simotion technology packages system functions · simotion technology packages cam, cam_ext (kernel...

11/2010

SIMOTION

Technology Packages System Functions

List Manual

s

Preface, Contents

System Functions - TP Cam_ext1

System Functions - TP TControl2

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.

DANGERindicates that death or severe personal injury will result if proper precautions are not taken.

WARNINGindicates that death or severe personal injury may result if proper precautions are not taken.

CAUTIONwith a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.

CAUTIONwithout a safety alert symbol, indicates that property damage can result if proper precautions are not taken.

NOTICEindicates that an unintended result or situation can occur if the corresponding information is not taken into account.

WARNINGSiemens 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 System FunctionsList Manual, 11/2010

Preface

Scope and standards

This document is part of the SIMOTION Programming - Reference 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).

Sections in this manual

This manual describes the generally applicable System Functions of SIMOTION and technology objects.

System Functions - TP Cam_ext (Chapter 1)

System Functions - TP TControl (Chapter 2)

Reserved Identifiers

Identifiers which must not be used in user programs can be found in the Appendix of the Function Manual Basic Functions under Reserved Identifiers.

Preface

Preface-4 SIMOTION Technology Packages System FunctionsList 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

Preface

Preface-5SIMOTION Technology Packages System FunctionsList Manual, 11/2010

Hotline and Internet addresses

Additional information

Click the following link to find information on the the following topics:

Ordering documentation/overview of documentation

Additional links to download documents

Using documentation online (find and search in manuals/information)

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

Please send any questions about the technical documentation (e.g. suggestions for improvement, corrections) to the following e-mail address:

[email protected]

My Documentation Manager

Click the following link for information on how to compile documentation individu-ally on the basis of Siemens content and how to adapt this for the purpose of your own machine documentation:

http://www.siemens.com/mdm

Training

Click the following link for information on SITRAIN - Siemens training courses for automation products, systems and solutions:

www.siemens.com/sitrain

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://www.siemens.com/motioncontrol/documailto:[email protected]://www.siemens.com/mdmwww.siemens.com/sitrainhttp://support.automation.siemens.comhttp://www.siemens.com/automation/service&support

Preface

Preface-6 SIMOTION Technology Packages System FunctionsList Manual, 11/2010

Contents-7SIMOTION Technology Packages System FunctionsList Manual, 11/2010

Contents

1 System Functions - TP Cam_ext . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-191.1 PLCopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-201.1.1 MultiAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-201.1.1.1 _MC_CamIn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-201.1.1.2 _MC_CamOut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-261.1.1.3 _MC_GearIn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-281.1.1.4 _MC_GearOut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-331.1.1.5 _MC_Phasing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-351.1.2 SingleAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-391.1.2.1 _MC_Home . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-391.1.2.2 _MC_MoveAbsolute . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-421.1.2.3 _MC_MoveAdditive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-461.1.2.4 _MC_MoveRelative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-501.1.2.5 _MC_MoveSuperimposed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-541.1.2.6 _MC_MoveVelocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-581.1.2.7 _MC_PositionProfile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-621.1.2.8 _MC_Power. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-661.1.2.9 _MC_ReadActualPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-701.1.2.10 _MC_ReadAxisError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-721.1.2.11 _MC_ReadBoolParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-741.1.2.12 _MC_ReadParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-761.1.2.13 _MC_ReadStatus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-781.1.2.14 _MC_Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-821.1.2.15 _MC_Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-841.1.2.16 _MC_VelocityProfile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-871.1.2.17 _MC_WriteBoolParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-901.1.2.18 _MC_WriteParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-921.1.3 Advanced functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-941.1.3.1 _MC_Jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-941.2 Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-981.2.1 Addition object - Addition functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-981.2.1.1 _changeEnableModeOfAdditionObjectIn . . . . . . . . . . . . . . . . . . . . . . . . . . 1-981.2.1.2 _disableAdditionObjectIn. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1001.2.1.3 _enableAdditionObjectIn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1021.2.2 Addition object - Command tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1041.2.2.1 _bufferAdditionObjectCommandId . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1041.2.2.2 _getStateOfAdditionObjectCommand . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1061.2.2.3 _removeBufferedAdditionObjectCommandId . . . . . . . . . . . . . . . . . . . . . . 1-1081.2.3 Addition object - Object and Alarm Handling. . . . . . . . . . . . . . . . . . . . . 1-1091.2.3.1 _getAdditionObjectErrorNumberState. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1091.2.3.2 _getAdditionObjectErrorState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1101.2.3.3 _resetAdditionObject . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1131.2.3.4 _resetAdditionObjectConfigDataBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-115

Contents

Contents-8 SIMOTION Technology Packages System FunctionsList Manual, 11/2010

1.2.3.5 _resetAdditionObjectError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1161.2.4 Drive axis - Command tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1181.2.4.1 _bufferAxisCommandId. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1181.2.4.2 _cancelAxisCommand. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1201.2.4.3 _getMotionStateOfAxisCommand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1221.2.4.4 _getStateOfAxisCommand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1241.2.4.5 _getStateOfMotionBuffer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1261.2.4.6 _removeBufferedAxisCommandId . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1271.2.4.7 _resetMotionBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1281.2.5 Drive axis - Motion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1291.2.5.1 _continue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1291.2.5.2 _disableAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1311.2.5.3 _enableAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1341.2.5.4 _move . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1381.2.5.5 _runMotionInPositionLockedVelocityProfile . . . . . . . . . . . . . . . . . . . . . . . 1-1511.2.5.6 _runTimeLockedVelocityProfile. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1601.2.5.7 _runVelocityBasedMotionIn. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1691.2.5.8 _setAxisSTW. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1781.2.5.9 _stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1801.2.5.10 _stopEmergency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1901.2.6 Drive axis - Pressure limiting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2001.2.6.1 _disableForceLimiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2001.2.6.2 _enableForceLimitingValue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2011.2.6.3 _enableMotionInPositionLockedForceLimitingProfile . . . . . . . . . . . . . . . . 1-2031.2.6.4 _enableTimeLockedForceLimitingProfile . . . . . . . . . . . . . . . . . . . . . . . . . 1-2051.2.6.5 _getForceControlDataSetParameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2071.2.6.6 _setForceControlDataSetParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2101.2.7 Drive axis - Pressure control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2131.2.7.1 _disableVelocityLimiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2131.2.7.2 _enableMotionInPositionLockedVelocityLimitingProfile . . . . . . . . . . . . . . 1-2141.2.7.3 _enableTimeLockedVelocityLimitingProfile. . . . . . . . . . . . . . . . . . . . . . . . 1-2161.2.7.4 _enableVelocityLimitingValue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2181.2.7.5 _getForceControlDataSetParameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2201.2.7.6 _runMotionInPositionLockedForceProfile . . . . . . . . . . . . . . . . . . . . . . . . . 1-2231.2.7.7 _runTimeLockedForceProfile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2261.2.7.8 _setForceCommandValue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2291.2.7.9 _setForceControlDataSetParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2321.2.8 Drive axis - Hydraulic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2351.2.8.1 _disableQFAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2351.2.8.2 _enableQFAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2401.2.8.3 _getQFAxisDataSetParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2451.2.8.4 _setQFAxisDataSetParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2471.2.8.5 _setQFAxisFCharacteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2491.2.8.6 _setQFAxisQCharacteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2501.2.9 Drive axis - Compensation and superimposition . . . . . . . . . . . . . . . . . . 1-2511.2.9.1 _adaptAxisConfigData. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2511.2.9.2 _disableAxisAdditiveTorque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2531.2.9.3 _disableAxisTorqueLimitNegative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2541.2.9.4 _disableAxisTorqueLimitPositive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2551.2.9.5 _disableTorqueLimiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2561.2.9.6 _enableAxisAdditiveTorque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2571.2.9.7 _enableAxisTorqueLimitNegative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2591.2.9.8 _enableAxisTorqueLimitPositive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-261

Contents


1.2.9.9 _enableTorqueLimiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2631.2.9.10 _getAxisDataSetParameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2661.2.9.11 _setAxisDataSetActive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2721.2.9.12 _setAxisDataSetParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2731.2.10 Drive axis - Object and Alarm Handling . . . . . . . . . . . . . . . . . . . . . . . . 1-2781.2.10.1 _cancelAxisCommand. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2781.2.10.2 _disableAxisInterface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2801.2.10.3 _disableAxisSimulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2821.2.10.4 _enableAxisInterface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2831.2.10.5 _enableAxisSimulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2851.2.10.6 _enableDistributedMotionDelayValueCalculation . . . . . . . . . . . . . . . . . . . 1-2861.2.10.7 _getAxisErrorNumberState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2881.2.10.8 _getAxisErrorState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2891.2.10.9 _getStateOfMotionBuffer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2921.2.10.10_resetAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2931.2.10.11_resetAxisConfigDataBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2951.2.10.12_resetAxisError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2961.2.10.13_resetMotionBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2981.2.11 External encoders - Command tracking . . . . . . . . . . . . . . . . . . . . . . . . 1-2991.2.11.1 _bufferExternalEncoderCommandId . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2991.2.11.2 _cancelExternalEncoderCommand. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3001.2.11.3 _getStateOfExternalEncoderCommand . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3021.2.11.4 _removeBufferedExternalEncoderCommandId. . . . . . . . . . . . . . . . . . . . . 1-3041.2.12 External encoders - Actual value manipulation . . . . . . . . . . . . . . . . . . . 1-3051.2.12.1 _adaptExternalEncoderConfigData. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3051.2.12.2 _disableExternalEncoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3061.2.12.3 _enableExternalEncoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3071.2.12.4 _redefineExternalEncoderPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3081.2.12.5 _synchronizeExternalEncoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3101.2.13 External encoders - Object and Alarm Handling . . . . . . . . . . . . . . . . . . 1-3131.2.13.1 _cancelExternalEncoderCommand. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3131.2.13.2 _enableDistributedMotionDelayValueCalculation . . . . . . . . . . . . . . . . . . . 1-3151.2.13.3 _getExternalEncoderErrorNumberState . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3171.2.13.4 _getExternalEncoderErrorState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3181.2.13.5 _resetExternalEncoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3211.2.13.6 _resetExternalEncoderConfigDataBuffer . . . . . . . . . . . . . . . . . . . . . . . . . 1-3231.2.13.7 _resetExternalEncoderError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3241.2.14 Fixed gear - Command tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3261.2.14.1 _bufferFixedGearCommandId. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3261.2.14.2 _getStateOfFixedGearCommand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3271.2.14.3 _removeBufferedFixedGearCommandId . . . . . . . . . . . . . . . . . . . . . . . . . 1-3291.2.15 Fixed gear - Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3301.2.15.1 _disableFixedGearing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3301.2.15.2 _disableFixedGearMotionIn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3331.2.15.3 _enableFixedGearing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3341.2.15.4 _enableFixedGearMotionIn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3391.2.16 Fixed gear - Compensation and superimposition . . . . . . . . . . . . . . . . . 1-3401.2.16.1 _setFixedGearingOffset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3401.2.16.2 _setFixedGearMaster . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3431.2.17 Fixed gear - Object and Alarm Handling . . . . . . . . . . . . . . . . . . . . . . . . 1-3441.2.17.1 _getFixedGearErrorNumberState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3441.2.17.2 _getFixedGearErrorState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3451.2.17.3 _resetFixedGear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-348

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1.2.17.4 _resetFixedGearConfigDataBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3501.2.17.5 _resetFixedGearError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3511.2.18 Formula object - Command tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3531.2.18.1 _bufferFormulaObjectCommandId . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3531.2.18.2 _getStateOfFormulaObjectCommand . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3541.2.18.3 _removeBufferedFormulaObjectCommandId . . . . . . . . . . . . . . . . . . . . . . 1-3561.2.19 Formula object - Formula functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3571.2.19.1 _changeEnableModeOfFormulaObjectIn . . . . . . . . . . . . . . . . . . . . . . . . . 1-3571.2.19.2 _changeEnableOfFormula . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3611.2.19.3 _defineFormula . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3741.2.19.4 _disableFormula . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3751.2.19.5 _disableFormulaObjectIn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3881.2.19.6 _enableFormula . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3911.2.19.7 _enableFormulaObjectIn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3961.2.19.8 _setFormula . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3991.2.19.9 _setFormulaObjectOutputValue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4071.2.20 Formula object - Object and Alarm Handling . . . . . . . . . . . . . . . . . . . . 1-4151.2.20.1 _getFormulaObjectErrorNumberState. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4151.2.20.2 _getFormulaObjectErrorState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4161.2.20.3 _resetFormulaObject. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4191.2.20.4 _resetFormulaObjectConfigDataBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4211.2.20.5 _resetFormulaObjectError. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4221.2.21 Synchronous operation - Information and conversion. . . . . . . . . . . . . . 1-4241.2.21.1 _getMasterValue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4241.2.21.2 _getSlaveValue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4261.2.22 Synchronous operation - Command tracking . . . . . . . . . . . . . . . . . . . . 1-4271.2.22.1 _bufferFollowingObjectCommandId . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4271.2.22.2 _cancelFollowingObjectCommand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4281.2.22.3 _getMotionStateOfFollowingObjectCommand . . . . . . . . . . . . . . . . . . . . . 1-4301.2.22.4 _getStateOfFollowingObjectCommand . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4321.2.22.5 _removeBufferedFollowingObjectCommandId . . . . . . . . . . . . . . . . . . . . . 1-4341.2.23 Synchronous operation - Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4351.2.23.1 _disableCamming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4351.2.23.2 _disableGearing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4471.2.23.3 _disableVelocityGearing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4591.2.23.4 _enableCamming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4661.2.23.5 _enableGearing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4811.2.23.6 _enableVelocityGearing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4961.2.24 Synchronous operation - Compensation and superimposition . . . . . . . 1-5041.2.24.1 _setCammingOffset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5041.2.24.2 _setCammingScale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5131.2.24.3 _setGearingOffset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5211.2.24.4 _setMaster. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5291.2.25 Synchronous operation - Object and Alarm Handling . . . . . . . . . . . . . . 1-5361.2.25.1 _cancelFollowingObjectCommand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5361.2.25.2 _disableFollowingObjectSimulation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5381.2.25.3 _enableFollowingObjectSimulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5391.2.25.4 _getFollowingObjectErrorNumberState. . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5401.2.25.5 _getFollowingObjectErrorState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5411.2.25.6 _resetFollowingObject. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5441.2.25.7 _resetFollowingObjectConfigDataBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5461.2.25.8 _resetFollowingObjectError. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5471.2.26 Synchronous axis - Information and conversion . . . . . . . . . . . . . . . . . . 1-549

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1.2.26.1 _getAxisInternalPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5491.2.26.2 _getAxisUserPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5501.2.26.3 _getProgrammedTargetPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5511.2.26.4 _setAndGetEncoderValue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5531.2.27 Synchronous axis - Command tracking. . . . . . . . . . . . . . . . . . . . . . . . . 1-5561.2.27.1 _bufferAxisCommandId. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5561.2.27.2 _cancelAxisCommand. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5581.2.27.3 _getMotionStateOfAxisCommand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5601.2.27.4 _getStateOfAxisCommand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5621.2.27.5 _getStateOfMotionBuffer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5641.2.27.6 _removeBufferedAxisCommandId . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5651.2.27.7 _resetMotionBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5661.2.28 Synchronous axis - Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5671.2.28.1 _continue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5671.2.28.2 _disableAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5691.2.28.3 _enableAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5721.2.28.4 _getAxisStoppingData. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5761.2.28.5 _homing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5801.2.28.6 _move . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5901.2.28.7 _pos. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6031.2.28.8 _runMotionInPositionLockedVelocityProfile . . . . . . . . . . . . . . . . . . . . . . . 1-6131.2.28.9 _runPositionBasedMotionIn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6221.2.28.10_runPositionLockedVelocityProfile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6321.2.28.11_runTimeLockedPositionProfile. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6411.2.28.12_runTimeLockedVelocityProfile. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6501.2.28.13_runVelocityBasedMotionIn. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6591.2.28.14_setAxisSTW. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6681.2.28.15_stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6701.2.28.16_stopEmergency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6801.2.29 Synchronous axis - Pressure limiting . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6901.2.29.1 _disableForceLimiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6901.2.29.2 _enableForceLimitingByCondition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6911.2.29.3 _enableForceLimitingValue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7011.2.29.4 _enableMotionInPositionLockedForceLimitingProfile . . . . . . . . . . . . . . . . 1-7031.2.29.5 _enablePositionLockedForceLimitingProfile . . . . . . . . . . . . . . . . . . . . . . . 1-7051.2.29.6 _enableTimeLockedForceLimitingProfile . . . . . . . . . . . . . . . . . . . . . . . . . 1-7071.2.29.7 _getForceControlDataSetParameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7091.2.29.8 _setForceControlDataSetParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7121.2.30 Synchronous axis - Pressure control. . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7151.2.30.1 _disableVelocityLimiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7151.2.30.2 _enableForceControlByCondition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7161.2.30.3 _enableMotionInPositionLockedVelocityLimitingProfile . . . . . . . . . . . . . . 1-7271.2.30.4 _enablePositionLockedVelocityLimitingProfile . . . . . . . . . . . . . . . . . . . . . 1-7291.2.30.5 _enableTimeLockedVelocityLimitingProfile. . . . . . . . . . . . . . . . . . . . . . . . 1-7311.2.30.6 _enableVelocityLimitingValue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7331.2.30.7 _getForceControlDataSetParameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7351.2.30.8 _runMotionInPositionLockedForceProfile . . . . . . . . . . . . . . . . . . . . . . . . . 1-7381.2.30.9 _runPositionLockedForceProfile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7411.2.30.10_runTimeLockedForceProfile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7441.2.30.11_setForceCommandValue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7471.2.30.12_setForceControlDataSetParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7501.2.31 Synchronous axis - Hydraulic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7531.2.31.1 _disableQFAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-753

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1.2.31.2 _enableQFAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7581.2.31.3 _getQFAxisDataSetParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7631.2.31.4 _setQFAxisDataSetParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7651.2.31.5 _setQFAxisFCharacteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7671.2.31.6 _setQFAxisQCharacteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7681.2.32 Synchronous axis - Compensation and superimposition . . . . . . . . . . . 1-7691.2.32.1 _adaptAxisConfigData. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7691.2.32.2 _disableAxisAdditiveTorque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7711.2.32.3 _disableAxisTorqueLimitNegative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7721.2.32.4 _disableAxisTorqueLimitPositive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7731.2.32.5 _disableMonitoringOfEncoderDifference. . . . . . . . . . . . . . . . . . . . . . . . . . 1-7741.2.32.6 _disableMovingToEndStop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7751.2.32.7 _disableTorqueLimiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7761.2.32.8 _enableAxisAdditiveTorque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7771.2.32.9 _enableAxisTorqueLimitNegative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7791.2.32.10_enableAxisTorqueLimitPositive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7811.2.32.11_enableMonitoringOfEncoderDifference . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7831.2.32.12_enableMovingToEndStop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7851.2.32.13_enableTorqueLimiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7871.2.32.14_getAxisDataSetParameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7901.2.32.15_homing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7961.2.32.16_redefinePosition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8061.2.32.17_setAndGetEncoderValue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8091.2.32.18_setAxisDataSetActive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8121.2.32.19_setAxisDataSetParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8131.2.33 Synchronous axis - Object and Alarm Handling . . . . . . . . . . . . . . . . . . 1-8181.2.33.1 _cancelAxisCommand. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8181.2.33.2 _disableAxisInterface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8201.2.33.3 _disableAxisSimulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8221.2.33.4 _enableAxisInterface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8231.2.33.5 _enableAxisSimulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8251.2.33.6 _enableDistributedMotionDelayValueCalculation . . . . . . . . . . . . . . . . . . . 1-8261.2.33.7 _getAxisErrorNumberState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8281.2.33.8 _getAxisErrorState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8291.2.33.9 _getStateOfMotionBuffer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8321.2.33.10_resetAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8331.2.33.11_resetAxisConfigDataBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8351.2.33.12_resetAxisError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8361.2.33.13_resetMotionBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8381.2.34 Cam - Message functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8391.2.34.1 _getCamFollowingDerivative. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8391.2.34.2 _getCamFollowingMinMax . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8411.2.34.3 _getCamFollowingValue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8441.2.34.4 _getCamLeadingValue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8461.2.35 Cam - Command tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8481.2.35.1 _bufferCamCommandId . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8481.2.35.2 _getStateOfCamCommand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8491.2.35.3 _removeBufferedCamCommandId . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8511.2.36 Cam - Geometry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8521.2.36.1 _addPointToCam . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8521.2.36.2 _addPolynomialSegmentToCam. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8531.2.36.3 _addSegmentToCam . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8551.2.36.4 _interpolateCam . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-858

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1.2.36.5 _setCamOffset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8621.2.36.6 _setCamScale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8631.2.37 Cam - Object and Alarm Handling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8661.2.37.1 _getCamErrorNumberState. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8661.2.37.2 _getCamErrorState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8671.2.37.3 _resetCam. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8701.2.37.4 _resetCamConfigDataBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8731.2.37.5 _resetCamError. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8741.2.38 Measuring input - Command tracking . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8761.2.38.1 _bufferMeasuringInputCommandId. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8761.2.38.2 _getStateOfMeasuringInputCommand . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8771.2.38.3 _removeBufferedMeasuringInputCommandId . . . . . . . . . . . . . . . . . . . . . 1-8791.2.39 Measuring input - Measuring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8801.2.39.1 _disableMeasuringInput . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8801.2.39.2 _enableMeasuringInput. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8811.2.39.3 _enableMeasuringInputCyclic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8851.2.40 Measuring input - Object and Alarm Handling. . . . . . . . . . . . . . . . . . . . 1-8881.2.40.1 _disableMeasuringInputSimulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8881.2.40.2 _enableMeasuringInputSimulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8891.2.40.3 _getMeasuringInputErrorNumberState . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8901.2.40.4 _getMeasuringInputErrorState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8911.2.40.5 _resetMeasuringInput . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8941.2.40.6 _resetMeasuringInputConfigDataBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8961.2.40.7 _resetMeasuringInputError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8971.2.41 Output cam - Command tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8991.2.41.1 _bufferOutputCamCommandId . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8991.2.41.2 _getStateOfOutputCamCommand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9001.2.41.3 _removeBufferedOutputCamCommandId. . . . . . . . . . . . . . . . . . . . . . . . . 1-9021.2.42 Output cam - Object and Alarm Handling . . . . . . . . . . . . . . . . . . . . . . . 1-9031.2.42.1 _disableOutputCamSimulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9031.2.42.2 _enableOutputCamSimulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9041.2.42.3 _getOutputCamErrorNumberState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9051.2.42.4 _getOutputCamErrorState. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9061.2.42.5 _resetOutputCam . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9091.2.42.6 _resetOutputCamConfigDataBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9111.2.42.7 _resetOutputCamError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9121.2.43 Output cam - Switching functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9141.2.43.1 _disableOutputCam. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9141.2.43.2 _enableOutputCam . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9151.2.43.3 _setOutputCamCounter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9201.2.43.4 _setOutputCamState. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9221.2.44 Cam track (camTrackType) - Command tracking . . . . . . . . . . . . . . . . . 1-9231.2.44.1 _bufferCamTrackCommandId . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9231.2.44.2 _getStateOfCamTrackCommand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9241.2.44.3 _removeBufferedCamTrackCommandId. . . . . . . . . . . . . . . . . . . . . . . . . . 1-9261.2.45 Cam track (camTrackType) - Object and Alarm Handling. . . . . . . . . . . 1-9271.2.45.1 _disableCamTrackSimulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9271.2.45.2 _enableCamTrackSimulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9281.2.45.3 _getCamTrackErrorNumberState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9291.2.45.4 _getCamTrackErrorState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9301.2.45.5 _resetCamTrack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9331.2.45.6 _resetCamTrackConfigDataBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-935

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1.2.45.7 _resetCamTrackError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9361.2.46 Cam track (camTrackType) - Switching functions. . . . . . . . . . . . . . . . . 1-9381.2.46.1 _disableCamTrack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9381.2.46.2 _enableCamTrack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9401.2.46.3 _setCamTrackState. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9461.2.47 Position axis - Information and conversion . . . . . . . . . . . . . . . . . . . . . . 1-9471.2.47.1 _getAxisInternalPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9471.2.47.2 _getAxisUserPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9481.2.47.3 _getProgrammedTargetPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9491.2.47.4 _setAndGetEncoderValue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9511.2.48 Position axis - Command tracking. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9541.2.48.1 _bufferAxisCommandId. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9541.2.48.2 _cancelAxisCommand. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9561.2.48.3 _getMotionStateOfAxisCommand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9581.2.48.4 _getStateOfAxisCommand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9601.2.48.5 _getStateOfMotionBuffer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9621.2.48.6 _removeBufferedAxisCommandId . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9631.2.48.7 _resetMotionBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9641.2.49 Position axis - Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9651.2.49.1 _continue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9651.2.49.2 _disableAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9671.2.49.3 _enableAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9701.2.49.4 _getAxisStoppingData. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9741.2.49.5 _homing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9781.2.49.6 _move . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9881.2.49.7 _pos. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10011.2.49.8 _runMotionInPositionLockedVelocityProfile . . . . . . . . . . . . . . . . . . . . . . 1-10121.2.49.9 _runPositionBasedMotionIn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10211.2.49.10_runPositionLockedVelocityProfile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10311.2.49.11_runTimeLockedPositionProfile. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10401.2.49.12_runTimeLockedVelocityProfile. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10491.2.49.13_runVelocityBasedMotionIn. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10581.2.49.14_setAxisSTW. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10671.2.49.15_stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10691.2.49.16_stopEmergency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10791.2.50 Position axis - Pressure limiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10891.2.50.1 _disableForceLimiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10891.2.50.2 _enableForceLimitingByCondition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10901.2.50.3 _enableForceLimitingValue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11001.2.50.4 _enableMotionInPositionLockedForceLimitingProfile . . . . . . . . . . . . . . . 1-11021.2.50.5 _enablePositionLockedForceLimitingProfile . . . . . . . . . . . . . . . . . . . . . . 1-11041.2.50.6 _enableTimeLockedForceLimitingProfile . . . . . . . . . . . . . . . . . . . . . . . . 1-11061.2.50.7 _getForceControlDataSetParameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11081.2.50.8 _setForceControlDataSetParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11111.2.51 Position axis - Pressure control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11141.2.51.1 _disableVelocityLimiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11141.2.51.2 _enableForceControlByCondition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11151.2.51.3 _enableMotionInPositionLockedVelocityLimitingProfile . . . . . . . . . . . . . 1-11261.2.51.4 _enablePositionLockedVelocityLimitingProfile . . . . . . . . . . . . . . . . . . . . 1-11281.2.51.5 _enableTimeLockedVelocityLimitingProfile. . . . . . . . . . . . . . . . . . . . . . . 1-11301.2.51.6 _enableVelocityLimitingValue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11321.2.51.7 _getForceControlDataSetParameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11341.2.51.8 _runMotionInPositionLockedForceProfile . . . . . . . . . . . . . . . . . . . . . . . . 1-1137

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1.2.51.9 _runPositionLockedForceProfile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11401.2.51.10_runTimeLockedForceProfile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11431.2.51.11_setForceCommandValue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11461.2.51.12_setForceControlDataSetParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11491.2.52 Position axis - Hydraulic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11521.2.52.1 _disableQFAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11521.2.52.2 _enableQFAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11571.2.52.3 _getQFAxisDataSetParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11621.2.52.4 _setQFAxisDataSetParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11641.2.52.5 _setQFAxisFCharacteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11661.2.52.6 _setQFAxisQCharacteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11671.2.53 Position axis - Compensation and superimposition. . . . . . . . . . . . . . . . 1-11681.2.53.1 _adaptAxisConfigData. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11681.2.53.2 _disableAxisAdditiveTorque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11701.2.53.3 _disableAxisTorqueLimitNegative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11711.2.53.4 _disableAxisTorqueLimitPositive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11721.2.53.5 _disableMonitoringOfEncoderDifference. . . . . . . . . . . . . . . . . . . . . . . . . 1-11731.2.53.6 _disableMovingToEndStop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11741.2.53.7 _disableTorqueLimiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11751.2.53.8 _enableAxisAdditiveTorque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11761.2.53.9 _enableAxisTorqueLimitNegative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11781.2.53.10_enableAxisTorqueLimitPositive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11801.2.53.11_enableMonitoringOfEncoderDifference . . . . . . . . . . . . . . . . . . . . . . . . . 1-11821.2.53.12_enableMovingToEndStop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11841.2.53.13_enableTorqueLimiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11861.2.53.14_getAxisDataSetParameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11891.2.53.15_homing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11951.2.53.16_redefinePosition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12051.2.53.17_setAndGetEncoderValue. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12081.2.53.18_setAxisDataSetActive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12111.2.53.19_setAxisDataSetParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12121.2.54 Position axis - Object and Alarm Handling . . . . . . . . . . . . . . . . . . . . . . 1-12171.2.54.1 _cancelAxisCommand. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12171.2.54.2 _disableAxisInterface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12191.2.54.3 _disableAxisSimulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12211.2.54.4 _enableAxisInterface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12221.2.54.5 _enableAxisSimulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12241.2.54.6 _enableDistributedMotionDelayValueCalculation . . . . . . . . . . . . . . . . . . 1-12251.2.54.7 _getAxisErrorNumberState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12271.2.54.8 _getAxisErrorState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12281.2.54.9 _getStateOfMotionBuffer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12311.2.54.10_resetAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12321.2.54.11_resetAxisConfigDataBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12341.2.54.12_resetAxisError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12351.2.54.13_resetMotionBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12371.2.55 Controller object - Command tracking. . . . . . . . . . . . . . . . . . . . . . . . . . 1-12381.2.55.1 _bufferControllerObjectCommandId . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12381.2.55.2 _getStateOfControllerObjectCommand. . . . . . . . . . . . . . . . . . . . . . . . . . 1-12391.2.55.3 _removeBufferedControllerObjectCommandId . . . . . . . . . . . . . . . . . . . . 1-12411.2.56 Controller object - Object and Alarm Handling . . . . . . . . . . . . . . . . . . . 1-12421.2.56.1 _getControllerObjectErrorNumberState . . . . . . . . . . . . . . . . . . . . . . . . . 1-12421.2.56.2 _getControllerObjectErrorState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12431.2.56.3 _resetControllerObject . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1246

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1.2.56.4 _resetControllerObjectConfigDataBuffer. . . . . . . . . . . . . . . . . . . . . . . . . 1-12481.2.56.5 _resetControllerObjectError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12491.2.57 Controller object - Controller functions . . . . . . . . . . . . . . . . . . . . . . . . . 1-12511.2.57.1 _changeEnableModeOfControllerObjectIn . . . . . . . . . . . . . . . . . . . . . . . 1-12511.2.57.2 _disableControllerObject . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12531.2.57.3 _disableControllerObjectIn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12551.2.57.4 _enableControllerObject . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12571.2.57.5 _enableControllerObjectIn. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12581.2.57.6 _setControllerObjectPIDControl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12601.2.58 Sensor - Command tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12661.2.58.1 _bufferSensorCommandId . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12661.2.58.2 _getStateOfSensorCommand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12671.2.58.3 _removeBufferedSensorCommandId . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12691.2.59 Sensor - Actual value manipulation. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12701.2.59.1 _disableSensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12701.2.59.2 _enableSensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12721.2.60 Sensor - Object and Alarm Handling. . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12731.2.60.1 _getSensorErrorNumberState. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12731.2.60.2 _getSensorErrorState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12741.2.60.3 _resetSensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12771.2.60.4 _resetSensorConfigDataBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12791.2.60.5 _resetSensorError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12801.2.61 Path interpolation - Message functions . . . . . . . . . . . . . . . . . . . . . . . . . 1-12821.2.61.1 _getCircularPathData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12821.2.61.2 _getCircularPathGeometricData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12881.2.61.3 _getLinearPathData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12941.2.61.4 _getLinearPathGeometricData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12971.2.61.5 _getPathGeometricData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13001.2.61.6 _getPolynomialPathData. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13031.2.61.7 _getPolynomialPathGeometricData . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13081.2.62 Path interpolation - Object and Alarm Handling . . . . . . . . . . . . . . . . . . 1-13141.2.62.1 _cancelPathObjectCommand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13141.2.62.2 _disablePathObjectSimulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13161.2.62.3 _enablePathObjectSimulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13171.2.62.4 _getPathObjectErrorNumberState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13181.2.62.5 _getPathObjectErrorState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13191.2.62.6 _getStateOfPathObjectMotionBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13221.2.62.7 _resetPathObject. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13231.2.62.8 _resetPathObjectConfigDataBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13251.2.62.9 _resetPathObjectError. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13261.2.62.10_resetPathObjectMotionBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13281.2.63 Path interpolation - Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13291.2.63.1 _continuePath . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13291.2.63.2 _movePathCircular . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13361.2.63.3 _movePathLinear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13541.2.63.4 _movePathPolynomial. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13681.2.63.5 _stopPath . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13851.2.64 Path interpolation - Command tracking . . . . . . . . . . . . . . . . . . . . . . . . . 1-13921.2.64.1 _bufferPathObjectCommandId . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13921.2.64.2 _cancelPathObjectCommand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13931.2.64.3 _getMotionStateOfPathObjectCommand . . . . . . . . . . . . . . . . . . . . . . . . 1-13951.2.64.4 _getStateOfPathObjectCommand. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13971.2.64.5 _getStateOfPathObjectMotionBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1399

Contents


1.2.64.6 _removeBufferedPathObjectCommandId . . . . . . . . . . . . . . . . . . . . . . . . 1-14001.2.64.7 _resetPathObjectMotionBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14011.2.65 Path interpolation - Kinematics transformation . . . . . . . . . . . . . . . . . . . 1-14021.2.65.1 _getPathAxesData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14021.2.65.2 _getPathAxesPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14051.2.65.3 _getPathCartesianData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14071.2.65.4 _getPathCartesianPosition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14101.2.66 Path interpolation - Object coordinates . . . . . . . . . . . . . . . . . . . . . . . . . 1-14121.2.66.1 _enablePathObjectTrackingSuperimposed. . . . . . . . . . . . . . . . . . . . . . . 1-14121.2.66.2 _getPathObjectBcsFromOcsData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14201.2.66.3 _getPathObjectOcsFromBcsData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14221.2.66.4 _redefinePathObjectOcs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14241.2.66.5 _setPathObjectOcs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1426

2 System Functions - TP TControl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14292.1 Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14302.1.1 Temperature channel - Identification. . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14302.1.1.1 _calculateTControllerParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14302.1.1.2 _forceTControllerIdentification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14322.1.1.3 _setTControllerActualIdentificationType . . . . . . . . . . . . . . . . . . . . . . . . . 2-14332.1.1.4 _setTControllerIdentificationModifiedTangentMethodParameter . . . . . . 2-14352.1.1.5 _setTControllerIdentificationModifiedTangentMethodProcessParameter . 2-14382.1.1.6 _setTControllerIdentificationStandardTangentMethodParameter . . . . . . 2-14402.1.1.7 _setTControllerIdentificationStandardTangentMethodProcessParameter 2-14432.1.2 Temperature channel - Object and Alarm Handling . . . . . . . . . . . . . . . 2-14452.1.2.1 _getTControllerErrorNumberState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14452.1.2.2 _getTControllerErrorState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14462.1.2.3 _resetTController. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14492.1.2.4 _resetTControllerConfigDataBuffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14512.1.2.5 _resetTControllerError. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14522.1.2.6 _setTControllerOperatingMode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14542.1.3 Temperature channel - Parameter functions. . . . . . . . . . . . . . . . . . . . . 2-14612.1.3.1 _copyTControllerActual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14612.1.3.2 _copyTControllerShadow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14632.1.3.3 _setTControllerControlRangeParameter. . . . . . . . . . . . . . . . . . . . . . . . . 2-14652.1.3.4 _setTControllerCycleParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14672.1.3.5 _setTControllerCycleParameterSecondary. . . . . . . . . . . . . . . . . . . . . . . 2-14692.1.3.6 _setTControllerDPIDParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14712.1.3.7 _setTControllerDPIDParameterSecondary . . . . . . . . . . . . . . . . . . . . . . . 2-14742.1.3.8 _setTControllerInputDisplayValueParameter . . . . . . . . . . . . . . . . . . . . . 2-14772.1.3.9 _setTControllerInputFilterParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14792.1.3.10 _setTControllerInputGradientCheckParameter . . . . . . . . . . . . . . . . . . . . 2-14812.1.3.11 _setTControllerInputLimitCheckParameter . . . . . . . . . . . . . . . . . . . . . . . 2-14842.1.3.12 _setTControllerLowerPlausibilityParameter . . . . . . . . . . . . . . . . . . . . . . 2-14872.1.3.13 _setTControllerLowerPlausibilityParameterSecondary . . . . . . . . . . . . . . 2-14902.1.3.14 _setTControllerProcessModeParameter . . . . . . . . . . . . . . . . . . . . . . . . . 2-14932.1.3.15 _setTControllerPWMParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-14952.1.3.16 _setTControllerPWMParameterSecondary . . . . . . . . . . . . . . . . . . . . . . . 2-14972.1.3.17 _setTControllerUpperPlausibilityParameter . . . . . . . . . . . . . . . . . . . . . . 2-14992.1.3.18 _setTControllerUpperPlausibilityParameterSecondary . . . . . . . . . . . . . . 2-15022.1.4 Temperature channel - Control functions . . . . . . . . . . . . . . . . . . . . . . . 2-15052.1.4.1 _setTControllerIntegrator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15052.1.4.2 _setTControllerIntegratorSecondary . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1507

Contents


2.1.4.3 _setTControllerManualOutputValue . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15092.1.4.4 _setTControllerSetpoint. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1511

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1-19SIMOTION Technology Packages System FunctionsList Manual, 11/2010

System Functions - TP Cam_ext 1

System Functions - TP Cam_ext

1-20 SIMOTION Technology Packages System FunctionsList Manual, 11/2010

1.1 PLCopen

1.1.1 MultiAxis

1.1.1.1 _MC_CamIn

NoteFor additional information, refer to the function manuals:PLCopen BlocksTO Axis Electric / Hydraulic, External EncoderTechnology Objects Synchronous Operation, Camor in the online help

The function block _MC_CamIn starts a camming between a master object and a slave axis. The cam profile can be scaled and/or positionally offset and optionally also run through once or periodically.The synchronous object of the slave axis must be interconnected with the desired cam and the desired master object.The dynamic response of the slave axis during synchronization is determined with the dynamic response parameters 'velocity', 'acceleration', 'deceleration' and 'jerk'.

Parameter: master

InputsSpecifies the reference to the master object (name of the technology object).The function block _MC_CamIn can be used on the following technology objects with respect to the master object:

Positioning axes (posAxis) Synchronous axes (followingAxis) Path axes (_pathAxis) External encoders (externalEncoderType)

slave

Specifies the reference to the slave axis (name of the technology object).The function block _MC_CamIn can be used on the following technology objects with respect to the slave axis:

Synchronous axes (followingAxis) Synchronous path axes (_pathAxis)

camTable

Specifies the cam reference (name of the cam).

Direction: Input parameter

Data type: _AXIS_REF

Parameter index: 1



Parameter index: 2


Data type: _MC_CAM_REF

Parameter index: 3



execute (optional)

Specification of the function block enable.The slave axis is synchronized with the interconnected master object with a rising edge on this input.

masterOffset (optional)

Specification of the offset of the master values in the master object coordinates.

slaveOffset (optional)

Specification of the offset of the slave values in the slave axis coordinates.

masterScaling (optional)

Specification of the scaling for the master values in the master object coordinates.

slaveScaling (optional)

Specification of the scaling for the slave values in the slave axis coordinates.

masterAbsolute (optional)

Specifies the evaluation of the master values.With TRUE, the master values are applied as absolute values in the definition range of the cam.With FALSE, the master values are evaluated relative to the start value of the cam.


Data type: BOOL

Parameter index: 4

System default: FALSE


Data type: LREAL

Parameter index: 5

System default: 0.0


Data type: LREAL

Parameter index: 6

System default: 0.0


Data type: LREAL

Parameter index: 7

System default: 1.0


Data type: LREAL

Parameter index: 8

System default: 1.0


Data type: BOOL

Parameter index: 9

System default: TRUE



slaveAbsolute (optional)

Specifies the evaluation of the slave values.With TRUE, the slave values are applied as absolute values in the value range of the cam.With FALSE, the slave values are applied relative to the start value of the cam. During synchroniza-tion, the slave axis also travels the path differential between the start of the cam and the cam start value.

cyclicMode (optional)

Specifies the cam processing mode.With TRUE, the cam repeats after reaching its end point.With FALSE, the function block is terminated when the cam has been executed once.

velocity (optional)

Specifies the maximum synchronization velocity.The parameter is only taken into account with 'mode' equals IMMEDIATELY_BY_TIME_PROFILE.If a value greater than zero is specified, this value is used.With the specification of a value less than zero, the value that was set in the system variable 'userde-fault.syncdynamics.velocity' of the interconnected synchronous object is used.

acceleration (optional)

Specifies the maximum synchronization acceleration.The parameter is only taken into account with 'mode' equals IMMEDIATELY_BY_TIME_PROFILE.If a value greater than zero is specified, this value is used.With the specification of a value less than zero, the value that was set in the system variable 'userde-fault.syncdynamics.positiveaccel' of the interconnected synchronous object is used.


Data type: BOOL

Parameter index: 10



Data type: BOOL

Parameter index: 11



Data type: LREAL

Parameter index: 12

System default: -1.0


Data type: LREAL

Parameter index: 13




deceleration (optional)

Specifies the maximum synchronization deceleration.The parameter is only taken into account with 'mode' equals IMMEDIATELY_BY_TIME_PROFILE.If a value greater than zero is specified, this value is used.With the specification of a value less than zero, the value that was set in the system variable 'userde-fault.syncdynamics.negativeAccel' of the interconnected synchronous object is used.

jerk (optional)

Specifies the maximum synchronization jerk.The parameter is only taken into account with 'mode' equals IMMEDIATELY_BY_TIME_PROFILE.If a value greater than zero is specified, this value is used.With the specification of a value equal to zero, the slave axis travels without jerk limiting along a tra-pezoidal speed profile.With the specification of a value less than zero, the values that were set in the system variables 'user-default.syncdynamics.positiveaccelstartjerk', 'userdefault.syncdynamics.positiveaccelendjerk', 'user-default.syncdynamics.negativeaccelstartjerk' and 'userdefault.syncdynamics.negativeaccelendjerk' of the interconnected synchronous object are used. To activate the jerk limiting, the configuration data 'SyncingMotion.smoothAbsoluteSynchronization' of the synchronous object must be switched to 'YES'. Otherwise the parameter specification for 'jerk' will be ignored and a trapezoidal velocity profile will always be used.

mode (optional)

_MC_CamInMode

Specifies the type of synchronization parameters.With USER_DEFAULT, the synchronization setting from the 'userDefault' system variables ('cam-mingSettings', 'syncDynamics', ... ) of the synchronous object are taken over. Excluding the values set at the inputs 'MasterAbsolute' (system variable 'userDefault.cammingSettings.masterMode'), 'Slave-Absolute' (system variable 'userDefault.cammingSettings.slaveMode') and 'CyclicMode' (system vari-able 'userDefault.cammingSettings.cammingMode').With IMMEDIATELY_BY_TIME_PROFILE, synchronization occurs immediately by time, taking into account the dynamic values set on the function block. The synchronization runs with the parameters 'userDefault.syncprofile.syncprofilereference' like 'RELATE_SYNC_PROFILE_TO_TIME', 'userDe-fault.cammingsettings.synchronizingmode' like 'IMMEDIATELY' and 'userDefault.cammingset-tings.synchronizingdirection' like 'SYSTEM_DEFINED'.


Data type: LREAL

Parameter index: 14



Data type: LREAL

Parameter index: 15



Data type: _MC_CamInMode

Parameter index: 16

System default: USER_DEFAULT

USER_DEFAULT (0) Use default values from axis configuration

IMMEDIATELY_BY_TIME_PROFILE (1) Immediate synchronizing with time specification



inSync

OutputsIndicates the synchronism of the master object and slave axis.With TRUE, the slave axis is in synchronous operation with the master object.

busy

Indication of the activity of the function block.With TRUE, the function block has been started.

active

Indicates the command activity in the function block.With TRUE, the command is processed by the command processing, i.e. the function block has active control over the slave axis.

commandAborted

Indicates aborting of the function block.With TRUE, the function block was aborted by another replacing function block.

error

Display of an error in the function block.With TRUE, an error has occurred in the function block. The function block is terminated. The error description can be read at the 'errorId' output.

Direction: Output parameter

Data type: BOOL

Parameter index: 17



Data type: BOOL

Parameter index: 18



Data type: BOOL

Parameter index: 19



Data type: BOOL

Parameter index: 20



Data type: BOOL

Parameter index: 21




errorId

Display of a function block error code.The error code is always output in connection with the outputs 'commandAborted' or 'error'. The error code contains the number and, if available, the associated reason for the error that occurred in the function block. The error number assigns the lower 16 bits of the error code and corresponds to an error from the list of the function return values under the system function _move. The reason for the error, which is coded by a number if available, is contained in the upper 16 bits of the error code. The meaning of this number can be found in the list of the possible reasons for the error of alarm 30002 - "Command aborted".

endOfProfile

Indicates the end of the cam profile.With TRUE, the definition range of the cam profile was performed.


Data type: DWORD

Parameter index: 22

System default: 0


Data type: BOOL

Parameter index: 23




1.1.1.2 _MC_CamOut


The function block _MC_CamOut terminates a camming and stops the slave axis. The desynchroni-zation conditions can be set in the system variables 'userdefault.cammingSettings' of the interconnec-ted synchronous object.

Parameter: slave

Specifies the reference to the slave axis (name of the technology object).The function block _MC_CamOut can be used on the following technology objects with respect to the slave axis:


execute (optional)

Specification of the function block enable.The synchronous operation of the slave axis with the interconnected master object is terminated with a rising edge on this input.

done

OutputsIndicates termination of the function block.With TRUE, the slave axis has been desynchronized from the interconnected master object.

busy

Indication of the activity of the function block.With TRUE, the function block has been started.



Parameter index: 1


Data type: BOOL

Parameter index: 2



Data type: BOOL

Parameter index: 3



Data type: BOOL

Parameter index: 4




active

Indicates the command activity in the function block.With TRUE, the command is processed by the command processing, i.e. the function block has active control over the slave axis.

commandAborted

Indicates aborting of the function block.With TRUE, the function block was aborted by another replacing function block.

error

Display of an error in the function block.With TRUE, an error has occurred in the function block. The function block is terminated. The error description can be read at the 'errorId' output.

errorId

Display of a function block error code.The error code is always output in connection with the outputs 'commandAborted' or 'error'. The error code contains the number and, if available, the associated reason for the error that occurred in the function block. The error number assigns the lower 16 bits of the error code and corresponds to an error from the list of the function return values under the system function _move. The reason for the error, which is coded by a number if available, is contained in the upper 16 bits of the error code. The meaning of this number can be found in the list of the possible reasons for the error of alarm 30002 - "Command aborted".


Data type: BOOL

Parameter index: 5



Data type: BOOL

Parameter index: 6



Data type: BOOL

Parameter index: 7



Data type: DWORD

Parameter index: 8

System default: 0



1.1.1.3 _MC_GearIn


The function block _MC_GearIn starts a gearing between a master object and a slave axis. The gear ratio is specified as a fraction. The synchronous object of the slave axis must be interconnected with the desired master object. The dynamic response of the slave axis during synchronization is determi-ned with the dynamic response parameters 'velocity', 'acceleration', 'deceleration' and 'jerk'.

Parameter: master

InputsSpecifies the reference to the master object (name of the technology object).The function block _MC_GearIn can be used on the following technology objects with respect to the master object:

Positioning axes (posAxis) Synchronous axes (followingAxis) Path axes (_pathAxis) External encoders (externalEncoderType)

slave

Specifies the reference to the slave axis (name of the technology object).The function block _MC_GearIn can be used on the following technology objects with respect to the slave axis:


execute (optional)

Specification of the function block enable.The slave axis is synchronized with the interconnected master object with a rising edge on this input.

ratioNumerator (optional)

Specifies the numerator of the gear ratio.



Parameter index: 1



Parameter index: 2


Data type: BOOL

Parameter index: 3



Data type: DINT

Parameter index: 4

System default: 1



ratioDenominator (optional)

Specifies the denominator of the gear ratio.

velocity (optional)

Specifies the maximum synchronization velocity.The parameter is only taken into account with 'mode' equals IMMEDIATELY_BY_TIME_PROFILE.If a value greater than zero is specified, this value is used.With the specification of a value less than zero, the value that was set in the system variable 'userde-fault.syncdynamics.velocity' of the interconnected synchronous object is used.

acceleration (optional)

Specifies the maximum synchronization acceleration.The parameter is only taken into account with 'mode' equals IMMEDIATELY_BY_TIME_PROFILE.If a value greater than zero is specified, this value is used.With the specification of a value less than zero, the value that was set in the system variable 'userde-fault.syncdynamics.positiveaccel' of the interconnected synchronous object is used.

deceleration (optional)

Specifies the maximum synchronization deceleration.The parameter is only taken into account with 'mode' equals IMMEDIATELY_BY_TIME_PROFILE.If a value greater than zero is specified, this value is used.With the specification of a value less than zero, the value that was set in the system variable 'userde-fault.syncdynamics.negativeAccel' of the interconnected synchronous object is used.


Data type: DINT

Parameter index: 5

System default: 1


Data type: LREAL

Parameter index: 6



Data type: LREAL

Parameter index: 7



Data type: LREAL

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