



changeMode


initDataSet


numberOfDataSets





EnumChangeMode



System default: IN_POSITION

Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

Data type: LREAL







PosAxis




Data record 1


Data record 10


Data record 11


Data record 12


Data record 13


Data record 14


Data record 15


Data record 16


Data record 2


Data record 3


Data record 4


Data record 5


Data record 6


Data record 7


Data record 8


Data record 9

PosAxis


NumberOfDigitalInputs - PosAxis

The structure elements of 'NumberOfDigitalInputs' are used to configure the number of digital inputs.

number

Specifies the number of inputs.


Data type: UDINT


System default: 0

DigitalInput_1(DigitalInputMain)

Digital input 1


Digital input 2


Digital input 3


Digital input 4


Digital input 5


Digital input 6


Digital input 7


Digital input 8

PosAxis


NumberOfEncoders - PosAxis



dscEncoderNumber


numberOfEncoders



Data type: UDINT


System default: 1

Data type: UDINT


System default: 1


Encoder 1


Encoder 2


Encoder 3


Encoder 4


Encoder 5


Encoder 6


Encoder 7


Encoder 8

PosAxis


OutputLimits - PosAxis



_max


_min


PD_Controller - PosAxis

The structure elements of 'PD_Controller' specify the parameters of the PD controller.

decayTime


kd


kp


Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL


System default: 0.0

Data type: LREAL



PosAxis


PID_ControllerForce - PosAxis


decayTime


enableAntiWindup




kd


ki


kp


Data type: LREAL





System default: YES

Data type: LREAL



Data type: LREAL


System default: 0.0

Data type: LREAL


System default: 0.0

Data type: LREAL



PosAxis


kpc


preCon


EnumYesNo

Data type: LREAL





System default: NO

NO (91) No

YES (173) Yes

PosAxis


PID_ControllerPos - PosAxis


balanceFilterMode


decayTime


enableAntiWindup


kd


ki


kp





Data type: LREAL





System default: YES

Data type: LREAL


System default: 0.0

Data type: LREAL


System default: 0.0 1/s²

Data type: LREAL



PosAxis


kpc


preCon



EnumYesNo

Data type: LREAL





System default: NO




NO (91) No

YES (173) Yes

PosAxis


PT2PositionFilterType - PosAxis


T1


T2


enable


EnumYesNo

Data type: LREAL



Data type: LREAL





System default: NO

NO (91) No

YES (173) Yes

PosAxis


PV_Controller - PosAxis

The structure elements of 'PV_Controller' specify the parameters of the P controller with precontrol.


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


kv

Specifies the gain factor of the position feedback loop.






System default: NO

Data type: LREAL



Data type: LREAL



PosAxis


preCon

Specifies the activation status of the precontrol system.With NO, the precontrol is not activated.With YES, the precontrol is activated.


EnumYesNo



System default: NO




NO (91) No

YES (173) Yes

PosAxis


PathPerRevolution - PosAxis


length


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



Data type: LREAL



Data type: EnumAxisPathPosToleranceCommandValue


System default: WITHOUT_JERK

NO_ACTIVATE (0) No

WITHOUT_JERK (1) Without jerk

WITH_JERK (2) With jerk

PosAxis


PositionFilterType - PosAxis



enable


timeConstant


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

PosAxis


PositionMonitoring - PosAxis

The structure elements of 'PositionMonitoring' specify position monitoring.


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



Data type: LREAL



Data type: LREAL



PosAxis


ProcessModel - PosAxis



T1


T2


ks


Data type: LREAL



Data type: LREAL



Data type: LREAL


System default: 0.00000095367431640625

PosAxis


Range - PosAxis


_max


_min


Resolution - PosAxis



distance



multiplierCyclic


Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: UDINT


System default: 0

PosAxis


RestartConditionInfo - PosAxis











PosAxis


RestartInfo - PosAxis





















PosAxis


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



Data type: UDINT


System default: 0

Data type: UDINT



NONE (93) No reversing cam

SPECIFIC (387) Newly defined reversing cam

HARDWARE_LIMIT_SWITCH (388) Hardware limit switch as reversing cam

PosAxis


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.





Data type: UDINT


System default: 0

Data type: UDINT






PosAxis


SensorControlConfig - PosAxis





EnumYesNo



System default: NO

NO (91) No

YES (173) Yes

PosAxis


SensorNist - PosAxis



logAddress


referenceValue


Data type: UDINT



Data type: LREAL



PosAxis


SensorSetActualValue - PosAxis



maxFailures


updateCycle


EnumAxisUpdateCycle

Data type: UDINT


System default: 1



System default: IPO

IPO (0) IPO

IPO_2 (1) IPO_2

SERVO (2) Servo



PosAxis


SetPointDriverInfo - PosAxis



actorType


interfaceAllocation


lifeSignCheck


logAddressIn










System default: YES

Data type: UDINT



PosAxis


logAddressOut


maxSetPointVoltage


mode


motorType



Not used

Data type: UDINT



Data type: LREAL









Data type: UDINT


System default: 0

PosAxis


telegramType







EnumYesNo




NO_TYPE (0) No type

ANALOG (1) Analog







NO (91) No

YES (173) Yes

PosAxis


EnumAxisDriverMode

EnumAxisMotorType




ONBOARD (1) Onboard































PosAxis


SimulationInfo - PosAxis


simulationMode


EnumYesNo

Slippage - PosAxis

Not functional.

slippageLimit



System default: NO

NO (91) No

YES (173) Yes

Data type: UDINT


System default: 1000 mm

PosAxis


SmoothingFilter - PosAxis



enable


mode


timeConstant


EnumYesNo

EnumAxisFilterMode



System default: NO




Data type: LREAL



NO (91) No

YES (173) Yes



PT1 (2) PT1 filter

PosAxis


StandStillMonitoring - PosAxis

The structure elements of 'StandStillMonitoring' specify zero speed monitoring.


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



Data type: LREAL



PosAxis


StandStillSignal - PosAxis



delayTimeToActivate


filterDegree


filterFrequency


maxVeloStandStill


Data type: LREAL



Data type: UINT


System default: 0

Data type: LREAL



Data type: LREAL



PosAxis


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


maxFrequency


stepMotorResolution




System default: NO

Data type: UDINT


System default: 0

Data type: UDINT



NO (91) No

YES (173) Yes

Data type: LREAL



Data type: UDINT



PosAxis


StepMotorMonitoringType - PosAxis



beroCycleDistance


beroCycleTolerance


enable


EnumYesNo

Data type: UDINT



Data type: UDINT





System default: NO

NO (91) No

YES (173) Yes

PosAxis


StructAxisActualValueUpdateCounter - PosAxis


bitNumber


enableCounter


logAddress


maxFailure


quantityOfBits


Data type: UDINT


System default: 0



System default: NO

Data type: UDINT



Data type: UDINT


System default: 0

Data type: UDINT


System default: 1

PosAxis


updateCycle


EnumYesNo

Data type: UDINT


System default: 1

NO (91) No

YES (173) Yes

PosAxis


StructAxisAdditionalOffset - PosAxis


enable












System default: NO

Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL



PosAxis




EnumYesNo

Data type: LREAL



NO (91) No

YES (173) Yes

PosAxis


StructAxisAnalogSensorErrorStateMonitoring - PosAxis


bitNumber


bitSemantics


enable


logAddress


EnumTrueFalse

EnumYesNo

Data type: UDINT


System default: 0






System default: NO

Data type: UDINT



_TRUE (405) true

_FALSE (406) false

NO (91) No

YES (173) Yes

PosAxis


StructAxisAnalogSensorReadyStateMonitoring - PosAxis


bitNumber


bitSemantics


enable


logAddress


EnumTrueFalse

EnumYesNo

Data type: UDINT


System default: 0






System default: NO

Data type: UDINT



_TRUE (405) true

_FALSE (406) false

NO (91) No

YES (173) Yes

PosAxis


StructAxisDriveControlConfig - PosAxis


dataAdaption




releaseDisableMode




EnumYesNo



System default: NO




Data type: UDINT


System default: 127

NO (91) No

YES (173) Yes

PosAxis








PosAxis


StructAxisDriveSafetyExtendedFunctionsInfoDataIn - PosAxis


logAddress


Data type: UDINT



PosAxis


StructAxisFilterForceControlConfig - PosAxis


T1


T2


_type


enable



EnumYesNo

Data type: LREAL



Data type: LREAL





System default: PT2



System default: NO

PT2 (909) PT2

NO (91) No

YES (173) Yes

PosAxis


StructAxisInvertFOutput - PosAxis


invSetPoint


EnumYesNo

StructAxisInvertQOutput - PosAxis


invSetPoint


EnumYesNo



System default: NO

NO (91) No

YES (173) Yes



System default: NO

NO (91) No

YES (173) Yes

PosAxis


StructAxisNistDriverConfig - PosAxis


logAddress


Data type: UDINT



PosAxis


StructAxisOperatingDataInInfo - PosAxis


enableActivePower


enableActualCurrent










System default: NO



System default: NO



System default: NO



System default: NO



System default: NO

PosAxis


logAddress


EnumYesNo

Data type: UDINT



NO (91) No

YES (173) Yes

PosAxis


StructAxisPulsesEnabledConfig - PosAxis


bitNumber


pzdNumber


StructAxisServoMonitoringConfig - PosAxis




EnumYesNo

Data type: UDINT


System default: 13

Data type: UDINT


System default: 5



System default: NO

NO (91) No

YES (173) Yes

PosAxis


StructAxisSetpointFilter - PosAxis


T1


enable


EnumYesNo

Data type: LREAL





System default: NO

NO (91) No

YES (173) Yes

PosAxis


StructAxisSlidingFriction - PosAxis


enable


factorForceControl


factorMotionControl




EnumYesNo



System default: NO

Data type: LREAL



Data type: LREAL



Data type: LREAL


System default: 0.0

NO (91) No

YES (173) Yes

PosAxis


StructAxisSpeedLimitation - PosAxis


enable


maxSpeed


minSpeed


EnumYesNo



System default: NO

Data type: LREAL



Data type: LREAL



NO (91) No

YES (173) Yes

PosAxis


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


System default: IN_CLOSED_LOOP_POSITION_CONTROL



System default: YES

Data type: LREAL


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


StructAxisSystemDeadTimeData - PosAxis


additionalTime


Data type: LREAL



PosAxis


StructAxisTechnologicalData - PosAxis




enable


EnumYesNo




System default: NO



System default: NO

NO (91) No

YES (173) Yes









PosAxis


StructAxisTechnologicalDataInInfo - PosAxis


logAddress


StructAxisTechnologicalDataOutInfo - PosAxis


logAddress


Data type: UDINT



Data type: UDINT



PosAxis


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



System default: NO

Data type: EnumCommandValueQuantizationMode


System default: REFER_TO_ACTUAL_SENSOR_VALUE_RESOLUTION

Data type: LREAL


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


StructControllerOutput - PosAxis


outputType














Enable bit





PosAxis


StructDirectOutputDriverInfo - PosAxis


format


logAddress


maxOutputVoltage

Not used

resolution






Data type: UDINT



Data type: LREAL



Data type: UDINT


System default: 15





PosAxis


StructDriveInterfaceDriverInfo - PosAxis


actorType


lifeSignCheck


logAddressIn


logAddressOut


maxOutputVoltage







System default: YES

Data type: UDINT



Data type: UDINT



Data type: LREAL



PosAxis


mode



Reserved

telegramType






Data type: DINT


System default: 0




NO_TYPE (0) No type

ANALOG (1) Analog


PosAxis


EnumYesNo

EnumAxisDriverMode


NO (91) No

YES (173) Yes


ONBOARD (1) Onboard



















PosAxis


StructDriverInfoDirectIncremental - PosAxis


logAddress


resolution


Data type: UDINT



Data type: UDINT


System default: 16

PosAxis


StructEnableBit - PosAxis


bitNumberOnDevice


enable


logAddress


EnumYesNo

Data type: UDINT


System default: 0



System default: NO

Data type: UDINT



NO (91) No

YES (173) Yes

PosAxis


StructExtrapolation - PosAxis




extrapolationTime







Data type: LREAL










Tolerance range

PosAxis


StructExtrapolationFilter - PosAxis


enable


mode


timeConstant


EnumYesNo

EnumAxisFilterMode



System default: NO




Data type: LREAL



NO (91) No

YES (173) Yes



PT1 (2) PT1 filter

PosAxis


StructLogAddressIoBitType - PosAxis


bitNumber


enable


logAddress


EnumYesNo

Data type: UDINT


System default: 0



System default: NO

Data type: UDINT



NO (91) No

YES (173) Yes

PosAxis


StructPaxDynamicQFData - PosAxis




qOutputTimeConstant


Data type: LREAL



Data type: LREAL



PosAxis


StructPositionDifferenceMeasurement - PosAxis

The 'PositionDifferenceMeasurement' structure element is used to configure the parameters for the differential position measurement.

invert


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




System default: NO

Data type: UDINT


System default: 1

Data type: UDINT


System default: 2

Data type: LREAL


System default: 0.0

NO (91) No

YES (173) Yes

Filter(Filter)


Range(Range)


PosAxis


StructPressureDifferenceMeasurement - PosAxis


areaA


areaB


factor


invert


numberSensorA


numberSensorB


Data type: LREAL


System default: 1.0

Data type: LREAL


System default: 1.0

Data type: LREAL


System default: 1.0



System default: NO

Data type: UDINT


System default: 1

Data type: UDINT


System default: 2

PosAxis


EnumYesNo


NO (91) No

YES (173) Yes

Filter(Filter)


Range(Range)


PosAxis


StructSensorDriverInfo - PosAxis


errorToleranceTime


format


logAddress


maxValue


minValue


Data type: LREAL






Data type: UDINT



Data type: DINT



Data type: DINT



PosAxis


resolution



Data type: UDINT


System default: 15





PosAxis


StructToleranceRange - PosAxis


enable


value


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

PosAxis


TypeOfAxisInfo - PosAxis


typeOfAxis






















ActualAccelerationMonitoring(ActualAccelerationMonitoring)

Actual acceleration monitoring





CommandValueQuantization(StructCommandValueQuantization)

Quantization filter

ControllerSwitchData(ControllerSwitchData)

Digital inputs for pressure control


Command processing



Drift(Drift)

Drift compensation

PosAxis











Fine interpolator





Friction(Friction)


HWEndPos(HWEndPos)


Homing(Homing)

Homing





MaxJerk(MaxJerk)

Maximum jerk


Maximum velocity








Configured encoder

PathSyncAxisPosTolerance(PathSyncAxisPosTolerance)

Setpoint differential monitoring of synchronous axis

PositionMonitoring(PositionMonitoring)

Position monitoring






Drive interface



PosAxis








StandStillMonitoring(StandStillMonitoring)

Standstill monitoring


Standstill signal

SwLimit(StructAxisSwLimitConfig)

Software limit switches





VelocityPositionProfile(VelocityPositionProfile)

Settings for the v(s) profile

PosAxis


VelocityPositionProfile - PosAxis

The structure elements for 'VelocityPositionProfile' set properties in velocity-position profiles.


endPositionTolerance

Tolerance for profile end detection.

Data type: LREAL



PosAxis



MeasuringInputType 4Associated parameters (maximum):

• DecodingConfig (DecodingConfigInfo)• LogAddress (StructMeasuringInputLogAddress)• MeasuringRange (StructMeasuringRange)• MipBaseCfg (MipBaseCfgInfo)• MipInputCfg (MipInputCfgInfo)• Restart (RestartInfo)• TimeStampConfig (StructMeasuringInputTimeStampConfig)

DecodingConfigInfo - MeasuringInputType


Note"Further information can be found in the TO Synchronous Operation, Cam Function Manual and in the online help."


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


System default: 10

MeasuringInputType


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


System default: DIRECT

Data type: EnumMeasuringInputInputType



Data type: EnumMeasuringInputTaskLevel


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



MeasuringInputType


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



System default: NO

Data type: DINT


System default: 1

Data type: DINT


System default: 1

NO (91) No

YES (173) Yes

MeasuringInputType


RestartInfo - MeasuringInputType





















MeasuringInputType


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


System default: 0

Data type: UDINT



Data type: LREAL



MeasuringInputType


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




OutputCamType 5Associated parameters (maximum):

• DecodingConfig (DecodingConfigInfo)• LogAddress (LogAddressInfo)• OcaBaseCfg (OcaBaseCfgInfo)• OcaType (OcaTypeInfo)• Restart (RestartInfo)

DecodingConfigInfo - OutputCamType




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


System default: 10



System default: NO

NO (91) No

YES (173) Yes

OutputCamType


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


System default: 0



System default: NO

Data type: UDINT



Data type: EnumLogicOperation


System default: OPERATION_OR

NO (91) No

YES (173) Yes

OPERATION_OR (0) Logical OR

OPERATION_AND (1) Logical AND

OutputCamType


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



System default: NO

Data type: EnumOutputCamOutputType



Data type: EnumPosValue


System default: RATED

Data type: EnumOutputCamTaskLevel


System default: IPO

NO (91) No

YES (173) Yes

OutputCamType


EnumOutputCamOutputType

EnumPosValue

EnumOutputCamTaskLevel



RATED (0) Setpoints

ACTUAL (1) Actual values

IPO (0) IPO

IPO_2 (1) IPO_2

SERVO (2) Servo



OutputCamType


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


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


RestartInfo - OutputCamType






















CamTrackType 6Associated parameters (maximum):

• DecodingConfig (DecodingConfigInfo)• LogAddress (LogAddressInfo)• OctBaseCfg (OctBaseCfgInfo)• OctTechnologicalCfg (OctTechnologicalCfgInfo)• OctType (OctTypeInfo)• Restart (RestartInfo)

DecodingConfigInfo - CamTrackType





Data type: DINT


System default: 10

CamTrackType


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


System default: 0



System default: NO

Data type: UDINT



NO (91) No

YES (173) Yes

CamTrackType


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.



System default: NO



System default: NO

Data type: EnumCamTrackOutputType



Data type: EnumCamTrackPositionReference


System default: COMMAND_VALUE

CamTrackType


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


System default: IPO

NO (91) No

YES (173) Yes



COMMAND_VALUE (0) Setpoints

ACTUAL_VALUE (1) Actual values

IPO (0) IPO

IPO_2 (1) IPO_2

SERVO (2) Servo



CamTrackType


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



System default: NO

NO (91) No

YES (173) Yes

Data type: EnumCamTrackType


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


RestartInfo - CamTrackType






















FollowingAxis 7Associated parameters (maximum):


AbsBackLash - FollowingAxis



_type


enable


length







System default: NO

Data type: LREAL



FollowingAxis


startUpDifference


velocity


EnumBackLashType

EnumYesNo

EnumBackLashDiff




Data type: LREAL





NO (91) No

YES (173) Yes



FollowingAxis


AbsEncoder - FollowingAxis



absBaudRate


absDataLength


absMessageFormat


absMessageLength





Data type: UDINT


System default: 24







FollowingAxis


absResolution






absState


Data type: UDINT



Data type: UDINT


System default: 0

Data type: UDINT


System default: 0




FollowingAxis


enableAbsMonitoring









EnumAbsBaudrate

EnumAbsMsgFormat

EnumAbsMsgLength



System default: YES











FollowingAxis


EnumAbsState

EnumYesNo



NO (91) No

YES (173) Yes

FollowingAxis


AbsHomingEncoder - FollowingAxis



absShift







Data type: LREAL








FollowingAxis


ActualAccelerationMonitoring - FollowingAxis


enable


maximum


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

FollowingAxis


ActualVelocityMonitoring - FollowingAxis


enable


maximum


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

FollowingAxis


AdaptDrive - FollowingAxis



denFactor


numFactor


AdaptExtern - FollowingAxis



denFactor


numFactor


Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

FollowingAxis


AdaptLoad - FollowingAxis



denFactor


numFactor


Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

FollowingAxis


AdditionalSensorDriverInfo - FollowingAxis


errorToleranceTime


format


logAddress


maxValue


minValue


resolution


Data type: LREAL






Data type: UDINT



Data type: DINT



Data type: DINT



Data type: UDINT


System default: 15

FollowingAxis







FollowingAxis


AdditionalSensorMain - FollowingAxis




interfaceActivation




















Analog input module

Filter(Filter)




Range(Range)


FollowingAxis


AdditionalSensorNumber - FollowingAxis


number


AnalogConversionDataType - FollowingAxis


_type


factor


offset



Data type: UDINT


System default: 0




Data type: LREAL


System default: 1.0

Data type: LREAL


System default: 0.0


FollowingAxis


AnalogSensorType - FollowingAxis



AssemblyBase - FollowingAxis


assemblyBase






Driver data


















FollowingAxis


ClampingMonitoring - FollowingAxis





positionTolerance


recognitionMode


EnumRecognitionMode

Data type: LREAL



Data type: LREAL








By following error



FollowingAxis


ControllerDynamic - FollowingAxis



enable


maxVeloTolerance


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

FollowingAxis


ControllerStruct - FollowingAxis



conType




ControllerSwitchData - FollowingAxis





System default: PV








PID controller


PID controller




Digital inputs

FollowingAxis


ConversionData - FollowingAxis



_type


factor


invert


offset



EnumYesNo




Data type: LREAL





System default: NO

Data type: LREAL




NO (91) No

YES (173) Yes

FollowingAxis


DataSetMain - FollowingAxis







Clamping monitoring



















Gear(Gear)







Process model

FollowingAxis


DecodingConfig - FollowingAxis





















FollowingAxis


directionDynamic












System default: NO



System default: YES

Data type: DINT


System default: 6

Data type: DINT


System default: 100

Data type: DINT


System default: 6

FollowingAxis










stopWithJerk












System default: NO



System default: NO




FollowingAxis





EnumYesNo











NO (91) No

YES (173) Yes






FollowingAxis


DigitalInputMain - FollowingAxis


bitNumber


logAddress


Data type: UDINT


System default: 0

Data type: UDINT



FollowingAxis


DistributedMotionInfo - FollowingAxis










EnumYesNo



System default: NO



System default: YES



System default: YES

Data type: UDINT


System default: 1

NO (91) No

YES (173) Yes

FollowingAxis


Drift - FollowingAxis



enable


EnumYesNo



System default: NO

NO (91) No

YES (173) Yes

FollowingAxis


DriveData - FollowingAxis



maxSpeed


maxTorque


nominalSpeed


nominalTorque


speedReference




Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL









FollowingAxis


torqueReference











FollowingAxis


DriverInfo - FollowingAxis





lifeSignCheck


logAddressIn


logAddressOut


Data type: DINT


System default: 0



System default: YES

Data type: UDINT



Data type: UDINT



FollowingAxis


telegramType




EnumYesNo





NO (91) No

YES (173) Yes










FollowingAxis










FollowingAxis


DynamicComp - FollowingAxis



T1


T2


deadTime


enable


EnumYesNo

Data type: LREAL



Data type: LREAL



Data type: LREAL





System default: NO

NO (91) No

YES (173) Yes

FollowingAxis


DynamicData - FollowingAxis





torqueTimeConstant

Not used.




Data type: LREAL



Data type: LREAL



Data type: LREAL



FollowingAxis


DynamicFollowing - FollowingAxis



enable






minVelocity




System default: YES

Data type: LREAL



Data type: LREAL



Data type: LREAL



FollowingAxis


warningLimit


EnumYesNo

Data type: LREAL



NO (91) No

YES (173) Yes

FollowingAxis


EmergencyRampGenerator - FollowingAxis


maxDeceleration


Data type: LREAL



FollowingAxis


EncoderMain - FollowingAxis


dataAdaption




encoderMode




System default: NO







FollowingAxis


encoderSystem


encoderType


encoderValueType


interfaceAllocation


EnumYesNo













NO (91) No

YES (173) Yes

FollowingAxis



EnumAxisEncoderMode


EnumAxisEncoderType



ONBOARD (1) Onboard





SSI_MODE (2) SSI


ENDAT (4) Endat

SINUS_1VPP (5) Sine




















FollowingAxis












Absolute encoder

















Filter(Filter)

Actual value filter






Incremental encoder




Interval counter




Actual speed value


Path per revolution



FollowingAxis



Position filter


Resolution







Slippage(Slippage)

Slippage


Stepper motor

FollowingAxis


EncoderNumber - FollowingAxis


EncoderNumber


ExecutionConfigInfo - FollowingAxis



executionlevel



Data type: UDINT


System default: 1



System default: IPO

IPO (0) IPO

IPO_2 (1) IPO_2

SERVO (2) Servo



FollowingAxis


ExtrapolationPositionFilterType - FollowingAxis


T1


T2


enable


EnumYesNo

Data type: LREAL



Data type: LREAL





System default: NO

NO (91) No

YES (173) Yes

FollowingAxis


Filter - FollowingAxis



enable


timeConstant


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

FollowingAxis


FineInterpolator - FollowingAxis



_type










FollowingAxis


ForceControlHeldValueMonitoring - FollowingAxis


delayTimeToActivate


tolerance


ForceControlRunningInWindowMonitoring - FollowingAxis


maxDelayTime


tolerance


winTolTime


Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL



FollowingAxis


ForceControllerData - FollowingAxis



_type


invertControlValue


typeOfSensorData



EnumYesNo



System default: PID



System default: NO






NO (91) No

YES (173) Yes

FollowingAxis


EnumSensorDataType










FollowingAxis


ForceControllerDifference - FollowingAxis


enable


maxForceTolerance


EnumYesNo

FrequencyLimit - FollowingAxis






System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

Data type: LREAL



FollowingAxis


Friction - FollowingAxis


amplitude


decayTime


delayTimeStandStill


enable


maxVeloStandStill


EnumYesNo

Data type: LREAL



Data type: LREAL



Data type: LREAL





System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

FollowingAxis


Gear - FollowingAxis


denFactor


numFactor


Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

FollowingAxis


GearingPosTolerance - FollowingAxis

The structure elements of 'GearingPosTolerance' specify the synchronization monitoring setting on the slave axis.


actualValueTolerance

Specifies the permissible actual value 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



Data type: LREAL





System default: NO

Data type: EnumGearingPosToleranceCommandValue



FollowingAxis


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


System default: NO_REPORTING

NO (91) No

YES (173) Yes

NO_ACTIVATE (0) No



NO_REPORTING (0) No

COMMAND_VALUE_TOLERANCE (1) Setpoints

ACTUAL_VALUE_TOLERANCE (2) Actual values

ALL_ERRORS_WITH_ABORT_SYNCHRONIZATION (3)

All errors

FollowingAxis


HWEndPos - FollowingAxis


bitNumberNegative


bitNumberPositive


enable


interfaceActivation


logAddressNegative


Data type: UDINT


System default: 0

Data type: UDINT


System default: 0



System default: NO




Data type: UDINT



FollowingAxis


logAddressPositive


mode


EnumYesNo


EnumMountSwitch

Data type: UDINT






NO (91) No

YES (173) Yes





FollowingAxis


Homing - FollowingAxis



beroDistance


direction


enableBeroDistance




Data type: LREAL








System default: NO



System default: NO

FollowingAxis


EnumDirectionType

EnumYesNo






NO (91) No

YES (173) Yes





FollowingAxis


IncBackLash - FollowingAxis



_type


enable


length


velocity


EnumBackLashType

EnumYesNo






System default: NO

Data type: LREAL



Data type: LREAL





NO (91) No

YES (173) Yes

FollowingAxis


IncEncoder - FollowingAxis





incResolution




EnumYesNo



System default: NO

Data type: UDINT



Data type: UDINT


System default: 0

NO (91) No

YES (173) Yes

FollowingAxis


IncHomingEncoder - FollowingAxis



approachDirection









bitNumberBero





Data type: UDINT


System default: 0

FollowingAxis




homingMode


logAddressBero




System default: NO




Data type: UDINT



FollowingAxis









passiveHomingMode





Data type: UDINT


System default: 0




FollowingAxis




proceedShiftPos


referenceCamType


zeroMarkDistance



EnumYesNo

Data type: UDINT



Data type: LREAL






Data type: LREAL









NO (91) No

YES (173) Yes

FollowingAxis


EnumAxisHomingMode






























FollowingAxis


IntervalCounterConversionDataType - FollowingAxis



incResolution


referenceTime



Data type: UDINT


System default: 1

Data type: LREAL





FollowingAxis


InversCountDirection - FollowingAxis




EnumYesNo

InvertSetPoint - FollowingAxis


invSetPoint


EnumYesNo



System default: NO

NO (91) No

YES (173) Yes



System default: NO

NO (91) No

YES (173) Yes

FollowingAxis


InvertSetPointHydraulicType - FollowingAxis


invert


EnumYesNo

LeadScrewInfo - FollowingAxis


efficiency


pitchVal




System default: NO

NO (91) No

YES (173) Yes

Data type: LREAL


System default: 1.0

Data type: LREAL



FollowingAxis


LinearMotorDriveData - FollowingAxis





forceReference


maxForce


maxSpeed


nominalForce


nominalSpeed








Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL



FollowingAxis


speedReference











FollowingAxis


LinearStepMotorDriveDataType - FollowingAxis


maxFrequency


stepMotorResolution


Data type: LREAL



Data type: UDINT



FollowingAxis


MaxAcceleration - FollowingAxis





maximum


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

FollowingAxis


MaxForceCommandData - FollowingAxis



maximum


maximumDerived


MaxJerk - FollowingAxis



maximum


Data type: LREAL



Data type: LREAL



Data type: LREAL



FollowingAxis


MaxVelocity - FollowingAxis



maximum


Data type: LREAL



FollowingAxis


ModuloInfo - FollowingAxis


length


startValue


state


EnumActiveInactive

Data type: LREAL



Data type: LREAL






ACTIVE (4) Active


FollowingAxis


NeutralBand - FollowingAxis


centreValue


enable


range


EnumYesNo

Data type: LREAL


System default: 0.0



System default: NO

Data type: LREAL


System default: 0.0

NO (91) No

YES (173) Yes

FollowingAxis


NumberOfAdditionalSensors - FollowingAxis



number



Data type: UDINT


System default: 1


Encoder 1


Encoder 2


Encoder 3


Encoder 4


Encoder 5


Encoder 6


Encoder 7


Encoder 8

FollowingAxis


NumberOfDataSets - FollowingAxis



changeMode


initDataSet


numberOfDataSets





EnumChangeMode




Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

Data type: LREAL







FollowingAxis




Data record 1


Data record 10


Data record 11


Data record 12


Data record 13


Data record 14


Data record 15


Data record 16


Data record 2


Data record 3


Data record 4


Data record 5


Data record 6


Data record 7


Data record 8


Data record 9

FollowingAxis


NumberOfDigitalInputs - FollowingAxis


number



Data type: UDINT


System default: 0


Digital input 1


Digital input 2


Digital input 3


Digital input 4


Digital input 5


Digital input 6


Digital input 7


Digital input 8

FollowingAxis


NumberOfEncoders - FollowingAxis



dscEncoderNumber


numberOfEncoders



Data type: UDINT


System default: 1

Data type: UDINT


System default: 1


Encoder 1


Encoder 2


Encoder 3


Encoder 4


Encoder 5


Encoder 6


Encoder 7


Encoder 8

FollowingAxis


OutputLimits - FollowingAxis



_max


_min


Data type: LREAL



Data type: LREAL



FollowingAxis


PD_Controller - FollowingAxis


decayTime


kd


kp


Data type: LREAL



Data type: LREAL


System default: 0.0

Data type: LREAL



FollowingAxis


PID_ControllerForce - FollowingAxis


decayTime


enableAntiWindup




kd


ki


kp


Data type: LREAL





System default: YES

Data type: LREAL



Data type: LREAL


System default: 0.0

Data type: LREAL


System default: 0.0

Data type: LREAL



FollowingAxis


kpc


preCon


EnumYesNo

Data type: LREAL





System default: NO

NO (91) No

YES (173) Yes

FollowingAxis


PID_ControllerPos - FollowingAxis


balanceFilterMode


decayTime


enableAntiWindup


kd


ki


kp





Data type: LREAL





System default: YES

Data type: LREAL


System default: 0.0

Data type: LREAL



Data type: LREAL



FollowingAxis


kpc


preCon



EnumYesNo

Data type: LREAL





System default: NO




NO (91) No

YES (173) Yes

FollowingAxis


PT2PositionFilterType - FollowingAxis


T1


T2


enable


EnumYesNo

Data type: LREAL



Data type: LREAL





System default: NO

NO (91) No

YES (173) Yes

FollowingAxis


PV_Controller - FollowingAxis



balanceFilterMode


enableDSC


kpc


kv


preCon







System default: NO

Data type: LREAL



Data type: LREAL





System default: NO

FollowingAxis



EnumYesNo




NO (91) No

YES (173) Yes

FollowingAxis


PathPerRevolution - FollowingAxis


length


Data type: LREAL



FollowingAxis


PathSyncAxisPosTolerance - FollowingAxis





enableCommandValue



Data type: LREAL






NO_ACTIVATE (0) No



FollowingAxis


PositionFilterType - FollowingAxis



enable


timeConstant


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

FollowingAxis


PositionMonitoring - FollowingAxis



posWinTolDelayTime


posWinTolTime


tolerance


Data type: LREAL



Data type: LREAL



Data type: LREAL



FollowingAxis


ProcessModel - FollowingAxis



T1


T2


ks


Range - FollowingAxis


_max


_min


Data type: LREAL



Data type: LREAL



Data type: LREAL


System default: 0.00000095367431640625

Data type: LREAL



Data type: LREAL



FollowingAxis


Resolution - FollowingAxis



distance



multiplierCyclic


RestartConditionInfo - FollowingAxis





Data type: LREAL



Data type: UDINT


System default: 0







FollowingAxis


RestartInfo - FollowingAxis





















FollowingAxis


ReverseCamNegative - FollowingAxis


_type


bitNumber


logAddress






Data type: UDINT


System default: 0

Data type: UDINT






FollowingAxis


ReverseCamPositive - FollowingAxis


_type


bitNumber


logAddress






Data type: UDINT


System default: 0

Data type: UDINT






FollowingAxis


SensorControlConfig - FollowingAxis





EnumYesNo

SensorNist - FollowingAxis



logAddress


referenceValue




System default: NO

NO (91) No

YES (173) Yes

Data type: UDINT



Data type: LREAL



FollowingAxis


SensorSetActualValue - FollowingAxis



maxFailures


updateCycle


EnumAxisUpdateCycle

Data type: UDINT


System default: 1



System default: IPO

IPO (0) IPO

IPO_2 (1) IPO_2

SERVO (2) Servo



FollowingAxis


SetPointDriverInfo - FollowingAxis



actorType


interfaceAllocation


lifeSignCheck


logAddressIn










System default: YES

Data type: UDINT



FollowingAxis


logAddressOut


maxSetPointVoltage


mode


motorType



Not used

Data type: UDINT



Data type: LREAL









Data type: UDINT


System default: 0

FollowingAxis


telegramType







EnumYesNo




NO_TYPE (0) No type

ANALOG (1) Analog







NO (91) No

YES (173) Yes

FollowingAxis


EnumAxisDriverMode

EnumAxisMotorType




ONBOARD (1) Onboard































FollowingAxis


SimulationInfo - FollowingAxis


simulationMode


EnumYesNo

Slippage - FollowingAxis

Not functional.

slippageLimit



System default: NO

NO (91) No

YES (173) Yes

Data type: UDINT



FollowingAxis


SmoothingFilter - FollowingAxis



enable


mode


timeConstant


EnumYesNo

EnumAxisFilterMode



System default: NO




Data type: LREAL



NO (91) No

YES (173) Yes



PT1 (2) PT1 filter

FollowingAxis


StandStillMonitoring - FollowingAxis



delayTimeToActivate


stillStandTolerance


Data type: LREAL



Data type: LREAL



FollowingAxis


StandStillSignal - FollowingAxis



delayTimeToActivate


filterDegree


filterFrequency


maxVeloStandStill


Data type: LREAL



Data type: UINT


System default: 0

Data type: LREAL



Data type: LREAL



FollowingAxis


StateDriveExternalZeroMark - FollowingAxis


available


bitNumber


logAddress


EnumYesNo



System default: NO

Data type: UDINT


System default: 0

Data type: UDINT



NO (91) No

YES (173) Yes

FollowingAxis


StepMotorDriveDataType - FollowingAxis


maxFrequency


stepMotorResolution


Data type: LREAL



Data type: UDINT



FollowingAxis


StepMotorMonitoringType - FollowingAxis



beroCycleDistance


beroCycleTolerance


enable


EnumYesNo

Data type: UDINT



Data type: UDINT





System default: NO

NO (91) No

YES (173) Yes

FollowingAxis


StructAxisActualValueUpdateCounter - FollowingAxis


bitNumber


enableCounter


logAddress


maxFailure


quantityOfBits


Data type: UDINT


System default: 0



System default: NO

Data type: UDINT



Data type: UDINT


System default: 0

Data type: UDINT


System default: 1

FollowingAxis


updateCycle


EnumYesNo

Data type: UDINT


System default: 1

NO (91) No

YES (173) Yes

FollowingAxis


StructAxisAdditionalOffset - FollowingAxis


enable












System default: NO

Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL



FollowingAxis




EnumYesNo

Data type: LREAL



NO (91) No

YES (173) Yes

FollowingAxis


StructAxisAnalogSensorErrorStateMonitoring - FollowingAxis


bitNumber


bitSemantics


enable


logAddress


EnumTrueFalse

EnumYesNo

Data type: UDINT


System default: 0






System default: NO

Data type: UDINT



_TRUE (405) true

_FALSE (406) false

NO (91) No

YES (173) Yes

FollowingAxis


StructAxisAnalogSensorReadyStateMonitoring - FollowingAxis


bitNumber


bitSemantics


enable


logAddress


EnumTrueFalse

EnumYesNo

Data type: UDINT


System default: 0






System default: NO

Data type: UDINT



_TRUE (405) true

_FALSE (406) false

NO (91) No

YES (173) Yes

FollowingAxis


StructAxisDriveControlConfig - FollowingAxis


dataAdaption




releaseDisableMode




EnumYesNo



System default: NO




Data type: UDINT


System default: 127

NO (91) No

YES (173) Yes

FollowingAxis








FollowingAxis


StructAxisDriveSafetyExtendedFunctionsInfoDataIn - FollowingAxis


logAddress


Data type: UDINT



FollowingAxis


StructAxisFilterForceControlConfig - FollowingAxis


T1


T2


_type


enable



EnumYesNo

Data type: LREAL



Data type: LREAL





System default: PT2



System default: NO

PT2 (909) PT2

NO (91) No

YES (173) Yes

FollowingAxis


StructAxisInvertFOutput - FollowingAxis


invSetPoint


EnumYesNo

StructAxisInvertQOutput - FollowingAxis


invSetPoint


EnumYesNo



System default: NO

NO (91) No

YES (173) Yes



System default: NO

NO (91) No

YES (173) Yes

FollowingAxis


StructAxisNistDriverConfig - FollowingAxis


logAddress


Data type: UDINT



FollowingAxis


StructAxisOperatingDataInInfo - FollowingAxis


enableActivePower


enableActualCurrent










System default: NO



System default: NO



System default: NO



System default: NO



System default: NO

FollowingAxis


logAddress


EnumYesNo

Data type: UDINT



NO (91) No

YES (173) Yes

FollowingAxis


StructAxisPulsesEnabledConfig - FollowingAxis


bitNumber


pzdNumber


StructAxisServoMonitoringConfig - FollowingAxis




EnumYesNo

Data type: UDINT


System default: 13

Data type: UDINT


System default: 5



System default: NO

NO (91) No

YES (173) Yes

FollowingAxis


StructAxisSetpointFilter - FollowingAxis


T1


enable


EnumYesNo

Data type: LREAL





System default: NO

NO (91) No

YES (173) Yes

FollowingAxis


StructAxisSlidingFriction - FollowingAxis


enable


factorForceControl


factorMotionControl




EnumYesNo



System default: NO

Data type: LREAL



Data type: LREAL



Data type: LREAL


System default: 0.0

NO (91) No

YES (173) Yes

FollowingAxis


StructAxisSpeedLimitation - FollowingAxis


enable


maxSpeed


minSpeed


EnumYesNo



System default: NO

Data type: LREAL



Data type: LREAL



NO (91) No

YES (173) Yes

FollowingAxis


StructAxisSwLimitConfig - FollowingAxis






relieveWindow



EnumYesNo






System default: YES

Data type: LREAL


System default: 0.0




NO (91) No

YES (173) Yes

FollowingAxis


StructAxisSystemDeadTimeData - FollowingAxis


additionalTime


StructAxisTechnologicalData - FollowingAxis




enable


EnumYesNo


Data type: LREAL





System default: NO



System default: NO

NO (91) No

YES (173) Yes









FollowingAxis


StructAxisTechnologicalDataInInfo - FollowingAxis


logAddress


StructAxisTechnologicalDataOutInfo - FollowingAxis


logAddress


Data type: UDINT



Data type: UDINT



FollowingAxis


StructCommandValueQuantization - FollowingAxis


enable


mode


value


EnumYesNo




System default: NO




Data type: LREAL



NO (91) No

YES (173) Yes




FollowingAxis


StructControllerOutput - FollowingAxis


outputType














Enable bit





FollowingAxis


StructDirectOutputDriverInfo - FollowingAxis


format


logAddress


maxOutputVoltage

Not used

resolution






Data type: UDINT



Data type: LREAL



Data type: UDINT


System default: 15





FollowingAxis


StructDriveInterfaceDriverInfo - FollowingAxis


actorType


lifeSignCheck


logAddressIn


logAddressOut


maxOutputVoltage







System default: YES

Data type: UDINT



Data type: UDINT



Data type: LREAL



FollowingAxis


mode



Reserved

telegramType






Data type: DINT


System default: 0




NO_TYPE (0) No type

ANALOG (1) Analog


FollowingAxis


EnumYesNo

EnumAxisDriverMode


NO (91) No

YES (173) Yes


ONBOARD (1) Onboard



















FollowingAxis


StructDriverInfoDirectIncremental - FollowingAxis


logAddress


resolution


Data type: UDINT



Data type: UDINT


System default: 16

FollowingAxis


StructEnableBit - FollowingAxis


bitNumberOnDevice


enable


logAddress


EnumYesNo

Data type: UDINT


System default: 0



System default: NO

Data type: UDINT



NO (91) No

YES (173) Yes

FollowingAxis


StructExtrapolation - FollowingAxis




extrapolationTime







Data type: LREAL










Tolerance range

FollowingAxis


StructExtrapolationFilter - FollowingAxis


enable


mode


timeConstant


EnumYesNo

EnumAxisFilterMode



System default: NO




Data type: LREAL



NO (91) No

YES (173) Yes



PT1 (2) PT1 filter

FollowingAxis


StructLogAddressIoBitType - FollowingAxis


bitNumber


enable


logAddress


EnumYesNo

Data type: UDINT


System default: 0



System default: NO

Data type: UDINT



NO (91) No

YES (173) Yes

FollowingAxis


StructPaxDynamicQFData - FollowingAxis




qOutputTimeConstant


Data type: LREAL



Data type: LREAL



FollowingAxis


StructPositionDifferenceMeasurement - FollowingAxis


invert


numberEncoderA


numberEncoderB


offset


EnumYesNo




System default: NO

Data type: UDINT


System default: 1

Data type: UDINT


System default: 2

Data type: LREAL


System default: 0.0

NO (91) No

YES (173) Yes

Filter(Filter)


Range(Range)


FollowingAxis


StructPressureDifferenceMeasurement - FollowingAxis


areaA


areaB


factor


invert


numberSensorA


Data type: LREAL


System default: 1.0

Data type: LREAL


System default: 1.0

Data type: LREAL


System default: 1.0



System default: NO

Data type: UDINT


System default: 1

FollowingAxis


numberSensorB


EnumYesNo


Data type: UDINT


System default: 2

NO (91) No

YES (173) Yes

Filter(Filter)


Range(Range)


FollowingAxis


StructSensorDriverInfo - FollowingAxis


errorToleranceTime


format


logAddress


maxValue


minValue


Data type: LREAL






Data type: UDINT



Data type: DINT



Data type: DINT



FollowingAxis


resolution



Data type: UDINT


System default: 15





FollowingAxis


StructToleranceRange - FollowingAxis


enable


value


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

FollowingAxis


TypeOfAxisInfo - FollowingAxis


typeOfAxis





























Quantization filter




Command processing



Drift(Drift)

Drift compensation

FollowingAxis











Fine interpolator





Friction(Friction)


GearingPosTolerance(GearingPosTolerance)

Monitoring of synchronous operation

HWEndPos(HWEndPos)


Homing(Homing)

Homing





MaxJerk(MaxJerk)

Maximum jerk


Maximum velocity








Configured encoder




Position monitoring






Drive interface

FollowingAxis













Standstill signal









FollowingAxis


VelocityPositionProfile - FollowingAxis





Data type: LREAL




FollowingObjectType 8Associated parameters (maximum):

• DecodingConfig (DecodingConfigInfo)• DistributedMotion (DistributedMotionInfo)• Execution (ExecutionConfigInfo)• Restart (RestartInfo)• SyncingMotion (SyncingMotionInfo)

DecodingConfigInfo - FollowingObjectType


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.


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



System default: NO

Data type: DINT


System default: 100

NO (91) No

YES (173) Yes

FollowingObjectType


DistributedMotionInfo - FollowingObjectType






EnumYesNo

ExecutionConfigInfo - FollowingObjectType



executionlevel





System default: YES

Data type: UDINT


System default: 1

NO (91) No

YES (173) Yes



System default: IPO

IPO (0) IPO

IPO_2 (1) IPO_2

SERVO (2) Servo



FollowingObjectType


RestartInfo - FollowingObjectType





















FollowingObjectType


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


System default: WITHOUT_DYNAMIC_RESTRICTION

Data type: EnumCamReferenceBySlaveModeRelative





System default: NO

Data type: LREAL


System default: 0.0

FollowingObjectType


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



Data type: EnumFollowingObjectMotionImpact



Data type: LREAL





System default: NO



System default: YES

FollowingObjectType


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


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


CamType 9Associated parameters (maximum):

• DecodingConfig (DecodingConfigInfo)• InterpolationSettings (StructCamInterpolationSettings)• InverseCamRepresentation (InverseCamRepresentationInfo)• Restart (RestartInfo)• Tolerance (ToleranceInfo)

DecodingConfigInfo - CamType





Data type: DINT


System default: 10

CamType


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



Data type: LREAL


System default: 1.0e-5

Data type: LREAL



Data type: UDINT


System default: 50

STANDARD (0) Not inverted

STANDARD_AND_INVERSE (1) Inverted

CamType


RestartInfo - CamType





















CamType


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



Data type: EnumCamCSplineInterpolation



Data type: EnumCamDataMode


System default: SEGMENTS_AND_POINTS

Data type: UDINT


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


ToleranceInfo - CamType

Tolerance

equalDistance

Defines when two values are to be treated as equal

zeroEnvironment

Zero definition


Data type: LREAL


System default: 0.0

Data type: LREAL



IterativeZeroEnvironment(IterativeZeroEnvironment)

CamType


II-545SIMOTION Technology Packages Configuration DataList Manual, 11/2010

Part IITP Path

II-546 SIMOTION Technology Packages Configuration DataList Manual, 11/2010


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

Contents


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

Contents


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

Contents


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


PathObjectType 10Associated parameters (maximum):

• DecodingConfig (StructPathDecodingConfigInfo)• Execution (ExecutionConfigInfo)• InterpolationConfig (StructPathInterpolationConfigInfo)• Kinematics (StructPathKinematicsConfig)• Restart (RestartInfo)

ExecutionConfigInfo - PathObjectType



executionlevel





System default: IPO

IPO (0) IPO

IPO_2 (1) IPO_2

SERVO (2) Servo



PathObjectType


RestartInfo - PathObjectType





















PathObjectType


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


System default: X_Y

Data type: LREAL



Data type: LREAL



Data type: LREAL



PathObjectType


offsetA2


EnumPathKinematicsConfig2D


Data type: LREAL



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


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



System default: NO

Data type: LREAL


System default: 1.0

NO (91) No

YES (173) Yes

PathObjectType


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


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


offsetA2


Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL



PathObjectType


offsetA3



Data type: LREAL





LinkCompensation(StructPathArticulatedArmLinkCompensati-onConfig)

Compensation of link dependencies

PathObjectType


StructPathArticulatedArmLinkCompensationConfig - PathObjectType

The structure elements of 'LinkCompensation' specify the parameters for compensation of link depen-dencies.

enableA2A3


factorA2A3


EnumYesNo



System default: NO

Data type: LREAL


System default: 1.0

NO (91) No

YES (173) Yes

PathObjectType


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



Data type: EnumPathCartesianKinematicsType


System default: _2D



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



PathObjectType


StructPathDecodingConfigInfo - PathObjectType


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.


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



System default: NO

Data type: DINT


System default: 1

Data type: DINT


System default: 100

Data type: EnumPathPositionIndication


System default: INCREMENT_BASED

NO (91) No

YES (173) Yes

INCREMENT_BASED (0) Increment-exact position

NON_INCREMENT_BASED (1) Exact position

PathObjectType


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!



System default: X_Y

Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL



PathObjectType


offsetA1

Defines the angular offset on drive axis A1.

offsetA2




Data type: LREAL



Data type: LREAL



X_Y (0) xy plane

Y_Z (1) yz plane

Z_X (2) zx plane



PathObjectType


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



Data type: LREAL



Data type: LREAL


System default: -120.0 °

Data type: LREAL



Data type: LREAL



PathObjectType


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


offsetA2


offsetA3



Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL





PathObjectType


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


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


StructPathKinematicsConfig - PathObjectType

The structure elements of 'Kinematics' specify the parameters for coordinate transformation.

typeOfKinematics

Specifies the type of configured kinematics.

EnumPathKinematicsType


Data type: EnumPathKinematicsType


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


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



Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL



PathObjectType


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!





System default: X_Y

Data type: LREAL



Data type: LREAL



X_Y (0) xy plane

Y_Z (1) yz plane

Z_X (2) zx plane



PathObjectType


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






System default: X_Y

Data type: LREAL



Data type: LREAL



X_Y (0) xy plane

Y_Z (1) yz plane

Z_X (2) zx plane



LinkCompensationA2(StructPathRotaryArmLinkCompensationA2)

Compensation of link dependencies on axis A2

LinkCompensationA4(StructPathRotaryArmLinkCompensationA4)


PathObjectType


StructPathRotaryArmLinkCompensationA2 - PathObjectType

The structure elements of 'LinkCompensationA2' specify parameters for the compensation of link dependencies.

enableA4A2


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



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

PathObjectType


StructPathRotaryArmLinkCompensationA4 - PathObjectType


enableA1A4


factorA1A4

When compensation is activated between A1 and A4, the product of A1 and factor A1A4 is subtracted from angle A4.

EnumYesNo



System default: NO

Data type: LREAL


System default: 1.0

NO (91) No

YES (173) Yes

PathObjectType


StructPathScaraKinematicsConfig - PathObjectType

The structure elements of 'ScaraKinematics' specify the parameters for the scara-specific coordinate transformation.

distanceA1A2


distanceA2Endpoint

Defines the distance between A2 and the end position.

offsetA1


offsetA2



Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL





LinkCompensationA2(StructPathScaraLinkCompensationA2)






PathObjectType


StructPathScaraLinkCompensationA2 - PathObjectType


enableA1A2


factorA1A2


EnumYesNo



System default: NO

Data type: LREAL


System default: 1.0

NO (91) No

YES (173) Yes

PathObjectType




enableA4A3


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



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

PathObjectType




enableA1A4


enableA2A4


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



System default: NO



System default: NO

Data type: LREAL


System default: 1.0

Data type: LREAL


System default: 1.0

NO (91) No

YES (173) Yes

PathObjectType


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


System default: [0..31] = 0.0

Data type: UDINT


System default: 0


PathAxis 11Associated parameters (maximum):


AbsBackLash - PathAxis



_type


enable


length







System default: NO

Data type: LREAL



PathAxis


startUpDifference


velocity


EnumBackLashType

EnumYesNo

EnumBackLashDiff




Data type: LREAL





NO (91) No

YES (173) Yes



PathAxis


AbsEncoder - PathAxis



absBaudRate


absDataLength


absMessageFormat


absMessageLength





Data type: UDINT


System default: 24







PathAxis


absResolution






absState


Data type: UDINT



Data type: UDINT


System default: 0

Data type: UDINT


System default: 0




PathAxis


enableAbsMonitoring









EnumAbsBaudrate

EnumAbsMsgFormat

EnumAbsMsgLength



System default: YES











PathAxis


EnumAbsState

EnumYesNo



NO (91) No

YES (173) Yes

PathAxis


AbsHomingEncoder - PathAxis



absShift







Data type: LREAL








PathAxis


ActualAccelerationMonitoring - PathAxis


enable


maximum


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

PathAxis


ActualVelocityMonitoring - PathAxis


enable


maximum


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

PathAxis


AdaptDrive - PathAxis



denFactor


numFactor


AdaptExtern - PathAxis



denFactor


numFactor


Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

PathAxis


AdaptLoad - PathAxis



denFactor


numFactor


Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

PathAxis


AdditionalSensorDriverInfo - PathAxis


errorToleranceTime


format


logAddress


maxValue


minValue


Data type: LREAL






Data type: UDINT



Data type: DINT



Data type: DINT



PathAxis


resolution



Data type: UDINT


System default: 15





PathAxis


AdditionalSensorMain - PathAxis




interfaceActivation




















Analog input module

Filter(Filter)




Range(Range)


PathAxis


AdditionalSensorNumber - PathAxis


number


AnalogConversionDataType - PathAxis


_type


factor


offset



Data type: UDINT


System default: 0




Data type: LREAL


System default: 1.0

Data type: LREAL


System default: 0.0


PathAxis


AnalogSensorType - PathAxis



AssemblyBase - PathAxis


assemblyBase






Driver data


















PathAxis


ClampingMonitoring - PathAxis





positionTolerance


recognitionMode


EnumRecognitionMode

Data type: LREAL



Data type: LREAL








By following error



PathAxis


ControllerDynamic - PathAxis



enable


maxVeloTolerance


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

PathAxis


ControllerStruct - PathAxis



conType




ControllerSwitchData - PathAxis





System default: PV








PID controller


PID controller




Digital inputs

PathAxis


ConversionData - PathAxis



_type


factor


invert


offset



EnumYesNo




Data type: LREAL





System default: NO

Data type: LREAL




NO (91) No

YES (173) Yes

PathAxis


DataSetMain - PathAxis







Clamping monitoring



















Gear(Gear)







Process model

PathAxis


DecodingConfig - PathAxis





















PathAxis


directionDynamic












System default: NO



System default: YES

Data type: DINT


System default: 6

Data type: DINT


System default: 100

Data type: DINT


System default: 6

PathAxis










stopWithJerk












System default: NO



System default: NO




PathAxis





EnumYesNo











NO (91) No

YES (173) Yes






PathAxis


DigitalInputMain - PathAxis


bitNumber


logAddress


Data type: UDINT


System default: 0

Data type: UDINT



PathAxis


DistributedMotionInfo - PathAxis










EnumYesNo



System default: NO



System default: YES



System default: YES

Data type: UDINT


System default: 1

NO (91) No

YES (173) Yes

PathAxis


Drift - PathAxis



enable


EnumYesNo



System default: NO

NO (91) No

YES (173) Yes

PathAxis


DriveData - PathAxis



maxSpeed


maxTorque


nominalSpeed


nominalTorque


speedReference




Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL









PathAxis


torqueReference











PathAxis


DriverInfo - PathAxis





lifeSignCheck


logAddressIn


logAddressOut


Data type: DINT


System default: 0



System default: YES

Data type: UDINT



Data type: UDINT



PathAxis


telegramType




EnumYesNo





NO (91) No

YES (173) Yes










PathAxis










PathAxis


DynamicComp - PathAxis



T1


T2


deadTime


enable


EnumYesNo

Data type: LREAL



Data type: LREAL



Data type: LREAL





System default: NO

NO (91) No

YES (173) Yes

PathAxis


DynamicData - PathAxis





torqueTimeConstant

Not used.




Data type: LREAL



Data type: LREAL



Data type: LREAL



PathAxis


DynamicFollowing - PathAxis



enable






minVelocity




System default: YES

Data type: LREAL



Data type: LREAL



Data type: LREAL



PathAxis


warningLimit


EnumYesNo

Data type: LREAL



NO (91) No

YES (173) Yes

PathAxis


EmergencyRampGenerator - PathAxis


maxDeceleration


Data type: LREAL



PathAxis


EncoderMain - PathAxis


dataAdaption




encoderMode




System default: NO







PathAxis


encoderSystem


encoderType


encoderValueType


interfaceAllocation


EnumYesNo













NO (91) No

YES (173) Yes

PathAxis



EnumAxisEncoderMode


EnumAxisEncoderType



ONBOARD (1) Onboard





SSI_MODE (2) SSI


ENDAT (4) Endat

SINUS_1VPP (5) Sine




















PathAxis












Absolute encoder

















Filter(Filter)

Actual value filter






Incremental encoder




Interval counter




Actual speed value


Path per revolution



PathAxis



Position filter


Resolution







Slippage(Slippage)

Slippage


Stepper motor

PathAxis


EncoderNumber - PathAxis


EncoderNumber


ExecutionConfigInfo - PathAxis



executionlevel



Data type: UDINT


System default: 1



System default: IPO

IPO (0) IPO

IPO_2 (1) IPO_2

SERVO (2) Servo



PathAxis


ExtrapolationPositionFilterType - PathAxis


T1


T2


enable


EnumYesNo

Data type: LREAL



Data type: LREAL





System default: NO

NO (91) No

YES (173) Yes

PathAxis


Filter - PathAxis



enable


timeConstant


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

PathAxis


FineInterpolator - PathAxis



_type










PathAxis


ForceControlHeldValueMonitoring - PathAxis


delayTimeToActivate


tolerance


ForceControlRunningInWindowMonitoring - PathAxis


maxDelayTime


tolerance


winTolTime


Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL



PathAxis


ForceControllerData - PathAxis



_type


invertControlValue


typeOfSensorData



EnumYesNo



System default: PID



System default: NO






NO (91) No

YES (173) Yes

PathAxis


EnumSensorDataType










PathAxis


ForceControllerDifference - PathAxis


enable


maxForceTolerance


EnumYesNo

FrequencyLimit - PathAxis






System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

Data type: LREAL



PathAxis


Friction - PathAxis


amplitude


decayTime


delayTimeStandStill


enable


maxVeloStandStill


EnumYesNo

Data type: LREAL



Data type: LREAL



Data type: LREAL





System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

PathAxis


Gear - PathAxis


denFactor


numFactor


Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

PathAxis


GearingPosTolerance - PathAxis

The structure elements of 'GearingPosTolerance' specify the synchronization monitoring setting on the slave axis.


actualValueTolerance

Specifies the permissible actual value 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



Data type: LREAL





System default: NO

Data type: EnumGearingPosToleranceCommandValue



PathAxis


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


System default: NO_REPORTING

NO (91) No

YES (173) Yes

NO_ACTIVATE (0) No



NO_REPORTING (0) No

COMMAND_VALUE_TOLERANCE (1) Setpoints

ACTUAL_VALUE_TOLERANCE (2) Actual values

ALL_ERRORS_WITH_ABORT_SYNCHRONIZATION (3)

All errors

PathAxis


HWEndPos - PathAxis


bitNumberNegative


bitNumberPositive


enable


interfaceActivation


logAddressNegative


Data type: UDINT


System default: 0

Data type: UDINT


System default: 0



System default: NO




Data type: UDINT



PathAxis


logAddressPositive


mode


EnumYesNo


EnumMountSwitch

Data type: UDINT






NO (91) No

YES (173) Yes





PathAxis


Homing - PathAxis



beroDistance


direction


enableBeroDistance




Data type: LREAL








System default: NO



System default: NO

PathAxis


EnumDirectionType

EnumYesNo






NO (91) No

YES (173) Yes





PathAxis


IncBackLash - PathAxis



_type


enable


length


velocity


EnumBackLashType

EnumYesNo






System default: NO

Data type: LREAL



Data type: LREAL





NO (91) No

YES (173) Yes

PathAxis


IncEncoder - PathAxis





incResolution




EnumYesNo



System default: NO

Data type: UDINT



Data type: UDINT


System default: 0

NO (91) No

YES (173) Yes

PathAxis


IncHomingEncoder - PathAxis



approachDirection









bitNumberBero





Data type: UDINT


System default: 0

PathAxis




homingMode


logAddressBero




System default: NO




Data type: UDINT



PathAxis









passiveHomingMode





Data type: UDINT


System default: 0




PathAxis




proceedShiftPos


referenceCamType


zeroMarkDistance



EnumYesNo

Data type: UDINT



Data type: LREAL






Data type: LREAL









NO (91) No

YES (173) Yes

PathAxis


EnumAxisHomingMode






























PathAxis


IntervalCounterConversionDataType - PathAxis



incResolution


referenceTime



Data type: UDINT


System default: 1

Data type: LREAL





PathAxis


InversCountDirection - PathAxis




EnumYesNo

InvertSetPoint - PathAxis


invSetPoint


EnumYesNo



System default: NO

NO (91) No

YES (173) Yes



System default: NO

NO (91) No

YES (173) Yes

PathAxis


InvertSetPointHydraulicType - PathAxis


invert


EnumYesNo

LeadScrewInfo - PathAxis


efficiency


pitchVal




System default: NO

NO (91) No

YES (173) Yes

Data type: LREAL


System default: 1.0

Data type: LREAL



PathAxis


LinearMotorDriveData - PathAxis





forceReference


maxForce


maxSpeed


nominalForce


nominalSpeed








Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL



PathAxis


speedReference











PathAxis


LinearStepMotorDriveDataType - PathAxis


maxFrequency


stepMotorResolution


Data type: LREAL



Data type: UDINT



PathAxis


MaxAcceleration - PathAxis





maximum


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

PathAxis


MaxForceCommandData - PathAxis



maximum


maximumDerived


MaxJerk - PathAxis



maximum


Data type: LREAL



Data type: LREAL



Data type: LREAL



PathAxis


MaxVelocity - PathAxis



maximum


Data type: LREAL



PathAxis


ModuloInfo - PathAxis


length


startValue


state


EnumActiveInactive

Data type: LREAL



Data type: LREAL






ACTIVE (4) Active


PathAxis


NeutralBand - PathAxis


centreValue


enable


range


EnumYesNo

Data type: LREAL


System default: 0.0



System default: NO

Data type: LREAL


System default: 0.0

NO (91) No

YES (173) Yes

PathAxis


NumberOfAdditionalSensors - PathAxis



number



Data type: UDINT


System default: 1


Encoder 1


Encoder 2


Encoder 3


Encoder 4


Encoder 5


Encoder 6


Encoder 7


Encoder 8

PathAxis


NumberOfDataSets - PathAxis



changeMode


initDataSet


numberOfDataSets





EnumChangeMode




Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

Data type: LREAL







PathAxis




Data record 1


Data record 10


Data record 11


Data record 12


Data record 13


Data record 14


Data record 15


Data record 16


Data record 2


Data record 3


Data record 4


Data record 5


Data record 6


Data record 7


Data record 8


Data record 9

PathAxis


NumberOfDigitalInputs - PathAxis


number



Data type: UDINT


System default: 0


Digital input 1


Digital input 2


Digital input 3


Digital input 4


Digital input 5


Digital input 6


Digital input 7


Digital input 8

PathAxis


NumberOfEncoders - PathAxis



dscEncoderNumber


numberOfEncoders



Data type: UDINT


System default: 1

Data type: UDINT


System default: 1


Encoder 1


Encoder 2


Encoder 3


Encoder 4


Encoder 5


Encoder 6


Encoder 7


Encoder 8

PathAxis


OutputLimits - PathAxis



_max


_min


Data type: LREAL



Data type: LREAL



PathAxis


PD_Controller - PathAxis


decayTime


kd


kp


Data type: LREAL



Data type: LREAL


System default: 0.0

Data type: LREAL



PathAxis


PID_ControllerForce - PathAxis


decayTime


enableAntiWindup




kd


ki


kp


Data type: LREAL





System default: YES

Data type: LREAL



Data type: LREAL


System default: 0.0

Data type: LREAL


System default: 0.0

Data type: LREAL



PathAxis


kpc


preCon


EnumYesNo

Data type: LREAL





System default: NO

NO (91) No

YES (173) Yes

PathAxis


PID_ControllerPos - PathAxis


balanceFilterMode


decayTime


enableAntiWindup


kd


ki


kp





Data type: LREAL





System default: YES

Data type: LREAL


System default: 0.0

Data type: LREAL



Data type: LREAL



PathAxis


kpc


preCon



EnumYesNo

Data type: LREAL





System default: NO




NO (91) No

YES (173) Yes

PathAxis


PT2PositionFilterType - PathAxis


T1


T2


enable


EnumYesNo

Data type: LREAL



Data type: LREAL





System default: NO

NO (91) No

YES (173) Yes

PathAxis


PV_Controller - PathAxis



balanceFilterMode


enableDSC


kpc


kv







System default: NO

Data type: LREAL



Data type: LREAL



PathAxis


preCon



EnumYesNo



System default: NO




NO (91) No

YES (173) Yes

PathAxis


PathAxisPosTolerance - PathAxis

The setting of the setpoint differential monitoring on the path axis is specified with the structure ele-ments for 'PathAxisPosTolerance'.




enableCommandValue



PathPerRevolution - PathAxis


length


Data type: LREAL






NO_ACTIVATE (0) No



Data type: LREAL



PathAxis


PathSyncAxisPosTolerance - PathAxis





enableCommandValue



Data type: LREAL






NO_ACTIVATE (0) No



PathAxis


PositionFilterType - PathAxis



enable


timeConstant


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

PathAxis


PositionMonitoring - PathAxis



posWinTolDelayTime


posWinTolTime


tolerance


Data type: LREAL



Data type: LREAL



Data type: LREAL



PathAxis


ProcessModel - PathAxis



T1


T2


ks


Range - PathAxis


_max


_min


Data type: LREAL



Data type: LREAL



Data type: LREAL


System default: 0.00000095367431640625

Data type: LREAL



Data type: LREAL



PathAxis


Resolution - PathAxis



distance



multiplierCyclic


RestartConditionInfo - PathAxis





Data type: LREAL



Data type: UDINT


System default: 0







PathAxis


RestartInfo - PathAxis





















PathAxis


ReverseCamNegative - PathAxis


_type


bitNumber


logAddress






Data type: UDINT


System default: 0

Data type: UDINT






PathAxis


ReverseCamPositive - PathAxis


_type


bitNumber


logAddress






Data type: UDINT


System default: 0

Data type: UDINT






PathAxis


SensorControlConfig - PathAxis





EnumYesNo

SensorNist - PathAxis



logAddress


referenceValue




System default: NO

NO (91) No

YES (173) Yes

Data type: UDINT



Data type: LREAL



PathAxis


SensorSetActualValue - PathAxis



maxFailures


updateCycle


EnumAxisUpdateCycle

Data type: UDINT


System default: 1



System default: IPO

IPO (0) IPO

IPO_2 (1) IPO_2

SERVO (2) Servo



PathAxis


SetPointDriverInfo - PathAxis



actorType


interfaceAllocation


lifeSignCheck


logAddressIn










System default: YES

Data type: UDINT



PathAxis


logAddressOut


maxSetPointVoltage


mode


motorType



Not used

Data type: UDINT



Data type: LREAL









Data type: UDINT


System default: 0

PathAxis


telegramType







EnumYesNo




NO_TYPE (0) No type

ANALOG (1) Analog







NO (91) No

YES (173) Yes

PathAxis


EnumAxisDriverMode

EnumAxisMotorType




ONBOARD (1) Onboard































PathAxis


SimulationInfo - PathAxis


simulationMode


EnumYesNo

Slippage - PathAxis

Not functional.

slippageLimit



System default: NO

NO (91) No

YES (173) Yes

Data type: UDINT



PathAxis


SmoothingFilter - PathAxis



enable


mode


timeConstant


EnumYesNo

EnumAxisFilterMode



System default: NO




Data type: LREAL



NO (91) No

YES (173) Yes



PT1 (2) PT1 filter

PathAxis


StandStillMonitoring - PathAxis



delayTimeToActivate


stillStandTolerance


Data type: LREAL



Data type: LREAL



PathAxis


StandStillSignal - PathAxis



delayTimeToActivate


filterDegree


filterFrequency


maxVeloStandStill


Data type: LREAL



Data type: UINT


System default: 0

Data type: LREAL



Data type: LREAL



PathAxis


StateDriveExternalZeroMark - PathAxis


available


bitNumber


logAddress


EnumYesNo



System default: NO

Data type: UDINT


System default: 0

Data type: UDINT



NO (91) No

YES (173) Yes

PathAxis


StepMotorDriveDataType - PathAxis


maxFrequency


stepMotorResolution


Data type: LREAL



Data type: UDINT



PathAxis


StepMotorMonitoringType - PathAxis



beroCycleDistance


beroCycleTolerance


enable


EnumYesNo

Data type: UDINT



Data type: UDINT





System default: NO

NO (91) No

YES (173) Yes

PathAxis


StructAxisActualValueUpdateCounter - PathAxis


bitNumber


enableCounter


logAddress


maxFailure


quantityOfBits


Data type: UDINT


System default: 0



System default: NO

Data type: UDINT



Data type: UDINT


System default: 0

Data type: UDINT


System default: 1

PathAxis


updateCycle


EnumYesNo

Data type: UDINT


System default: 1

NO (91) No

YES (173) Yes

PathAxis


StructAxisAdditionalOffset - PathAxis


enable












System default: NO

Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL



PathAxis




EnumYesNo

Data type: LREAL



NO (91) No

YES (173) Yes

PathAxis


StructAxisAnalogSensorErrorStateMonitoring - PathAxis


bitNumber


bitSemantics


enable


logAddress


EnumTrueFalse

EnumYesNo

Data type: UDINT


System default: 0






System default: NO

Data type: UDINT



_TRUE (405) true

_FALSE (406) false

NO (91) No

YES (173) Yes

PathAxis


StructAxisAnalogSensorReadyStateMonitoring - PathAxis


bitNumber


bitSemantics


enable


logAddress


EnumTrueFalse

EnumYesNo

Data type: UDINT


System default: 0






System default: NO

Data type: UDINT



_TRUE (405) true

_FALSE (406) false

NO (91) No

YES (173) Yes

PathAxis


StructAxisDriveControlConfig - PathAxis


dataAdaption




releaseDisableMode




EnumYesNo



System default: NO




Data type: UDINT


System default: 127

NO (91) No

YES (173) Yes

PathAxis








PathAxis


StructAxisDriveSafetyExtendedFunctionsInfoDataIn - PathAxis


logAddress


Data type: UDINT



PathAxis


StructAxisFilterForceControlConfig - PathAxis


T1


T2


_type


enable



EnumYesNo

Data type: LREAL



Data type: LREAL





System default: PT2



System default: NO

PT2 (909) PT2

NO (91) No

YES (173) Yes

PathAxis


StructAxisInvertFOutput - PathAxis


invSetPoint


EnumYesNo

StructAxisInvertQOutput - PathAxis


invSetPoint


EnumYesNo



System default: NO

NO (91) No

YES (173) Yes



System default: NO

NO (91) No

YES (173) Yes

PathAxis


StructAxisNistDriverConfig - PathAxis


logAddress


Data type: UDINT



PathAxis


StructAxisOperatingDataInInfo - PathAxis


enableActivePower


enableActualCurrent








System default: NO



System default: NO



System default: NO



System default: NO

PathAxis




logAddress


EnumYesNo



System default: NO

Data type: UDINT



NO (91) No

YES (173) Yes

PathAxis


StructAxisPulsesEnabledConfig - PathAxis


bitNumber


pzdNumber


StructAxisServoMonitoringConfig - PathAxis




EnumYesNo

Data type: UDINT


System default: 13

Data type: UDINT


System default: 5



System default: NO

NO (91) No

YES (173) Yes

PathAxis


StructAxisSetpointFilter - PathAxis


T1


enable


EnumYesNo

Data type: LREAL





System default: NO

NO (91) No

YES (173) Yes

PathAxis


StructAxisSlidingFriction - PathAxis


enable


factorForceControl


factorMotionControl




EnumYesNo



System default: NO

Data type: LREAL



Data type: LREAL



Data type: LREAL


System default: 0.0

NO (91) No

YES (173) Yes

PathAxis


StructAxisSpeedLimitation - PathAxis


enable


maxSpeed


minSpeed


EnumYesNo



System default: NO

Data type: LREAL



Data type: LREAL



NO (91) No

YES (173) Yes

PathAxis


StructAxisSwLimitConfig - PathAxis






relieveWindow



EnumYesNo






System default: YES

Data type: LREAL


System default: 0.0




NO (91) No

YES (173) Yes

PathAxis


StructAxisSystemDeadTimeData - PathAxis


additionalTime


Data type: LREAL



PathAxis


StructAxisTechnologicalData - PathAxis




enable


EnumYesNo




System default: NO



System default: NO

NO (91) No

YES (173) Yes









PathAxis


StructAxisTechnologicalDataInInfo - PathAxis


logAddress


StructAxisTechnologicalDataOutInfo - PathAxis


logAddress


Data type: UDINT



Data type: UDINT



PathAxis


StructCommandValueQuantization - PathAxis


enable


mode


value


EnumYesNo




System default: NO




Data type: LREAL



NO (91) No

YES (173) Yes




PathAxis


StructControllerOutput - PathAxis


outputType














Enable bit





PathAxis


StructDirectOutputDriverInfo - PathAxis


format


logAddress


maxOutputVoltage

Not used

resolution






Data type: UDINT



Data type: LREAL



Data type: UDINT


System default: 15





PathAxis


StructDriveInterfaceDriverInfo - PathAxis


actorType


lifeSignCheck


logAddressIn


logAddressOut







System default: YES

Data type: UDINT



Data type: UDINT



PathAxis


maxOutputVoltage


mode



Reserved

telegramType


Data type: LREAL






Data type: DINT


System default: 0




PathAxis



EnumYesNo

EnumAxisDriverMode


NO_TYPE (0) No type

ANALOG (1) Analog


NO (91) No

YES (173) Yes


ONBOARD (1) Onboard



















PathAxis


StructDriverInfoDirectIncremental - PathAxis


logAddress


resolution


Data type: UDINT



Data type: UDINT


System default: 16

PathAxis


StructEnableBit - PathAxis


bitNumberOnDevice


enable


logAddress


EnumYesNo

Data type: UDINT


System default: 0



System default: NO

Data type: UDINT



NO (91) No

YES (173) Yes

PathAxis


StructExtrapolation - PathAxis




extrapolationTime







Data type: LREAL










Tolerance range

PathAxis


StructExtrapolationFilter - PathAxis


enable


mode


timeConstant


EnumYesNo

EnumAxisFilterMode



System default: NO




Data type: LREAL



NO (91) No

YES (173) Yes



PT1 (2) PT1 filter

PathAxis


StructLogAddressIoBitType - PathAxis


bitNumber


enable


logAddress


EnumYesNo

Data type: UDINT


System default: 0



System default: NO

Data type: UDINT



NO (91) No

YES (173) Yes

PathAxis


StructPaxDynamicQFData - PathAxis




qOutputTimeConstant


Data type: LREAL



Data type: LREAL



PathAxis


StructPositionDifferenceMeasurement - PathAxis


invert


numberEncoderA


numberEncoderB


offset


EnumYesNo




System default: NO

Data type: UDINT


System default: 1

Data type: UDINT


System default: 2

Data type: LREAL


System default: 0.0

NO (91) No

YES (173) Yes

Filter(Filter)


Range(Range)


PathAxis


StructPressureDifferenceMeasurement - PathAxis


areaA


areaB


factor


invert


numberSensorA


Data type: LREAL


System default: 1.0

Data type: LREAL


System default: 1.0

Data type: LREAL


System default: 1.0



System default: NO

Data type: UDINT


System default: 1

PathAxis


numberSensorB


EnumYesNo


Data type: UDINT


System default: 2

NO (91) No

YES (173) Yes

Filter(Filter)


Range(Range)


PathAxis


StructSensorDriverInfo - PathAxis


errorToleranceTime


format


logAddress


maxValue


minValue


Data type: LREAL






Data type: UDINT



Data type: DINT



Data type: DINT



PathAxis


resolution



Data type: UDINT


System default: 15





PathAxis


StructToleranceRange - PathAxis


enable


value


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

PathAxis


TypeOfAxisInfo - PathAxis


typeOfAxis





























Quantization filter




Command processing



Drift(Drift)

Drift compensation

PathAxis











Fine interpolator





Friction(Friction)


GearingPosTolerance(GearingPosTolerance)

Monitoring of synchronous operation

HWEndPos(HWEndPos)


Homing(Homing)

Homing





MaxJerk(MaxJerk)

Maximum jerk


Maximum velocity








Configured encoder

PathAxisPosTolerance(PathAxisPosTolerance)

Setpoint difference monitoring




Position monitoring





PathAxis



Drive interface












Standstill signal









PathAxis


VelocityPositionProfile - PathAxis





Data type: LREAL



PathAxis


III-735SIMOTION Technology Packages Configuration DataList Manual, 11/2010

Part IIITP Cam_ext

III-736 SIMOTION 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


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


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



AdditionObjectType 12Associated parameters (maximum):

• BaseConfig (StructBaseConfigType)• DecodingConfig (StructAdderDecodingConfigType)• Execution (ExecutionConfigInfo)• MotionIn (StructMotionInMainType)• MotionOut (StructMotionOutType)• Restart (RestartInfo)

ExecutionConfigInfo - AdditionObjectType



executionlevel





System default: IPO

IPO (0) IPO

IPO_2 (1) IPO_2

SERVO (2) Servo



AdditionObjectType


ModuloInfo - AdditionObjectType


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


startValue


state


EnumSystemDirect

EnumActiveInactive

Data type: EnumSystemDirect


System default: SYSTEM

Data type: LREAL



Data type: LREAL






SYSTEM (0) System selection

DIRECT (1) Selection by configuration

ACTIVE (4) Active


AdditionObjectType


RestartInfo - AdditionObjectType





















AdditionObjectType


StructAdderDecodingConfigType - AdditionObjectType




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


System default: 10

Data type: EnumMotionBaseType



POSITION (0) Position

VELOCITY (1) Velocity

AdditionObjectType


StructMotionInMainType - AdditionObjectType

The structure elements of 'MotionIn' specify the input vectors.


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


Input vector 2


Input vector 3


Input vector 4

Data type: EnumLastValidInterfaceValueDefaultValue


System default: DEFAULT_VALUE



System default: NO

LAST_VALID_INTERFACE_VALUE (1) Last valid value

DEFAULT_VALUE (2) Replacement value

NO (91) No

YES (173) Yes

AdditionObjectType


StructMotionOutType - AdditionObjectType

The structure elements of 'MotionOut' specify the output vector.


Modulo(ModuloInfo)

Modulo configuration


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





Data type: DINT


System default: 10

ControllerObjectType


ExecutionConfigInfo - ControllerObjectType



executionlevel





System default: IPO

IPO (0) IPO

IPO_2 (1) IPO_2

SERVO (2) Servo





Filter - ControllerObjectType



enable


timeConstant


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes



PT2PositionFilterType - ControllerObjectType


T1


T2


enable


EnumYesNo

Data type: LREAL



Data type: LREAL





System default: NO

NO (91) No

YES (173) Yes



RestartInfo - ControllerObjectType























SmoothingFilter - ControllerObjectType



enable


mode


timeConstant


EnumYesNo

EnumAxisFilterMode



System default: NO




Data type: LREAL



NO (91) No

YES (173) Yes



PT1 (2) PT1 filter



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


System default: PID_CONTROLLER

P_CONTROLLER (900) P-controller

PID_CONTROLLER (901) PID controller

Data type: EnumControllerObjectPrecontrolAddupMode


System default: BEHIND_ANTIWINDUP_LIMITATION

Data type: LREAL


System default: 1.0

BEFORE_ANTIWINDUP_LIMITATION (907) With effect on antiwindup

BEHIND_ANTIWINDUP_LIMITATION (908) Without effect on antiwindup



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


System default: 0.1



System default: NO

Data type: LREAL


System default: 0.0

NO (91) No

YES (173) Yes



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.



EnumControllerObjectInputType


Data type: EnumControllerObjectInputType


System default: MOTION_INTERFACE




LREAL_INTERFACE (926) LREAL interface

MOTION_INTERFACE (927) Motion interface





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



System default: NO

Data type: LREAL


System default: 1.0

NO (91) No

YES (173) Yes



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


System default: MOTION_INTERFACE

Data type: EnumControllerObjectErrorBehaviorMode



LREAL_INTERFACE (926) LREAL interface

MOTION_INTERFACE (927) Motion interface

DEFAULT_VALUE (2) Default

LAST_VALUE (338) Last valid value

ZERO_VALUE (339) Zero



StructControllerObjectOutputLimitConfig - ControllerObjectType

With the structure elements of 'OutputLimit', the actuating signal limitation is set withouteffect to the AntiWindup mechanism.

_max


_min


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



Data type: LREAL



Data type: LREAL


System default: 0.0



StructControllerObjectPIDContollerIConfig - ControllerObjectType

With the structure elements for 'IConfig' ... .

factorFeedBack

The "factorFeedBack" parameter can be used to feedback the I-component to the system deviation.


StructControllerObjectPIDContollerIConfigILimit - ControllerObjectType

Limitation of the I-component in the actuating signal is set with the structure elements of 'ILimit'.

_max


_min


Data type: LREAL


System default: 0.0

ILimit(StructControllerObjectPIDContollerIConfigILi-mit)

Limitation of the I-component in the actuating signal

Data type: LREAL



Data type: LREAL





StructControllerObjectPIDContollerLimitAntiWindup - ControllerObjectType

With the structure elements of 'LimitAntiWindup', the actuating signal limitation is set witheffect to the AntiWindup mechanism.

_max


_min


StructControllerObjectPIDControllerConfig - ControllerObjectType

The structure elements of 'PIDController' are used to set the PID controller.


Data type: LREAL



Data type: LREAL



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


FormulaObjectType 14Associated parameters (maximum):

• DINTIn (StructDINTInMainType)• DINTOut (StructDINTOutMainType)• DecodingConfig (DecodingConfigInfo)• Execution (ExecutionConfigInfo)• LREALIn (StructLREALInMainType)• LREALOut (StructLREALOutMainType)• MotionIn (StructMotionInMainType)• MotionOut (StructMotionOutMainType)• Restart (RestartInfo)

DecodingConfigInfo - FormulaObjectType





Data type: DINT


System default: 10

FormulaObjectType


ExecutionConfigInfo - FormulaObjectType



executionlevel





System default: IPO

IPO (0) IPO

IPO_2 (1) IPO_2

SERVO (2) Servo



FormulaObjectType


RestartInfo - FormulaObjectType





















FormulaObjectType


StructDINTInMainType - FormulaObjectType

The structure elements of 'DINTIn' specify the DINT inputs.


StructDINTInType - FormulaObjectType

The structure elements for 'DINTIn(n)' specify the DINT input (n).




DINTIn1(StructDINTInType)

DINT input 1


DINT input 2


DINT input 3


DINT input 4






FormulaObjectType


StructDINTOutMainType - FormulaObjectType

The DINT outputs are specified with the structure elements for 'DINTOut'.


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


DINT output 2


DINT output 3


DINT output 4

Data type: EnumFormulaObjectErrorBehaviorMode



DEFAULT_VALUE (2) Default value



FormulaObjectType


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.


StructLREALInMainType - FormulaObjectType

The structure elements of 'LREALIn' specify the LREAL inputs.








LREALIn1(StructLREALInType)

LREAL input 1


LREAL input 2


LREAL input 3


LREAL input 4

FormulaObjectType


StructLREALInType - FormulaObjectType

The structure elements for 'LREALIn(n)' specify the LREAL input (n).




StructLREALOutMainType - FormulaObjectType

The LREAL outputs are specified with the structure elements for 'LREALOut'.







LREALOut1(StructLREALOutType)

LREAL output 1


LREAL output 2


LREAL output 3


LREAL output 4

FormulaObjectType


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.


StructMotionInMainType - FormulaObjectType










Input vector 1


Input vector 2


Input vector 3

FormulaObjectType


StructMotionInType - FormulaObjectType





StructMotionOutMainType - FormulaObjectType

The output vectors are specified with the structure elements for 'MotionOut'.







MotionOut1(StructFormulaObjectMotionOutConfig)

Output vector 1


Output vector 2


Output vector 3

FormulaObjectType



FixedGearType 15Associated parameters (maximum):

• BaseConfig (StructBaseConfigType)• DecodingConfig (DecodingConfigInfo)• Execution (ExecutionConfigInfo)• MotionIn (StructMotionInType)• MotionOut (StructMotionOutType)• Restart (RestartInfo)

DecodingConfigInfo - FixedGearType





Data type: DINT


System default: 10

FixedGearType


ExecutionConfigInfo - FixedGearType



executionlevel





System default: IPO

IPO (0) IPO

IPO_2 (1) IPO_2

SERVO (2) Servo



FixedGearType


ModuloInfo - FixedGearType


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


startValue


state


EnumSystemDirect

EnumActiveInactive

Data type: EnumSystemDirect


System default: SYSTEM

Data type: LREAL



Data type: LREAL






SYSTEM (0) System selection

DIRECT (1) Selection by configuration

ACTIVE (4) Active


FixedGearType


RestartInfo - FixedGearType





















FixedGearType


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



Data type: EnumMotionBaseType



POSITION (0) Position

VELOCITY (1) Velocity


Input vector 1


Input vector 2


Input vector 3

FixedGearType


StructMotionInType - FixedGearType





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







Data type: EnumFixedGearErrorBehaviorMode






Modulo(ModuloInfo)

Modulo configuration


SensorType 16Associated parameters (maximum):

• DecodingConfig (DecodingConfigInfo)• Execution (ExecutionConfigInfo)• Extrapolation (StructSensorExtrapolation)• Restart (RestartInfo)• Sensor (StructInSensorMain)• ValueOut (StructSensorGeneralParameter)

AbsEncoder - SensorType



absBaudRate


absDataLength





Data type: UDINT


System default: 24

SensorType


absMessageFormat


absMessageLength


absResolution












Data type: UDINT



Data type: UDINT


System default: 0

Data type: UDINT


System default: 0

SensorType


absState


enableAbsMonitoring









EnumAbsBaudrate

EnumAbsMsgFormat






System default: YES








SensorType


EnumAbsMsgLength

EnumAbsState

EnumYesNo






NO (91) No

YES (173) Yes

SensorType


AdditionalSensorDriverInfo - SensorType


errorToleranceTime


format


logAddress


maxValue


minValue


Data type: LREAL






Data type: UDINT



Data type: DINT



Data type: DINT



SensorType


resolution



Data type: UDINT


System default: 15





SensorType


AnalogConversionDataType - SensorType


_type


factor


offset






Data type: LREAL


System default: 1.0

Data type: LREAL


System default: 0.0


SensorType


AnalogSensorType - SensorType






Driver data











SensorType


ConversionData - SensorType



_type


factor


invert


offset



EnumYesNo




Data type: LREAL


System default: 1.0



System default: NO

Data type: LREAL


System default: 0.0


NO (91) No

YES (173) Yes

SensorType


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





Data type: UDINT


System default: 1

Data type: UDINT


System default: 1

Data type: DINT


System default: 10

SensorType


DriverInfo - SensorType





lifeSignCheck


logAddressIn


logAddressOut


Data type: DINT


System default: 0



System default: YES

Data type: UDINT



Data type: UDINT



SensorType


telegramType




EnumYesNo





NO (91) No

YES (173) Yes










SensorType










SensorType


ExecutionConfigInfo - SensorType



executionlevel





System default: IPO

IPO (0) IPO

IPO_2 (1) IPO_2

SERVO (2) Servo



SensorType


Filter - SensorType



enable


timeConstant


EnumYesNo

FrequencyLimit - SensorType






System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

Data type: LREAL



SensorType


IncEncoder - SensorType





incResolution




EnumYesNo



System default: NO

Data type: UDINT



Data type: UDINT


System default: 0

NO (91) No

YES (173) Yes

SensorType


IntervalCounterConversionDataType - SensorType



incResolution


referenceTime



Data type: UDINT


System default: 1

Data type: LREAL





SensorType


InversCountDirection - SensorType




EnumYesNo

LeadScrewInfo - SensorType


efficiency


pitchVal




System default: NO

NO (91) No

YES (173) Yes

Data type: LREAL


System default: 1.0

Data type: LREAL



SensorType


ModuloInfo - SensorType


length


startValue


state


EnumActiveInactive

PathPerRevolution - SensorType


length


Data type: LREAL



Data type: LREAL






ACTIVE (4) Active


Data type: LREAL



SensorType


PositionFilterType - SensorType



enable


timeConstant


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

SensorType


Resolution - SensorType



distance



multiplierCyclic


Data type: LREAL



Data type: UDINT


System default: 0

SensorType


RestartInfo - SensorType





















SensorType


SensorControlConfig - SensorType





EnumYesNo

Slippage - SensorType

Not functional.

slippageLimit



System default: NO

NO (91) No

YES (173) Yes

Data type: UDINT



SensorType


StandStillSignal - SensorType



delayTimeToActivate


filterDegree


filterFrequency


maxVeloStandStill


Data type: LREAL



Data type: UINT


System default: 0

Data type: LREAL



Data type: LREAL



SensorType


StructAxisActualValueUpdateCounter - SensorType


bitNumber


enableCounter


logAddress


maxFailure


quantityOfBits


Data type: UDINT


System default: 0



System default: NO

Data type: UDINT



Data type: UDINT


System default: 0

Data type: UDINT


System default: 1

SensorType


updateCycle


EnumYesNo

Data type: UDINT


System default: 1

NO (91) No

YES (173) Yes

SensorType


StructAxisAnalogSensorErrorStateMonitoring - SensorType


bitNumber


bitSemantics


enable


logAddress


EnumTrueFalse

EnumYesNo

Data type: UDINT


System default: 0






System default: NO

Data type: UDINT



_TRUE (405) true

_FALSE (406) false

NO (91) No

YES (173) Yes

SensorType


StructAxisAnalogSensorReadyStateMonitoring - SensorType


bitNumber


bitSemantics


enable


logAddress


EnumTrueFalse

EnumYesNo

Data type: UDINT


System default: 0






System default: NO

Data type: UDINT



_TRUE (405) true

_FALSE (406) false

NO (91) No

YES (173) Yes

SensorType


StructAxisDriveControlConfig - SensorType


dataAdaption




releaseDisableMode




EnumYesNo



System default: NO




Data type: UDINT


System default: 127

NO (91) No

YES (173) Yes

SensorType








SensorType


StructAxisDriveSafetyExtendedFunctionsInfoDataIn - SensorType


logAddress


StructAxisNistDriverConfig - SensorType


logAddress


Data type: UDINT



Data type: UDINT



SensorType


StructAxisOperatingDataInInfo - SensorType


enableActivePower


enableActualCurrent










System default: NO



System default: NO



System default: NO



System default: NO



System default: NO

SensorType


logAddress


EnumYesNo

Data type: UDINT



NO (91) No

YES (173) Yes

SensorType


StructAxisPulsesEnabledConfig - SensorType


bitNumber


pzdNumber


Data type: UDINT


System default: 13

Data type: UDINT


System default: 5

SensorType


StructAxisSpeedLimitation - SensorType


enable


maxSpeed


minSpeed


EnumYesNo



System default: NO

Data type: LREAL



Data type: LREAL



NO (91) No

YES (173) Yes

SensorType


StructAxisTechnologicalData - SensorType




enable


EnumYesNo


StructAxisTechnologicalDataInInfo - SensorType


logAddress




System default: NO



System default: NO

NO (91) No

YES (173) Yes









Data type: UDINT



SensorType


StructAxisTechnologicalDataOutInfo - SensorType


logAddress


StructDriverInfoDirectIncremental - SensorType


logAddress


resolution


Data type: UDINT



Data type: UDINT



Data type: UDINT


System default: 16

SensorType


StructExtrapolation - SensorType




extrapolationTime







Data type: LREAL








Tolerance range

SensorType


StructExtrapolationFilter - SensorType


enable


mode


timeConstant


EnumYesNo

EnumAxisFilterMode



System default: NO




Data type: LREAL



NO (91) No

YES (173) Yes



PT1 (2) PT1 filter

SensorType


StructInSensorMain - SensorType

The 'Sensor' structure element is used to configure an encoder.


StructInputObjectRange - SensorType


_max


_min



Absolute encoder

AnalogSensorDriverInfo(AdditionalSensorDriverInfo)

Analog input module



ConversionDataAdapt(ConversionDataAdaptType)

Gear ratio


Input module

Filter(Filter)





Incremental encoder


Interval counter



Range(StructInputObjectRange)




Data type: LREAL



Data type: LREAL



SensorType


StructLogAddressIoBitType - SensorType


bitNumber


enable


logAddress


EnumYesNo

Data type: UDINT


System default: 0



System default: NO

Data type: UDINT



NO (91) No

YES (173) Yes

SensorType


StructSensorDriverInfo - SensorType


errorToleranceTime


format


logAddress


maxValue


minValue


Data type: LREAL






Data type: UDINT



Data type: DINT



Data type: DINT



SensorType


resolution



Data type: UDINT


System default: 15





SensorType


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



System default: NO

Data type: LREAL


System default: 1.0

NO (91) No

YES (173) Yes

Data type: EnumSensorValueBehaviorMode




LAST_VALUE (338) Last value

ZERO_VALUE (339) Substitute value zero

SensorType


StructToleranceRange - SensorType


enable


value


EnumYesNo



System default: NO

Data type: LREAL



NO (91) No

YES (173) Yes

SensorType


IV-823SIMOTION Technology Packages Configuration DataList Manual, 11/2010

Part IVTP TControl

IV-824 SIMOTION 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


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


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


System default: MODIFIED_TANGENTMETHOD

NONE (93) No type selected

MODIFIED_TANGENTMETHOD (605) Modified tangent method

STANDARD_TANGENTMETHOD (606) Standard tangent method

TemperatureControllerType


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


System default: 0xffff

Data type: EnumTControllerBinaryIObits


System default: CHANNEL_0

Data type: UDINT


System default: 0xffff

CHANNEL_0 (800) Channel 0










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


System default: BY_COMMAND

AUTOMATICALLY (607) Automatic

BY_COMMAND (608) Only by command

Data type: LREAL


System default: 200.0 K

Data type: LREAL





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


Data type: LREAL



Data type: LREAL


System default: 0.01 K/s

Data type: LREAL


System default: 1.0

Data type: EnumTControllerControllerType


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



StructTControllerCfgCycleParameter - TemperatureControllerType

Cycle parameter

controllerCycleTime

Controller cycle

StructTControllerCfgDPIDController - TemperatureControllerType

Configuration of DPIDT1 controller


Data type: LREAL



DPIDParameter(StructTControllerCfgDPIDParameter)

1. controller parameter set

DPIDParameterSecondary(StructTControllerCfgDPIDParameter)


cycleParameter(StructTControllerCfgCycleParameter)

1. cycle parameter set

cycleParameterSecondary(StructTControllerCfgCycleParameter)


lowerPlausibilityParameter(StructTControllerCfgPlausibilityParameter)

1. lower control loop plausibility

lowerPlausibilityParameterSecondary(StructTControllerCfgPlausibilityParameter)


upperPlausibilityParameter(StructTControllerCfgPlausibilityParameter)

1. upper control loop plausibility

upperPlausibilityParameterSecondary(StructTControllerCfgPlausibilityParameter)




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



Data type: LREAL



Data type: LREAL


System default: 1.0 %/K

Data type: EnumTControllerIntegrationMode


System default: ACTIVE

Data type: LREAL





integratorResetValue

Start value of integrator

EnumTControllerIntegrationMode

Data type: LREAL



ACTIVE (4) Active




StructTControllerCfgDataConversionOutput - TemperatureControllerType

Output normalization

factor

Input normalization: Factor

offset

Input normalization: Offset

Data type: LREAL


System default: 1.0

Data type: LREAL





StructTControllerCfgExecutionParameter - TemperatureControllerType

Execution parameter


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)


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



Data type: EnumTControllerExecutionLevel


System default: FAST

Data type: EnumTControllerRestartActivationSetting



Data type: EnumTControllerRestartCondition


System default: NO_CONSTRAINTS






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)




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



Data type: EnumTControllerOperatingMode



Data type: LREAL


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



StructTControllerCfgHTempController - TemperatureControllerType

Configuration of an advanced controller


StructTControllerCfgIdentificationMinimumStepSize - TemperatureControllerType

Minimum step size

minimumStepSize

Minimum step size

DPIDParameter(StructTControllerCfgDPIDParameter)


DPIDParameterSecondary(StructTControllerCfgDPIDParameter)


controlRangeParameter(StructTControllerCfgControlRangeParameter)

Parameters of the control range

cycleParameter(StructTControllerCfgCycleParameter)


cycleParameterSecondary(StructTControllerCfgCycleParameter)


lowerPlausibilityParameter(StructTControllerCfgPlausibilityParameter)


lowerPlausibilityParameterSecondary(StructTControllerCfgPlausibilityParameter)


processModeParameter(StructTControllerCfgProcessMode)

Adaptation parameters

upperPlausibilityParameter(StructTControllerCfgPlausibilityParameter)


upperPlausibilityParameterSecondary(StructTControllerCfgPlausibilityParameter)


Data type: LREAL





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.


StructTControllerCfgIdentificationOutputValue - TemperatureControllerType

Output signal during controlled-system identification.

outputValue

Output signal during controlled-system identification.

Data type: EnumTControllerIdentificationAvailableType


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





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.


Data type: EnumTControllerIdentificationAvailableType


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



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



Data type: LREAL



Data type: EnumTControllerIdentificationTransitionMode


System default: BY_COMMAND

AUTOMATICALLY (607) Automatic

BY_COMMAND (608) Forced transition with an ST command



StructTControllerCfgInput - TemperatureControllerType

Input configuration

inputType

EnumTControllerInputType


StructTControllerCfgInputAnalog - TemperatureControllerType

Configuration of analog input channel

relationControllerCycleToInputCycleRatio of input cycle to controller cycle


Data type: EnumTControllerInputType


System default: ANALOG_TEMPERATURE

ANALOG_TEMPERATURE (670) Analog temperature measurement

@conversion(StructTControllerDataConversionConfig)

@conversionConverterRange(StructTControllerConversionConverterRange)

@conversionTemperatureRange(StructTControllerConversionTemperatureR-ange)

analog(StructTControllerCfgInputAnalog)

device(StructTControllerCfgAnalogDevice)

Data type: UDINT


System default: 4

displayValueParameter(StructTControllerCfgInputDisplayValuePara-meter)

filterParameter(StructTControllerCfgInputFilterParameter)

gradientCheckParameter(StructTControllerCfgInputGradientCheckPara-meter)

limitCheckParameter(StructTControllerCfgInputLimitCheckParame-ter)



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



Data type: LREAL



Data type: LREAL



Data type: LREAL





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


Data type: EnumTControllerInputGradientCheckMode



Data type: LREAL



Data type: LREAL



Data type: UDINT


System default: 4

ACTIVE (4) Active

INACTIVE (61) Not active

innerLimitCheck(StructTControllerCfgInputSingleLimitCheckPa-rameter)

outerLimitCheck(StructTControllerCfgInputSingleLimitCheckPa-rameter)



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



Data type: LREAL



Data type: EnumTControllerInputLimitCheckMode



Data type: LREAL



ABSOLUTE (1) Active, check relative (to setpoint)


RELATIVE (115) Active, check absolute



StructTControllerCfgLimits - TemperatureControllerType

Limit values


controller(StructTControllerCfgLimitsControllerParame-ter)

Controller parameter limits

general(StructTControllerCfgLimitsGeneralParameter)

General limits for temperature controller

process(StructTControllerCfgLimitsProcessParameter)

Limit values of system to be controlled



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



Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL





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



Data type: LREAL



Data type: LREAL



Data type: LREAL





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



Data type: LREAL



Data type: LREAL


System default: -273.15 °C

Data type: LREAL





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



Data type: LREAL



Data type: LREAL


System default: 10000.0 K/%

Data type: LREAL



Data type: LREAL



Data type: LREAL





minProcGain

Minimum value for the controlled-system gain

minRiseTime

Minimum value for the rise time of the controlled system

Data type: LREAL



Data type: LREAL





StructTControllerCfgOutput - TemperatureControllerType

Output configuration


StructTControllerCfgOutputAnalog - TemperatureControllerType

Analog output parameter


out(StructTControllerCfgOutputSingleOutput)

Parameters of the 1st output

outSecondary(StructTControllerCfgOutputSingleOutput)

Parameters of the 2nd output

device(StructTControllerCfgAnalogDevice)

Parameters of an analog output



StructTControllerCfgOutputPwm - TemperatureControllerType

PWM output parameter


StructTControllerCfgOutputSingleOutput - TemperatureControllerType

Controller output parameter

outputType

Output type

EnumTControllerOutputTypePossible output types


PWMParameter(StructTControllerCfgPwmParameter)

PWM parameters

binaryDevice(StructTControllerCfgBinaryDevice)

Parameters of the digital output

Data type: EnumTControllerOutputType


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



StructTControllerCfgParameterMatlab - TemperatureControllerType

Configuration for Matlab access

portNumber

Data type: UDINT





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


System default: 0.0

Data type: LREAL


System default: 0.0

Data type: LREAL


System default: 0.0

Data type: LREAL


System default: 0.0

Data type: LREAL


System default: 0.0

Data type: LREAL


System default: 0.0



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


System default: 0.0

Data type: LREAL





StructTControllerCfgParameterPT4Tt - TemperatureControllerType

PT4 element with dead time controlled-system parameter

exponentialGain

linearGain

timeConstant1

timeConstant2

timeConstant3

timeConstant4

Data type: LREAL


System default: 1.0

Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL



Data type: LREAL





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



Data type: LREAL



Data type: LREAL



Data type: LREAL


System default: -273.15 °C

Data type: LREAL





upperLimitTemperatureValue

Upper temperature limit for gradient check

EnumTControllerPlausibilityCheckMode

Data type: LREAL



ACTIVE (4) Active




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



INACTIVE (61) Deactivated

CONTINUOUS (621) Continuous process

DISCONTINUOUS (622) Discontinuous process



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


Data type: LREAL



Data type: UDINT


System default: 1

Data type: LREAL



smoothingParameter(StructTControllerCfgSetpointSmoothing)

Parameters for the setpoint smoothing

startupProfileParameter(StructTControllerCfgSetpointStartupProfile)

Parameters for startup profile



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



Data type: LREAL



Data type: LREAL



Data type: EnumTControllerSetpointSmoothingStartCondi-tion


System default: ACTUALVALUE_START

Data type: LREAL



ACTIVE (4) Active


ACTUALVALUE_START (830) Ramp start after the actual value

SETPOINT_START (831) Ramp start after the current setpoint



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



Data type: EnumTControllerSetpointStartupProfileMode



Data type: LREAL



Data type: LREAL



Data type: LREAL



ACTIVE (4) Active




StructTControllerCfgSimulation - TemperatureControllerType

Configuration of simulation internal to technology object

mode

Simulation ON/OFF

EnumTControllerSimulationModeSimulation mode


Data type: EnumTControllerSimulationMode



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



StructTControllerCfgSimulationControlledSystemParameter - TemperatureControllerType

Simulation controlled-system parameters (PT2 element)

exponentialGain

linearGain

timeConstant1

timeConstant2

Data type: LREAL


System default: 0.0

Data type: LREAL



Data type: LREAL



Data type: LREAL





StructTControllerCfgSimulationParameter - TemperatureControllerType

Simulation parameter

noiseLevel

Noise in temperature signal

quantification

Quantization of the measurement signal


Data type: LREAL



Data type: LREAL



controlledSystemParameter(StructTControllerCfgSimulationControlledSys-temParameter)

1. PT2 simulation model

controlledSystemParameterSecondary(StructTControllerCfgSimulationControlledSys-temParameter)

2. PT2 simulation model



StructTControllerCfgSimulationSystemNetwork1 - TemperatureControllerType

Simulation system network type 1 parameters

noiseLevel


quantification



Data type: LREAL



Data type: LREAL



systemParameter(StructTControllerCfgParameterNetwork1)

Simulation model for all controlled system types



StructTControllerCfgSimulationSystemPT4Tt - TemperatureControllerType

Simulation system network type 1 parameters

noiseLevel


quantification



Data type: LREAL



Data type: LREAL



systemParameter(StructTControllerCfgParameterPT4Tt)

1. PT4 simulation model with dead time

systemParameterSecondary(StructTControllerCfgParameterPT4Tt)

2. PT4 simulation model with dead time



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



Data type: INT


System default: 0

Data type: INT



Data type: INT





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


System default: 1.0

Data type: LREAL



Data type: LREAL



Data type: LREAL





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


System default: 1.0

Data type: LREAL


System default: 2.0

Data type: LREAL


System default: 1.0

Data type: LREAL


System default: 1.0



StructTControllerDataConversionConfig - TemperatureControllerType

Input normalization

_type

EnumTControllerDataConversionType


StructTcontrollerCfgIdentification - TemperatureControllerType

Configuration of controlled-system identification


Data type: EnumTControllerDataConversionType


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)

simotion technology packages ( motors ) configurationdata

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