Simotion Technology Packages (Motors) ConfigurationData

s
Preface, Contents
SIMOTION
TP Cam
TP Path
Technology Packages
Configuration Data
TP Cam_ext
TP TControl
List Manual
11/2010
I
II
III
IV
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.
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.
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:
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.
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.
Siemens AG
Industry Sector
Postfach 48 48
90026 Nrnberg
GERMANY
Copyright Siemens AG 2010.

Technical data subject to change.
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).
SIMOTION Technology Packages Configuration Data

List Manual, 11/2010
Preface-3
Preface
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-4

Preface
SIMOTION Documentation
An overview of the SIMOTION documentation can be found in a separate list of
references.
This documentation is included as electronic documentation in the scope of
delivery of SIMOTION SCOUT. It comprises 10 documentation packages.
The following documentation packages are available for SIMOTION V4.2.
SIMOTION Engineering System
SIMOTION System and Function Descriptions
SIMOTION Service and Diagnostics
SIMOTION IT
SIMOTION Programming
SIMOTION Programming - References
SIMOTION C
SIMOTION P
SIMOTION D
SIMOTION Supplementary Documentation
Hotline and Internet addresses
Additional information
Click the following link to find information on the following topics:
Ordering documentation/overview of documentation
Additional links to download documents
Using documentation online (find and search in manuals/information)
hhtp://www.siemens.com/motioncontrol/docu
My Documentation Manager
Click the following link for information on SITRAIN - Siemens training courses for
automation products, systems and solutions:
http://www.siemens.com/sitrain
Training
Click the following link for information on SITRAIN - Siemens training courses for
automation products, systems and solutions:
http://www.siemens.com/sitrain

Preface-5
Preface
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
Preface-6

Contents
Preface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Part I
Preface-3
TP Cam
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1
I-25
DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsEncoder - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ActualVelocityMonitoring - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptDrive - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptExtern - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptLoad - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorDriverInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorMain - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorNumber - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . .
AnalogSensorType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AssemblyBase - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerDynamic - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerStruct - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DataSetMain - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drift - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriveData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriverInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EmergencyRampGenerator - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . .
EncoderMain - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderNumber - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Filter - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FineInterpolator - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControlHeldValueMonitoring - DriveAxis . . . . . . . . . . . . . . . . . . .
ForceControlRunningInWindowMonitoring - DriveAxis . . . . . . . . . . . . .
ForceControllerData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControllerDifference - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Friction - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Gear - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HWEndPos - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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1-35
1-39
1-40
1-40
1-41
1-42
1-44
1-45
1-45
1-46
1-46
1-47
1-48
1-49
1-50
1-51
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1-56
1-58
1-61
1-62
1-63
1-67
1-68
1-69
1-70
1-71
1-72
1-73
1-75
1-75
1-76
1-77
1-78
Contents-7
Contents
IncEncoder - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - DriveAxis . . . . . . . . . . . . . . . . .
InversCountDirection - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPoint - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPointHydraulicType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . .
LinearMotorDriveData - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LinearStepMotorDriveDataType - DriveAxis . . . . . . . . . . . . . . . . . . . . .
MaxAcceleration - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxForceCommandData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxJerk - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxVelocity - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NeutralBand - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfAdditionalSensors - DriveAxis . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDataSets - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfEncoders - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OutputLimits - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerForce - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerPos - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProcessModel - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Range - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartConditionInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorSetActualValue - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SetPointDriverInfo - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SimulationInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SmoothingFilter - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorDriveDataType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorMonitoringType - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisAdditionalOffset - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisDriveControlConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - DriveAxis . . . . .
StructAxisFilterForceControlConfig - DriveAxis. . . . . . . . . . . . . . . . . . .
StructAxisInvertFOutput - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisInvertQOutput - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisNistDriverConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisOperatingDataInInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . .
StructAxisServoMonitoringConfig - DriveAxis . . . . . . . . . . . . . . . . . . . .
StructAxisSetpointFilter - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSlidingFriction - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSpeedLimitation - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSystemDeadTimeData - DriveAxis . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataInInfo - DriveAxis . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataOutInfo - DriveAxis . . . . . . . . . . . . . . . . .
StructControllerOutput - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructDaxDynamicQFData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructDirectOutputDriverInfo - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . .
StructDriveInterfaceDriverInfo - DriveAxis. . . . . . . . . . . . . . . . . . . . . . .
StructDriverInfoDirectIncremental - DriveAxis. . . . . . . . . . . . . . . . . . . .
StructEnableBit - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents-8
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. . . 1-86
. . . 1-87
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. . . 1-89
. . . 1-90
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. . . 1-94
. . . 1-95
. . . 1-96
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. . 1-100
. . 1-100
. . 1-101
. . 1-102
. . 1-103
. . 1-104
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. . 1-109
. . 1-110
. . 1-111
. . 1-112
. . 1-113
. . 1-114
. . 1-116
. . 1-118
. . 1-119
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. . 1-120
. . 1-121
. . 1-122
. . 1-124
. . 1-124
. . 1-125
. . 1-126
. . 1-127
. . 1-127
. . 1-128
. . 1-129
. . 1-129
. . 1-130
. . 1-131
. . 1-132
. . 1-133
. . 1-136
. . 1-137

Contents
StructPressureDifferenceMeasurement - DriveAxis . . . . . . . . . . . . . . . . . 1-138

StructSensorDriverInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-140
TypeOfAxisInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-142
2
ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsEncoder - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsHomingEncoder - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . .
ActualVelocityMonitoring - ExternalEncoderType . . . . . . . . . . . . . . . . .
AdaptDrive - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptExtern - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptLoad - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - ExternalEncoderType . . . . . . . . . . . . . .
AnalogSensorType - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . .
AssemblyBase - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfig - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . .
DistributedMotionInfo - ExternalEncoderType. . . . . . . . . . . . . . . . . . . .
DriverInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderMain - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . .
ExtrapolationPositionFilterType - ExternalEncoderType. . . . . . . . . . . .
Filter - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . .
Gear - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncEncoder - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncHomingEncoder - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - ExternalEncoderType . . . . . . .
InversCountDirection - ExternalEncoderType . . . . . . . . . . . . . . . . . . . .
LeadScrewInfo - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . .
PT2PositionFilterType - ExternalEncoderType . . . . . . . . . . . . . . . . . . .
PathPerRevolution - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . .
PositionFilterType - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . .
Resolution - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - ExternalEncoderType . . . . . . . . . . . . . . . . . . . .
SensorNist - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorSetActualValue - ExternalEncoderType. . . . . . . . . . . . . . . . . . .
SmoothingFilter - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorMonitoringType - ExternalEncoderType . . . . . . . . . . . . . . . .
StructAxisActualValueUpdateCounter - ExternalEncoderType. . . . . . .
StructAxisAnalogSensorErrorStateMonitoring - ExternalEncoderType.
StructAxisAnalogSensorReadyStateMonitoring - ExternalEncoderType
StructAxisDriveControlConfig - ExternalEncoderType . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisNistDriverConfig - ExternalEncoderType . . . . . . . . . . . . . . .
StructAxisOperatingDataInInfo - ExternalEncoderType . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - ExternalEncoderType . . . . . . . . . . .
StructAxisSpeedLimitation - ExternalEncoderType. . . . . . . . . . . . . . . .
StructAxisTechnologicalData - ExternalEncoderType. . . . . . . . . . . . . .
StructAxisTechnologicalDataInInfo - ExternalEncoderType . . . . . . . . .
StructAxisTechnologicalDataOutInfo - ExternalEncoderType. . . . . . . .

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Contents-9
Contents
StructDriverInfoDirectIncremental - ExternalEncoderType . . . . . . . . . .
StructExtrapolation - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . .
StructExtrapolationFilter - ExternalEncoderType . . . . . . . . . . . . . . . . .
StructLogAddressIoBitType - ExternalEncoderType. . . . . . . . . . . . . . .
StructSensorDriverInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . .
StructToleranceRange - ExternalEncoderType. . . . . . . . . . . . . . . . . . .
TypeOfAxisInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . .
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2-197
2-198
2-199
2-200
2-202
2-203
PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsBackLash - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsEncoder - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsHomingEncoder - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ActualAccelerationMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . . . . . .
ActualVelocityMonitoring - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptDrive - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptExtern - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptLoad - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorNumber - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . .
AnalogSensorType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AssemblyBase - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ClampingMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerDynamic - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerStruct - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerSwitchData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DataSetMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfig - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DigitalInputMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DistributedMotionInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drift - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriveData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriverInfo - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicComp - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicData - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicFollowing - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EmergencyRampGenerator - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderNumber - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExtrapolationPositionFilterType - PosAxis . . . . . . . . . . . . . . . . . . . . . .
Filter - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FineInterpolator - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControlHeldValueMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . .
ForceControlRunningInWindowMonitoring - PosAxis . . . . . . . . . . . . . .
ForceControllerData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControllerDifference - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Friction - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Gear - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HWEndPos - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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3-205
3-205
3-207
3-211
3-212
3-213
3-214
3-214
3-215
3-216
3-218
3-219
3-219
3-220
3-220
3-221
3-222
3-223
3-223
3-224
3-225
3-226
3-230
3-231
3-232
3-233
3-235
3-238
3-239
3-240
3-242
3-243
3-248
3-248
3-249
3-250
3-251
3-251
3-252
3-253
3-255
3-255
3-256
3-257
3-258
Contents-10

Contents
Homing - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncBackLash - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncEncoder - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncHomingEncoder - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - PosAxis . . . . . . . . . . . . . . . . . .
InversCountDirection - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPoint - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPointHydraulicType - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . .
LeadScrewInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LinearMotorDriveData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LinearStepMotorDriveDataType - PosAxis . . . . . . . . . . . . . . . . . . . . . .
MaxAcceleration - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxForceCommandData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxJerk - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxVelocity - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NeutralBand - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfAdditionalSensors - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDataSets - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDigitalInputs - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfEncoders - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OutputLimits - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PD_Controller - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerForce - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerPos - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PT2PositionFilterType - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PV_Controller - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathPerRevolution - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathSyncAxisPosTolerance - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . .
PositionFilterType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PositionMonitoring - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProcessModel - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Range - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolution - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartConditionInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamNegative - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamPositive - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorNist - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorSetActualValue - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SetPointDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SimulationInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Slippage - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SmoothingFilter - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StateDriveExternalZeroMark - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorDriveDataType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorMonitoringType - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisActualValueUpdateCounter - PosAxis . . . . . . . . . . . . . . . . .
StructAxisAdditionalOffset - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisAnalogSensorErrorStateMonitoring - PosAxis . . . . . . . . . . .

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3-260
3-262
3-263
3-264
3-269
3-270
3-270
3-271
3-271
3-272
3-274
3-275
3-276
3-276
3-277
3-277
3-278
3-279
3-280
3-282
3-283
3-284
3-284
3-285
3-287
3-289
3-290
3-292
3-292
3-293
3-294
3-295
3-296
3-296
3-297
3-298
3-299
3-300
3-301
3-302
3-303
3-304
3-308
3-308
3-309
3-310
3-311
3-312
3-312
3-313
3-314
3-316
3-318
Contents-11
Contents
StructAxisAnalogSensorReadyStateMonitoring - PosAxis . . . . . . . . . .
StructAxisDriveControlConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - PosAxis . . . . . .
StructAxisFilterForceControlConfig - PosAxis. . . . . . . . . . . . . . . . . . . .
StructAxisInvertFOutput - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisInvertQOutput - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisNistDriverConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisOperatingDataInInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisServoMonitoringConfig - PosAxis . . . . . . . . . . . . . . . . . . . . .
StructAxisSetpointFilter - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSlidingFriction - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSpeedLimitation - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSwLimitConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSystemDeadTimeData - PosAxis . . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataInInfo - PosAxis . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataOutInfo - PosAxis . . . . . . . . . . . . . . . . . .
StructCommandValueQuantization - PosAxis. . . . . . . . . . . . . . . . . . . .
StructControllerOutput - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructDirectOutputDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructDriveInterfaceDriverInfo - PosAxis. . . . . . . . . . . . . . . . . . . . . . . .
StructDriverInfoDirectIncremental - PosAxis . . . . . . . . . . . . . . . . . . . . .
StructEnableBit - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolation - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolationFilter - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructLogAddressIoBitType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructPaxDynamicQFData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructPositionDifferenceMeasurement - PosAxis . . . . . . . . . . . . . . . . .
StructPressureDifferenceMeasurement - PosAxis . . . . . . . . . . . . . . . .
StructSensorDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructToleranceRange - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TypeOfAxisInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VelocityPositionProfile - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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3-319
3-320
3-322
3-323
3-324
3-324
3-325
3-326
3-328
3-328
3-329
3-330
3-331
3-332
3-333
3-334
3-335
3-335
3-336
3-337
3-338
3-339
3-342
3-343
3-344
3-345
3-346
3-347
3-348
3-349
3-351
3-353
3-354
3-357
MeasuringInputType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - MeasuringInputType. . . . . . . . . . . . . . . . . . . . . .
MipBaseCfgInfo - MeasuringInputType. . . . . . . . . . . . . . . . . . . . . . . . .
MipInputCfgInfo - MeasuringInputType . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - MeasuringInputType. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructMeasuringInputLogAddress - MeasuringInputType . . . . . . . . . . .
StructMeasuringInputTimeStampConfig - MeasuringInputType . . . . . .
StructMeasuringRange - MeasuringInputType . . . . . . . . . . . . . . . . . . .
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4-359
4-359
4-360
4-361
4-362
4-363
4-363
4-364
OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . .
LogAddressInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OcaBaseCfgInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . .
OcaTypeInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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5-365
5-365
5-366
5-367
5-369
5-370
CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-371
DecodingConfigInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-371
Contents-12

Contents
LogAddressInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OctBaseCfgInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OctTechnologicalCfgInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . .
OctTypeInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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6-372
6-373
6-375
6-375
6-376
FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsBackLash - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsEncoder - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsHomingEncoder - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
ActualAccelerationMonitoring - FollowingAxis. . . . . . . . . . . . . . . . . . . .
ActualVelocityMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
AdaptDrive - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptExtern - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptLoad - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorNumber - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - FollowingAxis . . . . . . . . . . . . . . . . . . . .
AnalogSensorType - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
AssemblyBase - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ClampingMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerDynamic - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerStruct - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerSwitchData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DataSetMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfig - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DigitalInputMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DistributedMotionInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
Drift - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriveData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicComp - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicFollowing - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EmergencyRampGenerator - FollowingAxis . . . . . . . . . . . . . . . . . . . . .
EncoderMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderNumber - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExtrapolationPositionFilterType - FollowingAxis . . . . . . . . . . . . . . . . . .
Filter - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FineInterpolator - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControlHeldValueMonitoring - FollowingAxis . . . . . . . . . . . . . . . .
ForceControlRunningInWindowMonitoring - FollowingAxis . . . . . . . . .
ForceControllerData - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControllerDifference - FollowingAxis . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Friction - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Gear - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
GearingPosTolerance - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
HWEndPos - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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7-377
7-379
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7-384
7-385
7-386
7-386
7-387
7-388
7-390
7-391
7-391
7-392
7-392
7-393
7-394
7-395
7-395
7-396
7-397
7-398
7-402
7-403
7-404
7-405
7-407
7-410
7-411
7-412
7-414
7-415
7-420
7-420
7-421
7-422
7-423
7-424
7-424
7-425
7-427
7-427
7-428
7-429
7-430
7-432
7-434

Contents-13
Contents
IncBackLash - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncEncoder - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncHomingEncoder - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - FollowingAxis. . . . . . . . . . . . . .
InversCountDirection - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPoint - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPointHydraulicType - FollowingAxis . . . . . . . . . . . . . . . . . . . .
LeadScrewInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LinearMotorDriveData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
LinearStepMotorDriveDataType - FollowingAxis. . . . . . . . . . . . . . . . . .
MaxAcceleration - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxForceCommandData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
MaxJerk - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxVelocity - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NeutralBand - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfAdditionalSensors - FollowingAxis . . . . . . . . . . . . . . . . . . . .
NumberOfDataSets - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDigitalInputs - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfEncoders - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
OutputLimits - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PD_Controller - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerForce - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerPos - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PT2PositionFilterType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
PV_Controller - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathPerRevolution - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathSyncAxisPosTolerance - FollowingAxis. . . . . . . . . . . . . . . . . . . . .
PositionFilterType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PositionMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProcessModel - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Range - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolution - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartConditionInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamNegative - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamPositive - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorNist - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorSetActualValue - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
SetPointDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SimulationInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Slippage - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SmoothingFilter - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StateDriveExternalZeroMark - FollowingAxis . . . . . . . . . . . . . . . . . . . .
StepMotorDriveDataType - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . .
StepMotorMonitoringType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisActualValueUpdateCounter - FollowingAxis . . . . . . . . . . . . .
StructAxisAdditionalOffset - FollowingAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisAnalogSensorErrorStateMonitoring - FollowingAxis . . . . . . .
StructAxisAnalogSensorReadyStateMonitoring - FollowingAxis. . . . . .
Contents-14
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7-437
7-438
7-443
7-444
7-444
7-445
7-445
7-446
7-448
7-449
7-450
7-450
7-451
7-452
7-453
7-454
7-455
7-457
7-458
7-459
7-460
7-461
7-463
7-465
7-466
7-468
7-469
7-470
7-471
7-472
7-472
7-473
7-473
7-474
7-475
7-476
7-477
7-477
7-478
7-479
7-483
7-483
7-484
7-485
7-486
7-487
7-488
7-489
7-490
7-492
7-494
7-495

Contents
StructAxisDriveControlConfig - FollowingAxis. . . . . . . . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - FollowingAxis . .
StructAxisFilterForceControlConfig - FollowingAxis . . . . . . . . . . . . . . .
StructAxisInvertFOutput - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisInvertQOutput - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisNistDriverConfig - FollowingAxis. . . . . . . . . . . . . . . . . . . . . .
StructAxisOperatingDataInInfo - FollowingAxis. . . . . . . . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - FollowingAxis. . . . . . . . . . . . . . . . . .
StructAxisServoMonitoringConfig - FollowingAxis . . . . . . . . . . . . . . . .
StructAxisSetpointFilter - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSlidingFriction - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSpeedLimitation - FollowingAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisSwLimitConfig - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSystemDeadTimeData - FollowingAxis. . . . . . . . . . . . . . . . .
StructAxisTechnologicalData - FollowingAxis . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataInInfo - FollowingAxis . . . . . . . . . . . . . . .
StructAxisTechnologicalDataOutInfo - FollowingAxis . . . . . . . . . . . . . .
StructCommandValueQuantization - FollowingAxis . . . . . . . . . . . . . . .
StructControllerOutput - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructDirectOutputDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . .
StructDriveInterfaceDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . .
StructDriverInfoDirectIncremental - FollowingAxis . . . . . . . . . . . . . . . .
StructEnableBit - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolation - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolationFilter - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . .
StructLogAddressIoBitType - FollowingAxis . . . . . . . . . . . . . . . . . . . . .
StructPaxDynamicQFData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . .
StructPositionDifferenceMeasurement - FollowingAxis. . . . . . . . . . . . .
StructPressureDifferenceMeasurement - FollowingAxis . . . . . . . . . . . .
StructSensorDriverInfo - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . .
StructToleranceRange - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
TypeOfAxisInfo - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VelocityPositionProfile - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
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7-498
7-499
7-500
7-500
7-501
7-502
7-504
7-504
7-505
7-506
7-507
7-508
7-509
7-509
7-510
7-510
7-511
7-512
7-513
7-514
7-517
7-518
7-519
7-520
7-521
7-522
7-523
7-524
7-526
7-528
7-529
7-532
FollowingObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . .
DistributedMotionInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . .
RestartInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SyncingMotionInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . . .
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8-533
8-533
8-534
8-534
8-535
8-536
CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InverseCamRepresentationInfo - CamType . . . . . . . . . . . . . . . . . . . . .
RestartInfo - CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructCamInterpolationSettings - CamType . . . . . . . . . . . . . . . . . . . . .
ToleranceInfo - CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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9-539
9-540
9-541
9-542
9-543

Contents-15
Contents
Part II
TP Path
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II-547
10
PathObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - PathObjectType . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - PathObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructPathArticulatedArm2DConfig - PathObjectType . . . . . . . . . . . . . .
StructPathArticulatedArm2DLinkCompensationConfig - PathObjectType
StructPathArticulatedArmKinematicsConfig - PathObjectType . . . . . . . .
StructPathArticulatedArmLinkCompensationConfig - PathObjectType. .
StructPathCartesianKinematicsConfig - PathObjectType . . . . . . . . . . . .
StructPathDecodingConfigInfo - PathObjectType . . . . . . . . . . . . . . . . . .
StructPathDelta2DKinematicsConfig - PathObjectType . . . . . . . . . . . . .
StructPathInterpolationConfigInfo - PathObjectType . . . . . . . . . . . . . . .
StructPathKinematicsConfig - PathObjectType. . . . . . . . . . . . . . . . . . . .
StructPathKinematicsOffsetConfig - PathObjectType . . . . . . . . . . . . . . .
StructPathPickerKinematicsConfig - PathObjectType. . . . . . . . . . . . . . .
StructPathRotaryArmKinematicsConfig - PathObjectType . . . . . . . . . . .
StructPathRotaryArmLinkCompensationA2 - PathObjectType . . . . . . . .
StructPathScaraKinematicsConfig - PathObjectType . . . . . . . . . . . . . . .
StructPathScaraLinkCompensationA2 - PathObjectType . . . . . . . . . . . .
StructPathSpecificKinematicsConfig - PathObjectType . . . . . . . . . . . . .
10-551
10-551
10-552
10-553
10-555
10-556
10-558
10-559
10-560
10-561
10-563
10-565
10-566
10-567
10-568
10-569
10-570
10-571
10-572
10-573
10-574
10-575
10-576
11
PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsBackLash - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsEncoder - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsHomingEncoder - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ActualAccelerationMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . .
ActualVelocityMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptDrive - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptExtern - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptLoad - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorNumber - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
AnalogSensorType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AssemblyBase - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ClampingMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerDynamic - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerStruct - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerSwitchData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DataSetMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DigitalInputMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DistributedMotionInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11-577
11-577
11-579
11-583
11-584
11-585
11-586
11-586
11-587
11-588
11-590
11-591
11-591
11-592
11-592
11-593
11-594
11-595
11-595
11-596
11-597
11-598
11-602
11-603
Contents-16
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Contents
Drift - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriveData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicComp - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicFollowing - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EmergencyRampGenerator - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderNumber - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExtrapolationPositionFilterType - PathAxis . . . . . . . . . . . . . . . . . . . . . .
Filter - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FineInterpolator - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControlHeldValueMonitoring - PathAxis. . . . . . . . . . . . . . . . . . . .
ForceControlRunningInWindowMonitoring - PathAxis . . . . . . . . . . . . .
ForceControllerData - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControllerDifference - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Friction - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Gear - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
GearingPosTolerance - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HWEndPos - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncBackLash - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncEncoder - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncHomingEncoder - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - PathAxis. . . . . . . . . . . . . . . . . .
InversCountDirection - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPoint - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPointHydraulicType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
LeadScrewInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LinearMotorDriveData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LinearStepMotorDriveDataType - PathAxis . . . . . . . . . . . . . . . . . . . . .
MaxAcceleration - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxForceCommandData - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxJerk - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxVelocity - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NeutralBand - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfAdditionalSensors - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDataSets - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDigitalInputs - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfEncoders - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OutputLimits - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PD_Controller - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerForce - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerPos - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PT2PositionFilterType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PV_Controller - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathAxisPosTolerance - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathPerRevolution - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathSyncAxisPosTolerance - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . .
PositionFilterType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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11-604
11-605
11-607
11-610
11-611
11-612
11-614
11-615
11-620
11-620
11-621
11-622
11-623
11-624
11-624
11-625
11-627
11-627
11-628
11-629
11-630
11-632
11-634
11-636
11-637
11-638
11-643
11-644
11-644
11-645
11-645
11-646
11-648
11-649
11-650
11-650
11-651
11-652
11-653
11-654
11-655
11-657
11-658
11-659
11-660
11-661
11-663
11-665
11-666
11-668
11-668
11-669
11-670
Contents-17
Contents
PositionMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProcessModel - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Range - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolution - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartConditionInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamNegative - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamPositive - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorNist - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorSetActualValue - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SetPointDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SimulationInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Slippage - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SmoothingFilter - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StateDriveExternalZeroMark - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorDriveDataType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorMonitoringType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisActualValueUpdateCounter - PathAxis . . . . . . . . . . . . . . . . .
StructAxisAdditionalOffset - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisAnalogSensorErrorStateMonitoring - PathAxis . . . . . . . . . . .
StructAxisAnalogSensorReadyStateMonitoring - PathAxis. . . . . . . . . .
StructAxisDriveControlConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - PathAxis. . . . . .
StructAxisFilterForceControlConfig - PathAxis . . . . . . . . . . . . . . . . . . .
StructAxisInvertFOutput - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisInvertQOutput - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisNistDriverConfig - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisOperatingDataInInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - PathAxis . . . . . . . . . . . . . . . . . . . . .
StructAxisServoMonitoringConfig - PathAxis . . . . . . . . . . . . . . . . . . . .
StructAxisSetpointFilter - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSlidingFriction - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSpeedLimitation - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSwLimitConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSystemDeadTimeData - PathAxis. . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataInInfo - PathAxis . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataOutInfo - PathAxis . . . . . . . . . . . . . . . . . .
StructCommandValueQuantization - PathAxis . . . . . . . . . . . . . . . . . . .
StructControllerOutput - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructDirectOutputDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructDriveInterfaceDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . .
StructDriverInfoDirectIncremental - PathAxis . . . . . . . . . . . . . . . . . . . .
StructEnableBit - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolation - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolationFilter - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructLogAddressIoBitType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructPaxDynamicQFData - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . .
StructPositionDifferenceMeasurement - PathAxis . . . . . . . . . . . . . . . .
StructPressureDifferenceMeasurement - PathAxis. . . . . . . . . . . . . . . .
Contents-18
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11-671
11-672
11-672
11-673
11-673
11-674
11-675
11-676
11-677
11-677
11-678
11-679
11-683
11-683
11-684
11-685
11-686
11-687
11-688
11-689
11-690
11-692
11-694
11-695
11-696
11-698
11-699
11-700
11-700
11-701
11-702
11-704
11-704
11-705
11-706
11-707
11-708
11-709
11-710
11-711
11-711
11-712
11-713
11-714
11-715
11-718
11-719
11-720
11-721
11-722
11-723
11-724
11-725

Contents
StructSensorDriverInfo - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructToleranceRange - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TypeOfAxisInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VelocityPositionProfile - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Part III
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TP Cam_ext
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
11-727
11-729
11-730
11-733
III-737
AdditionObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - AdditionObjectType . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - AdditionObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - AdditionObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAdderDecodingConfigType - AdditionObjectType . . . . . . . . . . . .
StructBaseConfigType - AdditionObjectType . . . . . . . . . . . . . . . . . . . .
StructMotionInMainType - AdditionObjectType. . . . . . . . . . . . . . . . . . .
StructMotionInType - AdditionObjectType. . . . . . . . . . . . . . . . . . . . . . .
StructMotionOutType - AdditionObjectType . . . . . . . . . . . . . . . . . . . . .
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12-741
12-741
12-742
12-743
12-744
12-744
12-745
12-745
12-746
13
ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13-747
DecodingConfigInfo - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . 13-747
ExecutionConfigInfo - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . 13-748
Filter - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-749
PT2PositionFilterType - ControllerObjectType . . . . . . . . . . . . . . . . . . . . 13-750
RestartInfo - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-751
SmoothingFilter - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . 13-752
StructCompactControllerControllerType - ControllerObjectType . . . . . . 13-753
StructCompactControllerPreControl - ControllerObjectType. . . . . . . . . . 13-753
StructControlObjectControlDeviationThreshold - ControllerObjectType . 13-754
StructControllerObjectControlDeviationMonitoring - ControllerObjectType 13-754
StructControllerObjectInputInterface - ControllerObjectType . . . . . . . . . 13-755
StructControllerObjectOutputDerivativeLimitingConfig ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-756
StructControllerObjectOutputInterface - ControllerObjectType . . . . . . . . 13-757
StructControllerObjectOutputLimitConfig - ControllerObjectType . . . . . . 13-758
StructControllerObjectPIDContollerDConfig - ControllerObjectType . . . 13-758
StructControllerObjectPIDContollerIConfig - ControllerObjectType . . . . 13-759
StructControllerObjectPIDContollerIConfigILimit - ControllerObjectType . 13-759
StructControllerObjectPIDContollerLimitAntiWindup ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-760
StructControllerObjectPIDControllerConfig - ControllerObjectType . . . . 13-760
14
FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructDINTInMainType - FormulaObjectType . . . . . . . . . . . . . . . . . . . .
StructDINTInType - FormulaObjectType. . . . . . . . . . . . . . . . . . . . . . . .
StructDINTOutMainType - FormulaObjectType . . . . . . . . . . . . . . . . . .
StructDINTOutType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . .

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14-761
14-761
14-762
14-763
14-764
14-764
14-765
14-765
Contents-19
Contents
15
16
StructFormulaObjectMotionOutConfig - FormulaObjectType . . . . . . . .
StructLREALInMainType - FormulaObjectType . . . . . . . . . . . . . . . . . .
StructLREALInType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . .
StructLREALOutMainType - FormulaObjectType . . . . . . . . . . . . . . . . .
StructLREALOutType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . .
StructMotionInMainType - FormulaObjectType. . . . . . . . . . . . . . . . . . .
StructMotionInType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . .
StructMotionOutMainType - FormulaObjectType . . . . . . . . . . . . . . . . .
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14-766
14-766
14-767
14-767
14-768
14-768
14-769
14-769
FixedGearType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - FixedGearType. . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - FixedGearType . . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - FixedGearType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - FixedGearType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructBaseConfigType - FixedGearType . . . . . . . . . . . . . . . . . . . . . . .
StructMotionInMainType - FixedGearType . . . . . . . . . . . . . . . . . . . . . .
StructMotionInType - FixedGearType . . . . . . . . . . . . . . . . . . . . . . . . . .
StructMotionOutType - FixedGearType . . . . . . . . . . . . . . . . . . . . . . . .
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15-771
15-771
15-772
15-773
15-774
15-775
15-775
15-776
15-776
SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsEncoder - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorDriverInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - SensorType. . . . . . . . . . . . . . . . . . . . . .
AnalogSensorType - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionData - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionDataAdaptType - SensorType. . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriverInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Filter - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncEncoder - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - SensorType . . . . . . . . . . . . . . .
InversCountDirection - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . .
LeadScrewInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathPerRevolution - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PositionFilterType - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolution - SensorType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . .
Slippage - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - SensorType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisActualValueUpdateCounter - SensorType . . . . . . . . . . . . . .
StructAxisAnalogSensorErrorStateMonitoring - SensorType . . . . . . . .
StructAxisAnalogSensorReadyStateMonitoring - SensorType . . . . . . .
StructAxisDriveControlConfig - SensorType . . . . . . . . . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - SensorType . . .
StructAxisNistDriverConfig - SensorType . . . . . . . . . . . . . . . . . . . . . . .
StructAxisOperatingDataInInfo - SensorType . . . . . . . . . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - SensorType . . . . . . . . . . . . . . . . . . .
StructAxisSpeedLimitation - SensorType . . . . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalData - SensorType . . . . . . . . . . . . . . . . . . . . .
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16-777
16-777
16-781
16-783
16-784
16-785
16-786
16-786
16-787
16-790
16-791
16-791
16-792
16-793
16-794
16-794
16-795
16-795
16-796
16-797
16-798
16-799
16-799
16-800
16-801
16-803
16-804
16-805
16-807
16-807
16-808
16-810
16-811
16-812
Contents-20

Contents
StructAxisTechnologicalDataInInfo - SensorType. . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataOutInfo - SensorType . . . . . . . . . . . . . . .
StructDriverInfoDirectIncremental - SensorType. . . . . . . . . . . . . . . . . .
StructExtrapolation - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolationFilter - SensorType . . . . . . . . . . . . . . . . . . . . . . . . .
StructInSensorMain - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructInputObjectRange - SensorType . . . . . . . . . . . . . . . . . . . . . . . . .
StructLogAddressIoBitType - SensorType . . . . . . . . . . . . . . . . . . . . . .
StructSensorDriverInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . .
StructSensorExtrapolation - SensorType . . . . . . . . . . . . . . . . . . . . . . .
StructSensorGeneralParameter - SensorType . . . . . . . . . . . . . . . . . . .
StructToleranceRange - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . .
Part IV
17
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16-812
16-813
16-813
16-814
16-815
16-816
16-816
16-817
16-818
16-820
16-820
16-821
TP TControl
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IV-825
TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgActualIdentificationType TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgAnalogDevice - TemperatureControllerType . . . .
StructTControllerCfgBinaryDevice - TemperatureControllerType . . . . .
StructTControllerCfgConfigUpdate - TemperatureControllerType . . . .
StructTControllerCfgControlRangeParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgControlledSystemParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgController - TemperatureControllerType. . . . . . . .
StructTControllerCfgCycleParameter - TemperatureControllerType . .
StructTControllerCfgDPIDController - TemperatureControllerType . . .
StructTControllerCfgDPIDParameter - TemperatureControllerType. . .
StructTControllerCfgDataConversionOutput TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgExecutionParameter - TemperatureControllerType
StructTControllerCfgGeneralParameter - TemperatureControllerType.
StructTControllerCfgHTempController - TemperatureControllerType. .
StructTControllerCfgIdentificationMinimumStepSize TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgIdentificationModifiedTangentMethod TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgIdentificationOutputValue TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgIdentificationStandardType TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgIdentificationStaticCondition TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgIdentificationTransitionMode TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgInput - TemperatureControllerType . . . . . . . . . . .
StructTControllerCfgInputAnalog - TemperatureControllerType . . . . . .
17-827

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17-827
17-828
17-828
17-829
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17-830
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17-831
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17-837
17-838
. 17-838
. 17-839
. 17-839
. 17-840
. 17-841
. 17-841
. 17-842
. 17-842
Contents-21
Contents
StructTControllerCfgInputDisplayValueParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgInputFilterParameter - TemperatureControllerType .
StructTControllerCfgInputGradientCheckParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgInputLimitCheckParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgInputSingleLimitCheckParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgLimits - TemperatureControllerType. . . . . . . . . . . .
StructTControllerCfgLimitsControllerParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgLimitsGeneralParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgLimitsProcessParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgOutput - TemperatureControllerType . . . . . . . . . . .
StructTControllerCfgOutputAnalog - TemperatureControllerType . . . . .
StructTControllerCfgOutputPwm - TemperatureControllerType . . . . . . .
StructTControllerCfgOutputSingleOutput - TemperatureControllerType .
StructTControllerCfgParameterMatlab - TemperatureControllerType. . .
StructTControllerCfgParameterNetwork1 - TemperatureControllerType .
StructTControllerCfgParameterPT4Tt - TemperatureControllerType . . .
StructTControllerCfgPlausibilityParameter - TemperatureControllerType
StructTControllerCfgProcessMode - TemperatureControllerType . . . . .
StructTControllerCfgPwmParameter - TemperatureControllerType . . . .
StructTControllerCfgSetpointHandling - TemperatureControllerType. . .
StructTControllerCfgSetpointSmoothing - TemperatureControllerType .
StructTControllerCfgSetpointStartupProfile - TemperatureControllerType
StructTControllerCfgSimulation - TemperatureControllerType . . . . . . . .
StructTControllerCfgSimulationControlledSystemParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgSimulationParameter - TemperatureControllerType.
StructTControllerCfgSimulationSystemNetwork1 TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgSimulationSystemPT4Tt TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerConversionConverterRange TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerConversionLinear - TemperatureControllerType . . . . .
StructTControllerConversionTemperatureRange TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerConversionVector - TemperatureControllerType . . . . .
StructTControllerDataConversionConfig - TemperatureControllerType .
StructTcontrollerCfgIdentification - TemperatureControllerType. . . . . . .
Contents-22
17-843
17-843
17-844
17-844
17-845
17-846
17-847
17-849
17-850
17-852
17-852
17-853
17-853
17-854
17-855
17-857
17-858
17-860
17-861
17-861
17-862
17-863
17-864
17-865
17-866
17-867
17-868
17-869
17-870
17-870
17-871
17-872
17-872

Part I
TP Cam

I-23
I-24

Contents
Part I
1
TP Cam
DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsEncoder - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ActualVelocityMonitoring - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptDrive - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptExtern - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptLoad - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorDriverInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorMain - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorNumber - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . .
AnalogSensorType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AssemblyBase - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerDynamic - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerStruct - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DataSetMain - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drift - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriveData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriverInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EmergencyRampGenerator - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . .
EncoderMain - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderNumber - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Filter - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FineInterpolator - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControlHeldValueMonitoring - DriveAxis . . . . . . . . . . . . . . . . . . .
ForceControlRunningInWindowMonitoring - DriveAxis . . . . . . . . . . . . .
ForceControllerData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControllerDifference - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Friction - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Gear - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HWEndPos - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncEncoder - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - DriveAxis . . . . . . . . . . . . . . . . .
InversCountDirection - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPoint - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPointHydraulicType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . .
LinearMotorDriveData - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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1-35
1-35
1-39
1-40
1-40
1-41
1-42
1-44
1-45
1-45
1-46
1-46
1-47
1-48
1-49
1-50
1-51
1-55
1-56
1-58
1-61
1-62
1-63
1-67
1-68
1-69
1-70
1-71
1-72
1-73
1-75
1-75
1-76
1-77
1-78
1-80
1-81
1-82
1-83
1-83
1-84
Contents-25
Contents
LinearStepMotorDriveDataType - DriveAxis . . . . . . . . . . . . . . . . . . . . .
MaxAcceleration - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxForceCommandData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxJerk - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxVelocity - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NeutralBand - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfAdditionalSensors - DriveAxis . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDataSets - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfEncoders - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OutputLimits - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerForce - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerPos - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProcessModel - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Range - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartConditionInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorSetActualValue - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SetPointDriverInfo - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SimulationInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SmoothingFilter - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorDriveDataType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorMonitoringType - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisAdditionalOffset - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisDriveControlConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - DriveAxis . . . . .
StructAxisFilterForceControlConfig - DriveAxis. . . . . . . . . . . . . . . . . . .
StructAxisInvertFOutput - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisInvertQOutput - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisNistDriverConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisOperatingDataInInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . .
StructAxisServoMonitoringConfig - DriveAxis . . . . . . . . . . . . . . . . . . . .
StructAxisSetpointFilter - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSlidingFriction - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSpeedLimitation - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSystemDeadTimeData - DriveAxis . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataInInfo - DriveAxis . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataOutInfo - DriveAxis . . . . . . . . . . . . . . . . .
StructControllerOutput - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructDaxDynamicQFData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructDirectOutputDriverInfo - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . .
StructDriveInterfaceDriverInfo - DriveAxis. . . . . . . . . . . . . . . . . . . . . . .
StructDriverInfoDirectIncremental - DriveAxis. . . . . . . . . . . . . . . . . . . .
StructEnableBit - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructPressureDifferenceMeasurement - DriveAxis . . . . . . . . . . . . . . .
StructSensorDriverInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TypeOfAxisInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2
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. . . 1-87
. . . 1-88
. . . 1-88
. . . 1-89
. . . 1-90
. . . 1-91
. . . 1-92
. . . 1-94
. . . 1-95
. . . 1-96
. . . 1-98
. . 1-100
. . 1-100
. . 1-101
. . 1-102
. . 1-103
. . 1-104
. . 1-105
. . 1-109
. . 1-110
. . 1-111
. . 1-112
. . 1-113
. . 1-114
. . 1-116
. . 1-118
. . 1-119
. . 1-120
. . 1-120
. . 1-121
. . 1-122
. . 1-124
. . 1-124
. . 1-125
. . 1-126
. . 1-127
. . 1-127
. . 1-128
. . 1-129
. . 1-129
. . 1-130
. . 1-131
. . 1-132
. . 1-133
. . 1-136
. . 1-137
. . 1-138
. . 1-140
. . 1-142
ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-145
AbsEncoder - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-145
Contents-26

Contents
AbsHomingEncoder - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . .
ActualVelocityMonitoring - ExternalEncoderType . . . . . . . . . . . . . . . . .
AdaptDrive - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptExtern - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptLoad - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - ExternalEncoderType . . . . . . . . . . . . . .
AnalogSensorType - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . .
AssemblyBase - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfig - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . .
DistributedMotionInfo - ExternalEncoderType. . . . . . . . . . . . . . . . . . . .
DriverInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderMain - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . .
ExtrapolationPositionFilterType - ExternalEncoderType. . . . . . . . . . . .
Filter - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . .
Gear - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncEncoder - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncHomingEncoder - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - ExternalEncoderType . . . . . . .
InversCountDirection - ExternalEncoderType . . . . . . . . . . . . . . . . . . . .
LeadScrewInfo - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . .
PT2PositionFilterType - ExternalEncoderType . . . . . . . . . . . . . . . . . . .
PathPerRevolution - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . .
PositionFilterType - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . .
Resolution - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - ExternalEncoderType . . . . . . . . . . . . . . . . . . . .
SensorNist - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorSetActualValue - ExternalEncoderType. . . . . . . . . . . . . . . . . . .
SmoothingFilter - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorMonitoringType - ExternalEncoderType . . . . . . . . . . . . . . . .
StructAxisActualValueUpdateCounter - ExternalEncoderType. . . . . . .
StructAxisAnalogSensorErrorStateMonitoring - ExternalEncoderType.
StructAxisDriveControlConfig - ExternalEncoderType . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisNistDriverConfig - ExternalEncoderType . . . . . . . . . . . . . . .
StructAxisOperatingDataInInfo - ExternalEncoderType . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - ExternalEncoderType . . . . . . . . . . .
StructAxisSpeedLimitation - ExternalEncoderType. . . . . . . . . . . . . . . .
StructAxisTechnologicalData - ExternalEncoderType. . . . . . . . . . . . . .
StructAxisTechnologicalDataInInfo - ExternalEncoderType . . . . . . . . .
StructAxisTechnologicalDataOutInfo - ExternalEncoderType. . . . . . . .
StructDriverInfoDirectIncremental - ExternalEncoderType . . . . . . . . . .
StructExtrapolation - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . .
StructExtrapolationFilter - ExternalEncoderType . . . . . . . . . . . . . . . . .
StructLogAddressIoBitType - ExternalEncoderType. . . . . . . . . . . . . . .
StructSensorDriverInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . .
StructToleranceRange - ExternalEncoderType. . . . . . . . . . . . . . . . . . .

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Contents-27
Contents
TypeOfAxisInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . 2-203

3
PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsBackLash - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsEncoder - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsHomingEncoder - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ActualAccelerationMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . . . . . .
ActualVelocityMonitoring - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptDrive - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptExtern - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptLoad - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorNumber - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . .
AnalogSensorType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AssemblyBase - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ClampingMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerDynamic - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerStruct - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerSwitchData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DataSetMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfig - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DigitalInputMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DistributedMotionInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drift - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriveData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriverInfo - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicComp - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicData - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicFollowing - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EmergencyRampGenerator - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderNumber - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExtrapolationPositionFilterType - PosAxis . . . . . . . . . . . . . . . . . . . . . .
Filter - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FineInterpolator - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControlHeldValueMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . .
ForceControlRunningInWindowMonitoring - PosAxis . . . . . . . . . . . . . .
ForceControllerData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControllerDifference - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Friction - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Gear - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HWEndPos - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncBackLash - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncEncoder - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncHomingEncoder - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - PosAxis . . . . . . . . . . . . . . . . . .
InversCountDirection - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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3-270

Contents
InvertSetPoint - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPointHydraulicType - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . .
LeadScrewInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LinearMotorDriveData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LinearStepMotorDriveDataType - PosAxis . . . . . . . . . . . . . . . . . . . . . .
MaxAcceleration - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxForceCommandData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxJerk - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxVelocity - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NeutralBand - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfAdditionalSensors - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDataSets - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDigitalInputs - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfEncoders - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OutputLimits - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PD_Controller - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerForce - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerPos - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PT2PositionFilterType - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PV_Controller - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathPerRevolution - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathSyncAxisPosTolerance - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . .
PositionFilterType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PositionMonitoring - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProcessModel - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Range - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolution - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartConditionInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamNegative - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamPositive - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorNist - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorSetActualValue - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SetPointDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SimulationInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Slippage - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SmoothingFilter - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StateDriveExternalZeroMark - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorDriveDataType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorMonitoringType - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisActualValueUpdateCounter - PosAxis . . . . . . . . . . . . . . . . .
StructAxisAdditionalOffset - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisAnalogSensorErrorStateMonitoring - PosAxis . . . . . . . . . . .
StructAxisAnalogSensorReadyStateMonitoring - PosAxis . . . . . . . . . .
StructAxisDriveControlConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - PosAxis . . . . . .
StructAxisFilterForceControlConfig - PosAxis. . . . . . . . . . . . . . . . . . . .
StructAxisInvertFOutput - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisInvertQOutput - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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Contents-29
Contents
StructAxisNistDriverConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisOperatingDataInInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisServoMonitoringConfig - PosAxis . . . . . . . . . . . . . . . . . . . . .
StructAxisSetpointFilter - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSlidingFriction - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSpeedLimitation - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSwLimitConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSystemDeadTimeData - PosAxis . . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataInInfo - PosAxis . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataOutInfo - PosAxis . . . . . . . . . . . . . . . . . .
StructCommandValueQuantization - PosAxis. . . . . . . . . . . . . . . . . . . .
StructControllerOutput - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructDirectOutputDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructDriveInterfaceDriverInfo - PosAxis. . . . . . . . . . . . . . . . . . . . . . . .
StructDriverInfoDirectIncremental - PosAxis . . . . . . . . . . . . . . . . . . . . .
StructEnableBit - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolation - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolationFilter - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructLogAddressIoBitType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructPaxDynamicQFData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructPositionDifferenceMeasurement - PosAxis . . . . . . . . . . . . . . . . .
StructPressureDifferenceMeasurement - PosAxis . . . . . . . . . . . . . . . .
StructSensorDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructToleranceRange - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TypeOfAxisInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VelocityPositionProfile - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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3-357
MeasuringInputType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - MeasuringInputType. . . . . . . . . . . . . . . . . . . . . .
MipBaseCfgInfo - MeasuringInputType. . . . . . . . . . . . . . . . . . . . . . . . .
MipInputCfgInfo - MeasuringInputType . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - MeasuringInputType. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructMeasuringInputLogAddress - MeasuringInputType . . . . . . . . . . .
StructMeasuringInputTimeStampConfig - MeasuringInputType . . . . . .
StructMeasuringRange - MeasuringInputType . . . . . . . . . . . . . . . . . . .
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4-361
4-362
4-363
4-363
4-364
OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . .
LogAddressInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OcaBaseCfgInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . .
OcaTypeInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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5-365
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5-370
CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . .
LogAddressInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OctBaseCfgInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OctTechnologicalCfgInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . .
OctTypeInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Contents-30

Contents
FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsBackLash - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsEncoder - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsHomingEncoder - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
ActualAccelerationMonitoring - FollowingAxis. . . . . . . . . . . . . . . . . . . .
ActualVelocityMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
AdaptDrive - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptExtern - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptLoad - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorNumber - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - FollowingAxis . . . . . . . . . . . . . . . . . . . .
AnalogSensorType - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
AssemblyBase - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ClampingMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerDynamic - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerStruct - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerSwitchData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DataSetMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfig - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DigitalInputMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DistributedMotionInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
Drift - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriveData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicComp - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicFollowing - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EmergencyRampGenerator - FollowingAxis . . . . . . . . . . . . . . . . . . . . .
EncoderMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderNumber - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExtrapolationPositionFilterType - FollowingAxis . . . . . . . . . . . . . . . . . .
Filter - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FineInterpolator - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControlHeldValueMonitoring - FollowingAxis . . . . . . . . . . . . . . . .
ForceControlRunningInWindowMonitoring - FollowingAxis . . . . . . . . .
ForceControllerData - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControllerDifference - FollowingAxis . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Friction - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Gear - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
GearingPosTolerance - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
HWEndPos - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncBackLash - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncEncoder - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncHomingEncoder - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - FollowingAxis. . . . . . . . . . . . . .
InversCountDirection - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPoint - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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Contents-31
Contents
InvertSetPointHydraulicType - FollowingAxis . . . . . . . . . . . . . . . . . . . .
LeadScrewInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LinearMotorDriveData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
LinearStepMotorDriveDataType - FollowingAxis. . . . . . . . . . . . . . . . . .
MaxAcceleration - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxForceCommandData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
MaxJerk - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxVelocity - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NeutralBand - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfAdditionalSensors - FollowingAxis . . . . . . . . . . . . . . . . . . . .
NumberOfDataSets - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDigitalInputs - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfEncoders - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
OutputLimits - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PD_Controller - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerForce - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerPos - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PT2PositionFilterType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
PV_Controller - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathPerRevolution - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathSyncAxisPosTolerance - FollowingAxis. . . . . . . . . . . . . . . . . . . . .
PositionFilterType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PositionMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProcessModel - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Range - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolution - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartConditionInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamNegative - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamPositive - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorNist - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorSetActualValue - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
SetPointDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SimulationInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Slippage - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SmoothingFilter - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StateDriveExternalZeroMark - FollowingAxis . . . . . . . . . . . . . . . . . . . .
StepMotorDriveDataType - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . .
StepMotorMonitoringType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisActualValueUpdateCounter - FollowingAxis . . . . . . . . . . . . .
StructAxisAdditionalOffset - FollowingAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisAnalogSensorErrorStateMonitoring - FollowingAxis . . . . . . .
StructAxisAnalogSensorReadyStateMonitoring - FollowingAxis. . . . . .
StructAxisDriveControlConfig - FollowingAxis. . . . . . . . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - FollowingAxis . .
StructAxisFilterForceControlConfig - FollowingAxis . . . . . . . . . . . . . . .
StructAxisInvertFOutput - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisInvertQOutput - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisNistDriverConfig - FollowingAxis. . . . . . . . . . . . . . . . . . . . . .
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7-501

Contents
StructAxisOperatingDataInInfo - FollowingAxis. . . . . . . . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - FollowingAxis. . . . . . . . . . . . . . . . . .
StructAxisServoMonitoringConfig - FollowingAxis . . . . . . . . . . . . . . . .
StructAxisSetpointFilter - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSlidingFriction - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSpeedLimitation - FollowingAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisSwLimitConfig - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSystemDeadTimeData - FollowingAxis. . . . . . . . . . . . . . . . .
StructAxisTechnologicalData - FollowingAxis . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataInInfo - FollowingAxis . . . . . . . . . . . . . . .
StructAxisTechnologicalDataOutInfo - FollowingAxis . . . . . . . . . . . . . .
StructCommandValueQuantization - FollowingAxis . . . . . . . . . . . . . . .
StructControllerOutput - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructDirectOutputDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . .
StructDriveInterfaceDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . .
StructDriverInfoDirectIncremental - FollowingAxis . . . . . . . . . . . . . . . .
StructEnableBit - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolation - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolationFilter - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . .
StructLogAddressIoBitType - FollowingAxis . . . . . . . . . . . . . . . . . . . . .
StructPaxDynamicQFData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . .
StructPositionDifferenceMeasurement - FollowingAxis. . . . . . . . . . . . .
StructPressureDifferenceMeasurement - FollowingAxis . . . . . . . . . . . .
StructSensorDriverInfo - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . .
StructToleranceRange - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
TypeOfAxisInfo - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VelocityPositionProfile - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
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FollowingObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . .
DistributedMotionInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . .
RestartInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SyncingMotionInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . . .
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8-533
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8-534
8-535
8-536
CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InverseCamRepresentationInfo - CamType . . . . . . . . . . . . . . . . . . . . .
RestartInfo - CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructCamInterpolationSettings - CamType . . . . . . . . . . . . . . . . . . . . .
ToleranceInfo - CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Contents-33
Contents
Contents-34

DriveAxis
Associated 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.
Note
Further information about the following parameters and on fine resolution can be found in
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
or in the online help
absBaudRate
Data type:
EnumAbsBaudrate
Changeable online:
No
System default:
Baudrate_3
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_1 sets a baud rate of 187.5 Kbaud.
absDataLength
Data type:
UDINT
Changeable online:
Yes, active after restart
System default:
24
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

1-35
DriveAxis
absMessageFormat
Data type:
EnumAbsMsgFormat
Changeable online:
No
System default:
PINETREE
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
Data type:
EnumAbsMsgLength
Changeable online:
No
System default:
LENGTH_25
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.
absResolution
Data type:
UDINT
Changeable online:
System default:
4096
Specifies the number of increments per encoder revolution specified on the encoder rating plate.
absResolutionMultiplierAbsolute
Data type:
UDINT
Changeable online:
No
System default:
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
Data type:
UDINT
Changeable online:
No
System default:
Specifies the multiplication factor of the cyclic actual value of the encoder.
Evaluation of the incremental signal of the absolute encoder during operation (GxIST1).
1-36

DriveAxis
absState
Data type:
EnumAbsState
Changeable online:
No
System default:
GRAY_CODE
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
Data type:
EnumYesNo
Changeable online:
Yes, active immediately
System default:
YES
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 accordance 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.
Note
Switch 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 calculated 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
Baudrate_5 (16#01)
3 Mbaud
Baudrate_4 (16#02)
1.5 Mbaud
Baudrate_3 (16#04)
750 Kbaud
Baudrate_2 (16#08)
375 Kbaud
Baudrate_1 (16#10)
187.5 Kbaud
EnumAbsMsgFormat
RIGHT_MARGIN (0)
Right-justified
PINETREE (1)
Pine tree format

1-37
DriveAxis
EnumAbsMsgLength
LENGTH_13 (13)
13 bits
LENGTH_21 (21)
21 bits
LENGTH_25 (25)
25 bits
EnumAbsState
BIN_CODE (16#00)
Binary
GRAY_CODE (16#01)
Gray Code
EnumYesNo
1-38
NO (91)
No
YES (173)
Yes

DriveAxis
ActualVelocityMonitoring - DriveAxis
The structure elements of 'ActualVelocityMonitoring' specify the monitoring mode for the maximum
actual velocity.
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
Data type:
LREAL
Changeable online:
System default:
0.0 1/min
Specifies the maximum permissible actual velocity.

EnumYesNo
NO (91)
No
YES (173)
Yes

1-39
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
Data type:
UDINT
Changeable online:
System default:
Specifies the denominator of the gear ratio for a measuring gear.

numFactor
Data type:
UDINT
Changeable online:
System default:
Specifies the numerator of the gear ratio for a measuring gear.
AdaptExtern - DriveAxis
The structure elements of 'AdaptExtern' specify the gear ratio parameters for the EXTERN mounting
type.
Note
denFactor
Data type:
UDINT
Changeable online:
System default:

numFactor
Data type:
UDINT
Changeable online:
System default:
1-40

DriveAxis
AdaptLoad - DriveAxis
The structure elements of 'AdaptLoad' specify the gear ratio parameters for load-side encoders.
Note
denFactor
Data type:
UDINT
Changeable online:
System default:

numFactor
Data type:
UDINT
Changeable online:
System default:

1-41
DriveAxis
AdditionalSensorDriverInfo - DriveAxis
The elements of this structure are used to configure the I/O module of an encoder.
errorToleranceTime
Data type:
LREAL
Changeable online:
System default:
0.1 s
Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Data type:
EnumActualValueFormat
Changeable online:
System default:
VALUE_LEFT_MARGIN
Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Data type:
UDINT
Changeable online:
System default:
65535
Specifies the logical address of the communication module.

maxValue
Data type:
DINT
Changeable online:
System default:
32511
Specifies the maximum digitalized measured value for the additional encoder.
minValue
Data type:
DINT
Changeable online:
System default:
-32512
Specifies the minimal digitalized measured value for the additional encoder.
resolution
Data type:
UDINT
Changeable online:
System default:
15
Specifies the number of relevant bits for the additional encoder.
1-42

DriveAxis
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

1-43
DriveAxis
AdditionalSensorMain - DriveAxis
The structure element 'AdditionalSensor' is used to configure an additional encoder.
additionalSensorType
Data type:
EnumAxisAdditionalSensorType
Changeable online:
No
System default:
STANDARD
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
Data type:
EnumAxisInterfaceActivationConfig
Changeable online:
No
System default:
STARTUP_ACTIVATED
Specification to activate the digitized measured values.

With STARTUP_ACTIVATED the driver is activated on the technology object following system startup.
With STARTUP_DEACTIVATED the driver is deactivated on the technology object following system
startup.
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
1-44
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 measurement
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
Data type:
UDINT
Changeable online:
System default:
Specifies the encoder number.
AnalogConversionDataType - DriveAxis
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder
values read.
_type
Data type:
EnumConversionDataType
Changeable online:
No
System default:
LINEAR_CONVERSIONDATA
Specifies the interpretation type for the digitalized measured value.

factor
Data type:
LREAL
Changeable online:
System default:
1.0
Specifies the weighting factor for the analog measured value. The weighting factor specifies the relation between distance/velocity per bit.
offset
Data type:
LREAL
Changeable online:
System default:
0.0
Specifies the offset for the analog measured value.

LINEAR_CONVERSIONDATA (1)

Linear relationship
1-45
DriveAxis
AnalogSensorType - DriveAxis
The structure elements of 'AnalogSensor' specify actual value smoothing.
ConversionData
(AnalogConversionDataType)
Conversion factors between analog input value

and actual position value
DriverInfo
(StructSensorDriverInfo)
Driver data
AssemblyBase - DriveAxis
The structure elements of 'AssemblyBase' specify the parameters for the encoder mounting type.
assemblyBase
Data type:
EnumAxisEncoderAssemblyType
Changeable online:
System default:
ASSEMBLY_BASE_DRIVE
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.
1-46
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.
Note
The 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
Data type:
EnumYesNo
Changeable online:
System default:
NO
Specifies the activation status of the reference model monitoring.

With 'NO', the monitoring is not activated.
With 'YES', the monitoring is activated.
maxVeloTolerance
Data type:
LREAL
Changeable online:
System default:
2.0 %
Specifies the maximum deviation between model and process with reference to maximum velocity.
EnumYesNo
NO (91)
No
YES (173)
Yes

1-47
DriveAxis
ControllerStruct - DriveAxis
The structure elements of 'ControllerStruct' set the controller structure.
Note
conType
Data type:
EnumAxisControllerType
Changeable online:
No
System default:
DIRECT
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.
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 Dcomponent

PID_Controller
(PID_ControllerPos)
1-48
PID controller

DriveAxis
ConversionData - DriveAxis
values read.
Note
Further information is provided:
Supplementary Technology Objects Function Manual
Online help
_type
Data type:
Changeable online:
No
System default:

factor
Data type:
LREAL
Changeable online:
System default:
1.0 Pa
Specifies the evaluation type for the digitalized measured value.

invert
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
Data type:
LREAL
Changeable online:
System default:
0.0 Pa
Specifies the offset for the digitalized measured value.

Linear relationship
EnumYesNo
NO (91)
No
YES (173)
Yes

1-49
DriveAxis
DataSetMain - DriveAxis
The structure elements belonging to "DataSet_(n)" are used to set the data set (n).
Note
1-50
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 system
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/pressure control loop
Gear
(Gear)
Ratio of the load gearbox
InvertQ
(StructAxisInvertQOutput)
Inversion of the Q-output in front of the characteristic curve
InvertSetPoint
(InvertSetPointHydraulicType)
Inversion of the Q-output behind the characteristic curve
ProcessModel
(ProcessModel)
Process model

DriveAxis
DecodingConfig - DriveAxis
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
Note
Additional information is available at:
SIMOTION MCC Motion Control Chart Programming and Operating Manual
Function Manual: Basic Functions
behaviourAtTheEndOfProfile
Data type:
EnumEndBehaviourOfProfile
Changeable online:
System default:
STOP_WHEN_PROFILE_END_REACHED
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
Data type:
EnumAxisCyclicSetUpInForceLimiting
Changeable online:
System default:
NONE
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 limiting component.
With 'POSITION_AND_DYNAMIC_BASED' cyclic resetting is to the setpoint position and setpoint
velocity after allowing for the pressure limiting component.
decodeSequentialMotionCommand
Data type:
EnumDecodeSequentialMotionCommand
Changeable online:
System default:
IMMEDIATELY
Specifies the cycle in which the next 'SEQUENTIAL' or 'NEXT_MOTION' command is transferred to
the interpolator.

1-51
DriveAxis
directionDynamic
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
Data type:
EnumYesNo
Changeable online:
System default:
YES
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
Data type:
DINT
Changeable online:
System default:
Specifies the number of commands, programmed with the IMMEDIATELY command parameter,
which can be active simultaneously on one axis.
numberOfMaxBufferedCommandId
Data type:
DINT
Changeable online:
System default:
100
Specifies the maximum number of command IDs active simultaneously whose status can be requested 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
Data type:
DINT
Changeable online:
System default:
Specifies the maximum number of commands which can be active simultaneously on one axis.
1-52

DriveAxis
profileDynamicsLimiting
Data type:
EnumProfileDynamicsLimiting
Changeable online:
System default:
COMMAND_DYNAMICS
Specifies the active limits for dynamic parameters.

With 'COMMAND_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 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
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
Data type:
EnumTransferSuperimposedPosition
Changeable online:
System default:
TRANSFER_STANDSTILL
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.

1-53
DriveAxis
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 setpoint velocity
IMMEDIATELY (0)
Switch to next command immediately
NEXT_IPO_CYCLE (1)
Switch to next command in next cycle
EnumYesNo
NO (91)
No
YES (173)
Yes
COMMAND_DYNAMICS (0)
Limiting of dynamic parameters using the minimum value of the configured and programmed
values
MAX_CONFIGURED_DYNAMICS (1)
Limiting of dynamic parameters using configured values
1-54
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.
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
Specifies the activation status of drift compensation.

With 'NO', the drift compensation is not activated.
With 'YES', the drift compensation is activated.
EnumYesNo
NO (91)
No
YES (173)
Yes

1-55
DriveAxis
DriveData - DriveAxis
The structure elements for 'DriveData' specify the key drive values.
Note
maxSpeed
Data type:
LREAL
Changeable online:
System default:
3000.0 1/min
Specifies the maximum speed.

maxTorque
Data type:
LREAL
Changeable online:
System default:
3.2 Nm
Specifies the maximum torque of the drive.

nominalSpeed
Data type:
LREAL
Changeable online:
System default:
3000.0 1/min
Specifies the reference speed.

nominalTorque
Data type:
LREAL
Changeable online:
System default:
3.2 Nm
Specifies the nominal torque of the drive.

speedReference
Data type:
EnumAxisReferenceMaxNominal
Changeable online:
System default:
MAX_VALUE
Selection setting for scaling: reference speed or maximum speed.

torqueReductionGranularity
Data type:
EnumAxisTorqueForceReductionGranularity
Changeable online:
System default:
BASIC
Specifies the fine resolution of the torque reduction.
1-56

DriveAxis
torqueReference
Data type:
Changeable online:
System default:
MAX_VALUE
Selection setting for scaling: Nominal torque or maximum torque.

MAX_VALUE (0)
Maximum value
NOMINAL_VALUE (1)
Nominal value
STANDARD (0)
Resolution 1/100
BASIC (16)
Resolution 1/16384

1-57
DriveAxis
DriverInfo - DriveAxis
The structure elements of 'DriverInfo' specify the parameters for the encoder hardware.
Note
Technology Objects Synchronous Operation, Cam Function Manual
encoderNumberOnDevice
Data type:
DINT
Changeable online:
No
System default:
Specifies the number of the encoder actual value for message frames with several actual values, e.g.
DP_TEL106_611U_DSC_2_ENCODER.
lifeSignCheck
Data type:
EnumYesNo
Changeable online:
System default:
YES
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
Data type:
UDINT
Changeable online:
No
System default:
65535
Specifies the logical address for the input data area.

logAddressOut
Data type:
UDINT
Changeable online:
No
System default:
65535
Specifies the logical address for the output data area.
1-58

DriveAxis
telegramType
Data type:
EnumAxisTelegramType
Changeable online:
No
System default:
DP_TEL102_611U_POSCTRL_1_ENCODER
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.
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_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.
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
NO (91)
No
YES (173)
Yes
NO_TELEGRAM (0)
No message frame
DP_TEL1_STANDARD (1)
Standard message frame 1, PZD-2/2

1-59
DriveAxis
1-60
DP_TEL101_611U_VELCTRL_NO_ENCODER
(101)
SIEMENS message frame 101, PZD-6/7
(102)
(103)
DP_TEL105_611U_DSC_1_ENCODER (105)
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.
Note
torqueTimeConstant
Data type:
LREAL
Changeable online:
System default:
0.00005 s
Specifies the equivalent time constant of the torque control system.

velocityTimeConstant
Data type:
LREAL
Changeable online:
System default:
0.0005 s
Specifies the equivalent time constant of the velocity control system.

Note
This value can only be checked after download.

1-61
DriveAxis
EmergencyRampGenerator - DriveAxis
The structure element of 'EmergencyRampGenerator' sets the parameter of the emergency stop ramp
generator.
maxDeceleration
Data type:
LREAL
Changeable online:
System default:
3600000.0 m/s
Specifies the deceleration of the braking ramp.
1-62

DriveAxis
EncoderMain - DriveAxis
The structure elements of 'Encoder' specify the parameters of the encoder.
dataAdaption
Data type:
EnumYesNo
Changeable online:
System default:
NO
Selects the behavior

For YES, the selected encoder configuration parameters will be modified by the drive.
For NO, the encoder configuration parameters are configured by the user.
encoderIdentification
Data type:
EnumAxisEncoderIdentification
Changeable online:
No
System default:
SIMULATION
Specifies the encoder identification (encoder interface).

With SIMULATION, the circuit between the motor and encoder is closed by means of software. Encoder 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.actualvalue' system variable. The measured value is updated cyclically in a user program.
encoderMode
Data type:
EnumAxisEncoderMode
Changeable online:
No
System default:
RECTANGLE_TTL
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 sinusoidal encoder signal.
RESOLVER should be selected if the incremental position is to be measured by evaluating a resolver's encoder signal.
STEPMOT should be selected, if the incremental position is to be determined by taking a set incremental position for a stepper motor without an encoder.
INTERVAL_COUNTER should be selected if the velocity/speed is to be measured by using an additional 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
SSI_MODE should be selected if the incremental position is to be transferred to the controller in accordance 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 accordance with the specifications of the EnDat protocol (incremental/absolute encoder).

1-63
DriveAxis
encoderType
Data type:
EnumAxisEncoderType
Changeable online:
No
System default:
SENSOR_INCREMENTAL
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 differential measurement of position and velocity of two definable encoders.
encoderValueType
Data type:
EnumAxisEncoderValueType
Changeable online:
No
System default:
VELOCITY
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
Data type:
EnumAxisSensorInterfaceAllocationConfig
Changeable online:
No
System default:
EXCLUSIVE
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
NO (91)
No
YES (173)
Yes
1-64
SIMULATION (0)
Simulation
ONBOARD (1)
Onboard
DPMASTER (2)
DPMaster
DIRECT (4)
Encoder supplies the value directly
Actual value via system variable

DriveAxis
EnumAxisEncoderMode
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)
PROFIDRIVE (11)
PROFIdrive profile
EnumAxisEncoderType
SENSOR_INCREMENTAL (1)
Incremental encoder
SENSOR_ABSOLUTE (2)
Absolute encoder
SENSOR_CYCLIC_ABSOLUTE (3)
Absolute encoder cyclic absolute
SENSOR_POSITION_DIFFERENCE_MEASU
REMENT (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 velocity value from I/O
POSITION_AND_PROFIDRIVE_ENCODER_N
IST_B (4)

from DP protocol (standard message frame 83)
EXCLUSIVE (939)
Exclusive
NON_EXCLUSIVE_AND_STARTUP_DEACTI
VATED (940)
Non-exclusive and deactivated
NON_EXCLUSIVE_AND_STARTUP_ACTIVAT
ED (941)
Non-exclusive and active

1-65
DriveAxis
1-66
AbsEncoder
(AbsEncoder)
Absolute encoder
AdaptDrive
(AdaptDrive)
Gear ratio of the measuring system for a driveside assembly type
AdaptExtern
(AdaptExtern)
Gear ratio of the measuring system for an external assembly type
AdaptLoad
(AdaptLoad)
Gear ratio of the measuring system for a loadside 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)
StepMotorMonitoring
(StepMotorMonitoringType)
Stepper motor

DriveAxis
EncoderNumber - DriveAxis
The assignment between data record number and measuring system number of the position or velocity sensor is specified with the structure elements for 'EncoderNumber'.
EncoderNumber
Data type:
UDINT
Changeable online:
System default:
Specifies which encoder is assigned to this data set.

1-67
DriveAxis
ExecutionConfigInfo - DriveAxis
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
Note
Online help
executionlevel
Data type:
EnumToExecutionLevel
Changeable online:
System default:
IPO
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.
1-68
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.
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
Specifies filter functionality.

With 'NO', the filter functionality is deactivated.
With 'YES', the filter functionality is activated.
timeConstant
Data type:
LREAL
Changeable online:
System default:
0.01 s
Time constant for PT1 smoothing.

EnumYesNo
NO (91)
No
YES (173)
Yes

1-69
DriveAxis
FineInterpolator - DriveAxis
The structure element of 'FineInterpolator' specifies the parameter of the fine interpolator.
Note
_type
Data type:
EnumAxisFineInterpolatorMode
Changeable online:
System default:
LINEAR_MODE
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.
1-70
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 'ForceControlHeldValueMonitoring'.
delayTimeToActivate
Data type:
LREAL
Changeable online:
System default:
0.0 s
Specifies the delay between the time when the actual value exceeds the tolerance window and activation of the message.
tolerance
Data type:
LREAL
Changeable online:
System default:
20.0 Pa
Specifies the permissible force/pressure value tolerance with a constant setpoint.

1-71
DriveAxis
ForceControlRunningInWindowMonitoring - DriveAxis
The parameters of the force entry window monitoring are specified with the structure elements for
'ForceControlRunningIn WindowMonitoring'.
maxDelayTime
Data type:
LREAL
Changeable online:
System default:
0.0 s
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
Data type:
LREAL
Changeable online:
System default:
10.0 Pa
Permissible deviation between setpoint and actual value.

winTolTime
Data type:
LREAL
Changeable online:
System default:
1.0 s
Specifies the delay time from the activation of the monitoring until the actual value reaches the tolerance window.
1-72

DriveAxis
ForceControllerData - DriveAxis
The structure elements of 'ForceControllerData' parameterize the force controller.
Note
_type
Data type:
EnumForceControllerType
Changeable online:
System default:
PID
Controller type for the force controller

invertControlValue
Data type:
EnumYesNo
Changeable online:
System default:
NO
With YES, the manipulated variable of the force controller is inverted.

With NO, the manipulated variable of the force controller is not inverted.
typeOfSensorData
Data type:
EnumSensorDataType
Changeable online:
System default:
UNI_DIRECTION
UNI_DIRECTION means that negative actual values cannot be measured.

BOTH_DIRECTION means negative actual values will be measured.
PID (1)
PID controller
PID_ACTUAL (2)
EnumYesNo
NO (91)
No
YES (173)
Yes
EnumSensorDataType
UNI_DIRECTION (1)
Unidirectional
BOTH_DIRECTION (2)
Bidirectional

1-73
DriveAxis
1-74
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
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
Data type:
LREAL
Changeable online:
System default:
10.0 Pa
Specifies the maximum permissible control deviation.

EnumYesNo
NO (91)
No
YES (173)
Yes
FrequencyLimit - DriveAxis
The structure elements of 'FrequencyLimit' specify the frequency limit of the encoder.
encoderFrequencyLimit
Data type:
LREAL
Changeable online:
System default:
400000.0 Hz
Specifies the frequency limit of the encoder.

1-75
DriveAxis
Friction - DriveAxis
The structure elements of 'Friction' specify the friction torque compensation.
amplitude
Data type:
LREAL
Changeable online:
System default:
5.0 mm/s
Specifies the maximum value of the friction torque compensation characteristic.

decayTime
Data type:
LREAL
Changeable online:
System default:
0.05 s
Specifies the delay time constant.

delayTimeStandStill
Data type:
LREAL
Changeable online:
System default:
0.01 s
Specifies the delay time for activation of the standstill signal.

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
Data type:
LREAL
Changeable online:
System default:
1.0 mm/s
Specifies the maximum velocity at which the standstill signal is active.

EnumYesNo
1-76
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
Data type:
UDINT
Changeable online:
System default:
Specifies the number of load revolutions.

numFactor
Data type:
UDINT
Changeable online:
System default:
Specifies the number of motor revolutions.

1-77
DriveAxis
HWEndPos - DriveAxis
The structure elements of 'HWEndPos' are used to specify the monitoring mode of the hardware limit
switches.
bitNumberNegative
Data type:
UDINT
Changeable online:
No
System default:
Specifies the I/O bit number within the I/O byte specified by the logical address.
bitNumberPositive
Data type:
UDINT
Changeable online:
No
System default:
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
Data type:
Changeable online:
No
System default:
STARTUP_ACTIVATED

startup.
logAddressNegative
Data type:
UDINT
Changeable online:
No
System default:
65535
Specifies the logical address of the negative hardware limit switch.
1-78

DriveAxis
logAddressPositive
Data type:
UDINT
Changeable online:
No
System default:
65535
Specifies the logical address of the positive hardware limit switch.

mode
Data type:
EnumMountSwitch
Changeable online:
System default:
END_MOUNTED_SWITCH
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
NO (91)
No
YES (173)
Yes
EnumMountSwitch
END_MOUNTED_SWITCH (0)
Limit switch outside of the permissible traversing

range always active
FLEXIBLE_MOUNTED_SWITCH (1)
Limit switch can be crossed

1-79
DriveAxis
IncEncoder - DriveAxis
The structure elements of 'IncEncoder' specify the parameters for an incremental encoder.
Note
enableZeroMonitoring
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
Data type:
UDINT
Changeable online:
System default:
2048
incResolutionMultiplierCyclic
Data type:
UDINT
Changeable online:
System default:
Specifies the multiplication factor of the cyclic actual value.

EnumYesNo
1-80
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
Data type:
UDINT
Changeable online:
System default:
Specifies the increments or the number of intervals or encoder pulses per encoder revolution.
referenceTime
Data type:
LREAL
Changeable online:
System default:
0.0005 ms
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).
DriverInfo

AnalogDriverInfo (Only the logical address

'logAddress' of the reference value for the interval 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.)
1-81
DriveAxis
InversCountDirection - DriveAxis
The structure elements of 'InversCountDirection' specify the counting direction of the actual encoder
value.
encoderFeedbackPolarity
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
1-82
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 rotational direction of the machine.
With a hydraulic axis, this means the inversion of the F-output behind the characteristic curve.
invSetPoint
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
NO (91)
No
YES (173)
Yes
InvertSetPointHydraulicType - DriveAxis
The structure element for 'InvertSetPoint' specifies the inversion of the Q-output value after the characteristic.
invert
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
NO (91)
No
YES (173)
Yes

1-83
DriveAxis
LinearMotorDriveData - DriveAxis
The structure elements of 'LinearMotorDriveData' specify key drive values for linear motors.
Note
forceReductionGranularity
Data type:
Changeable online:
System default:
BASIC
Specifies the fine resolution of the force reduction.

forceReference
Data type:
Changeable online:
System default:
MAX_VALUE
Selection setting for scaling: Reference force or maximum force.

maxForce
Data type:
LREAL
Changeable online:
System default:
1000.0 N
Specifies the maximum force.

maxSpeed
Data type:
LREAL
Changeable online:
No
System default:
3000.0 1/min
Specifies the maximum traversing velocity.

nominalForce
Data type:
LREAL
Changeable online:
System default:
1000.0 N

nominalSpeed
Data type:
LREAL
Changeable online:
No
System default:
3000.0 1/min
Specifies the reference velocity.
1-84

DriveAxis
speedReference
Data type:
Changeable online:
System default:
MAX_VALUE
Selection setting for scaling: Reference velocity or maximum velocity.

STANDARD (0)
Resolution 1/100
BASIC (16)
Resolution 1/16384
MAX_VALUE (0)
Maximum value
NOMINAL_VALUE (1)
Nominal value

1-85
DriveAxis
LinearStepMotorDriveDataType - DriveAxis
The structure elements of 'LinearStepMotorDriveData' specify key drive values for stepper motors.
maxFrequency
Data type:
LREAL
Changeable online:
No
System default:
50000.0 Hz
Specifies the maximum frequency for motor steps.

stepMotorResolution
Data type:
UDINT
Changeable online:
System default:
1000
Specifies the number of motor steps per revolution.
1-86

DriveAxis
MaxAcceleration - DriveAxis
The structure elements of 'MaxAcceleration' define the maximum permissible acceleration and the
monitoring mode for the change of the manipulated variable.
Note
enableSetPointMonitoring
Data type:
EnumYesNo
Changeable online:
System default:
NO
Specifies the activation status of the monitoring of the manipulated variable change
With '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
Data type:
LREAL
Changeable online:
System default:
3600000.0 1/min
Specifies the maximum permissible acceleration.

EnumYesNo
NO (91)
No
YES (173)
Yes

1-87
DriveAxis
MaxForceCommandData - DriveAxis
The structure elements for 'MaxForceCommandData' are used to configure the type of setpoint generation.
Note
maximum
Data type:
LREAL
Changeable online:
System default:
1000.0
Specifies the maximum force/pressure setpoint.

maximumDerived
Data type:
LREAL
Changeable online:
System default:
10000.0
Specifies the maximum rise of the maximum force/pressure setpoint.
MaxJerk - DriveAxis
The structure element of 'MaxJerk' defines the maximum permissible jerk.
Note
SIMOTION Basic Functions Function Manual
Online help
maximum
Data type:
LREAL
Changeable online:
System default:
4320000000.0 1/min
Specifies the maximum possible jerk.
1-88

DriveAxis
MaxVelocity - DriveAxis
The structure element of 'MaxVelocity' defines the maximum permissible velocity.
Note
maximum
Data type:
LREAL
Changeable online:
System default:
3000.0 1/min
Specifies the maximum permissible velocity.

1-89
DriveAxis
NeutralBand - DriveAxis
The structure elements of 'NeutralBand' specify the parameters for neutral band compensation.
centreValue
Data type:
LREAL
Changeable online:
System default:
0.0
Specifies the center point of the neutral band.

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
Data type:
LREAL
Changeable online:
System default:
0.0
Specifies the range of the neutral band.

EnumYesNo
1-90
NO (91)
No
YES (173)
Yes

DriveAxis
NumberOfAdditionalSensors - DriveAxis
The structure elements for 'NumberOfAdditionalSensors' are used to configure the additional encoders.
Note
number
Data type:
UDINT
Changeable online:
No
System default:
Specifies the number of encoders for a force-controlled axis

AdditionalSensor_1
(AdditionalSensorMain)
Encoder 1
AdditionalSensor_2
Encoder 2
AdditionalSensor_3
Encoder 3
AdditionalSensor_4
Encoder 4
AdditionalSensor_5
Encoder 5
AdditionalSensor_6
Encoder 6
AdditionalSensor_7
Encoder 7
AdditionalSensor_8
Encoder 8

1-91
DriveAxis
NumberOfDataSets - DriveAxis
The structure elements for 'NumberOfDataSets' specify the number of data sets.
Note
changeMode
Data type:
EnumChangeMode
Changeable online:
System default:
IN_STANDSTILL
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
Data type:
UDINT
Changeable online:
System default:
Specifies the initialization data set.

numberOfDataSets
Data type:
UDINT
Changeable online:
No
System default:
Specifies the number of data sets.

smoothingTimeByChangeDifference
Data type:
LREAL
Changeable online:
System default:
0.0 s
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
1-92
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
DataSet_10
(DataSetMain)
Data record 10
DataSet_11
(DataSetMain)
Data record 11
DataSet_12
(DataSetMain)
Data record 12
DataSet_13
(DataSetMain)
Data record 13
DataSet_14
(DataSetMain)
Data record 14
DataSet_15
(DataSetMain)
Data record 15
DataSet_16
(DataSetMain)
Data record 16
DataSet_2
(DataSetMain)
Data record 2
DataSet_3
(DataSetMain)
Data record 3
DataSet_4
(DataSetMain)
Data record 4
DataSet_5
(DataSetMain)
Data record 5
DataSet_6
(DataSetMain)
Data record 6
DataSet_7
(DataSetMain)
Data record 7
DataSet_8
(DataSetMain)
Data record 8
DataSet_9
(DataSetMain)
Data record 9

1-93
DriveAxis
NumberOfEncoders - DriveAxis
The structure element of 'NumberOfEncoders' sets the number of encoders.
Note
dscEncoderNumber
Data type:
UDINT
Changeable online:
No
System default:
Specifies the DSC encoder.

numberOfEncoders
Data type:
UDINT
Changeable online:
No
System default:
Specifies the number of encoders.

1-94
Encoder_1
(EncoderMain)
Encoder 1
Encoder_2
(EncoderMain)
Encoder 2
Encoder_3
(EncoderMain)
Encoder 3
Encoder_4
(EncoderMain)
Encoder 4
Encoder_5
(EncoderMain)
Encoder 5
Encoder_6
(EncoderMain)
Encoder 6
Encoder_7
(EncoderMain)
Encoder 7
Encoder_8
(EncoderMain)
Encoder 8

DriveAxis
OutputLimits - DriveAxis
The structure element 'OutputLimits' is used to configure the manipulated variable limitation.
Note
_max
Data type:
LREAL
Changeable online:
System default:
500.0
Specifies the maximum output value for the force controller.

_min
Data type:
LREAL
Changeable online:
System default:
-500.0
Specifies the minimum output value for the force controller.

1-95
DriveAxis
PID_ControllerForce - DriveAxis
The structure element 'PID_Controller' is used to configure the PID controller.
decayTime
Data type:
LREAL
Changeable online:
System default:
1.0 s
Delay time constant of D-action component

enableAntiWindup
Data type:
EnumYesNo
Changeable online:
System default:
YES
Specifies the activation status of the integrator limitation.

With 'NO', the integrator limitation is not activated.
With 'YES', the integrator limitation is activated.
integratorFeedbackTimeConstant
Data type:
LREAL
Changeable online:
System default:
0.0 s
Specifies the time constant to deactivate the I component.

kd
Data type:
LREAL
Changeable online:
System default:
0.0
Specifies the D component gain.

ki
Data type:
LREAL
Changeable online:
System default:
0.0
Specifies the I component gain.

kp
Data type:
LREAL
Changeable online:
System default:
1.0
Specifies the P component gain.
1-96

DriveAxis
kpc
Data type:
LREAL
Changeable online:
System default:
100.0 %
Specifies the pre-control factor.

preCon
Data type:
EnumYesNo
Changeable online:
System default:
NO
Specifies the activation status of the precontrol system.

With 'NO', the precontrol is not activated.
With 'YES', the precontrol is activated.
EnumYesNo
NO (91)
No
YES (173)
Yes

1-97
DriveAxis
PID_ControllerPos - DriveAxis
balanceFilterMode
Data type:
EnumBalanceFilterMode
Changeable online:
System default:
MODE_1
Specifies the balancing filter.

decayTime
Data type:
LREAL
Changeable online:
System default:
1.0 s
Specifies the delay time constant of the D component.

enableAntiWindup
Data type:
EnumYesNo
Changeable online:
System default:
YES
Activation of the integrator limitation.

kd
Data type:
LREAL
Changeable online:
System default:
0.0 s

ki
Data type:
LREAL
Changeable online:
System default:
0.0 1/s

kp
Data type:
LREAL
Changeable online:
System default:
1.0
1-98

DriveAxis
kpc
Data type:
LREAL
Changeable online:
System default:
100.0 %

preCon
Data type:
EnumYesNo
Changeable online:
System default:
NO

OFF (0)
Balancing filter not active
MODE_1 (1)
Balancing filter active
MODE_2 (2)
Expanded balancing filter active
EnumYesNo
NO (91)
No
YES (173)
Yes

1-99
DriveAxis
ProcessModel - DriveAxis
The structure elements of 'ProcessModel' set the parameters for the process model.
Note
T1
Data type:
LREAL
Changeable online:
System default:
0.003 s
Specifies the first time constant.

T2
Data type:
LREAL
Changeable online:
System default:
0.0001 s
Specifies the second time constant.

ks
Data type:
LREAL
Changeable online:
System default:
0.00000095367431640625
Specifies the transmission factor.
Range - DriveAxis
The 'Range' structure elements are used to configure the definition range of the read encoder values.
_max
Data type:
LREAL
Changeable online:
System default:
10000.0
Specifies the maximum value.

_min
Data type:
LREAL
Changeable online:
System default:
-10000.0
Specifies the minimum value.
1-100

DriveAxis
RestartConditionInfo - DriveAxis
'RestartConditionInfo' is used to set the state in which axis restart is possible.
restartAxisCondition
Data type:
EnumRestartAxisCondition
Changeable online:
System default:
AXIS_DISABLED
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.
NO_CONSTRAINTS (0)
Restart without constraints
STANDSTILL (1)
Restart during standstill
AXIS_DISABLED (2)
Restart only when no enables are set

1-101
DriveAxis
RestartInfo - DriveAxis
'RestartInfo' is used to enable technology object restart with system variables and/or by command or
just by command.
behaviorInvalidSysvarAccess
Data type:
EnumToInvalidSysvarAccess
Changeable online:
No
System default:
LAST_VALUE
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 technology object restart or deactivation phase.
restartActivationSetting
Data type:
EnumToRestartActivationSetting
Changeable online:
System default:
RESTART_BY_SYSVAR_AND_COMMAND
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.
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
1-102
RESTART_BY_SYSVAR_AND_COMMAND (0)
Allow restart via system variable and/or command
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'.
Note
tolerateSensorDefect
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
NO (91)
No
YES (173)
Yes

1-103
DriveAxis
SensorSetActualValue - DriveAxis
The structure elements of 'SensorSetActualValue' specify the parameters for actual value read-in via
system variable.
Note
maxFailures
Data type:
UDINT
Changeable online:
System default:
Specifies the number of permissible failures with reference to the update cycle.
updateCycle
Data type:
EnumAxisUpdateCycle
Changeable online:
System default:
IPO
Specifies the actual value update cycle via system variable.

EnumAxisUpdateCycle
1-104
IPO (0)
IPO
IPO_2 (1)
IPO_2
SERVO (2)
Servo
IPO_FAST (3)
IPO_fast
SERVO_FAST (4)
Servo_fast

DriveAxis
SetPointDriverInfo - DriveAxis
The structure elements of 'SetPointDriverInfo' specify the driver information for the drive interface.
Note
actorType
Data type:
EnumAxisDioActorType
Changeable online:
No
System default:
NO_TYPE
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
Data type:
EnumAxisActuatorInterfaceAllocationConfig
Changeable online:
No
System default:
EXCLUSIVE

With NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED, the driver can be used on this or any
With NON_EXCLUSIVE_AND_STARTUP_ACTIVATED, the driver can be used on this or any other
lifeSignCheck
Data type:
EnumYesNo
Changeable online:
System default:
YES
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:
UDINT
Changeable online:
No
System default:
65535

1-105
DriveAxis
logAddressOut
Data type:
UDINT
Changeable online:
No
System default:
65535

maxSetPointVoltage
Data type:
LREAL
Changeable online:
System default:
10.0 V
Specifies the standard voltage with which the analog drive reaches its rated speed.
mode
Data type:
EnumAxisDriverMode
Changeable online:
No
System default:
SIMULATION
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
Data type:
EnumAxisMotorType
Changeable online:
No
System default:
STANDARD_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
Data type:
UDINT
Changeable online:
No
System default:
Not used
1-106

DriveAxis
telegramType
Data type:
Changeable online:
No
System default:
Specifies the PROFIBUS message frame type.

up.
up.
encoder) 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.
NO_TYPE (0)
No type
ANALOG (1)
Analog
STEPMOTOR (2)
Step mode
EXCLUSIVE (939)
Technology object (TO) exclusive
VATED (940)
TO non-exclusive and deactivated
ED (941)
TO non-exclusive and active
EnumYesNo
NO (91)
No
YES (173)
Yes

1-107
DriveAxis
EnumAxisDriverMode
SIMULATION (0)
Simulation
ONBOARD (1)
Onboard
DPMASTER (2)
DP Master
EnumAxisMotorType
STANDARD_MOTORTYPE (0)
Standard motor
LINEAR_MOTORTYPE (1)
Linear motor
NO_TELEGRAM (0)
No message frame
(101)
(102)
(103)
1-108
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
Data type:
EnumYesNo
Changeable online:
No
System default:
NO
Simulation mode activation.

With 'Simulation mode = NO', process connection is set.
'Simulation mode = YES' is not available.
EnumYesNo
NO (91)
No
YES (173)
Yes

1-109
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.
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

With NO, the filter functionality is deactivated.
With YES, the filter functionality is activated.
mode
Data type:
EnumAxisFilterMode
Changeable online:
System default:
DEFAULT_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
Data type:
LREAL
Changeable online:
System default:
0.01 s

EnumYesNo
NO (91)
No
YES (173)
Yes
EnumAxisFilterMode
1-110
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 standstill signal.
Note
delayTimeToActivate
Data type:
LREAL
Changeable online:
System default:
0.01 s
Specifies the delay time to activation of the velocity-dependent standstill signal.

filterDegree
Data type:
UINT
Changeable online:
System default:
Specifies the filter degree.

filterFrequency
Data type:
LREAL
Changeable online:
System default:
0.0 Hz
Specifies the filter frequency.

maxVeloStandStill
Data type:
LREAL
Changeable online:
System default:
30.0 mm/min
Specifies the velocity limit below which the velocity-dependent standstill signal is active.

1-111
DriveAxis
StepMotorDriveDataType - DriveAxis
The structure elements of 'StepMotorDriveData' specify key drive values for stepper motors.
maxFrequency
Data type:
LREAL
Changeable online:
No
System default:
50000.0 Hz

stepMotorResolution
Data type:
UDINT
Changeable online:
System default:
1000
1-112

DriveAxis
StepMotorMonitoringType - DriveAxis
The structure elements belonging to 'StepMotorMonitoring' are used to set the rotation monitoring for
step motor operation.
Note
beroCycleDistance
Data type:
UDINT
Changeable online:
System default:
2048
Specifies the maximum allowed deviation of motor steps per revolution.

beroCycleTolerance
Data type:
UDINT
Changeable online:
System default:
2048
Specifies a tolerance range around beroCycleDistance.

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
Specifies the activation status of the step motor monitoring.

EnumYesNo
NO (91)
No
YES (173)
Yes

1-113
DriveAxis
StructAxisAdditionalOffset - DriveAxis
The structure elements belonging to 'AdditionalOffset' are used to set the offset application for traversal 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
Data type:
EnumYesNo
Changeable online:
System default:
NO
Specifies the activation status of the offset application.

With NO, the offset application is not activated.
With YES , the offset application is activated.
forceControlLowerLimit
Data type:
LREAL
Changeable online:
System default:
1.0 mm/s
Specifies the activation threshold for 'offsetForceControlPositive/Negative'.

The offset acts when the 'forceControlLowerLimit' value has been exceeded.
offsetForceControlNegative
Data type:
LREAL
Changeable online:
System default:
1.0 mm/s
Specifies the offset for traversal with force specification and negative direction of movement.
offsetForceControlPositive
Data type:
LREAL
Changeable online:
System default:
1.0 mm/s
Specifies the offset for traversal with force control and positive direction of movement.
offsetMotionControlNegative
Data type:
LREAL
Changeable online:
System default:
1.0 mm/s
Specifies the offset for traversal with motion control and negative direction of movement.
1-114

DriveAxis
offsetMotionControlPositive
Data type:
LREAL
Changeable online:
System default:
1.0 mm/s
Specifies the offset for traversal with motion control and positive direction of movement.
EnumYesNo
NO (91)
No
YES (173)
Yes

1-115
DriveAxis
StructAxisDriveControlConfig - DriveAxis
Settings for the drive are specified with the 'DriveControlConfig' configuration data.
dataAdaption
Data type:
EnumYesNo
Changeable online:
System default:
NO
The 'dataAdaption' configuration data activates the adaptation of the drive data.
With 'YES', is the adaptation active.
With 'NO', is the adaptation deactivated.
pulsesEnabledEvaluation
Data type:
EnumAxisPulsesEnabledEvaluation
Changeable online:
System default:
COMPATIBILITY_MODE
The 'PulsesEnabledEvaluation' configuration data describes the behavior of the axis for a drive-independent 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
Data type:
UDINT
Changeable online:
System default:
127
The behavior of the drive during the RELEASE_DISABLE error response is specified with the 'releaseDisableMode' 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 - ON
Bit1 - No Coast Stop
Bit2 - No Quick Stop
Bit3 - Enable Operation
Bit4 - Enable Ramp Generator
Bit5 - Unfreeze Ramp Generator
Bit6 - Enable Setpoint
EnumYesNo
NO (91)
No
YES (173)
Yes
1-116
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
1-117
DriveAxis
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - DriveAxis
Specifies the logical address for the communication with the drive.
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data
in the cyclic message frame from the drive.
1-118

DriveAxis
StructAxisFilterForceControlConfig - DriveAxis
The filter at the output of the force controller is configured with the structure element 'FilterForceControl'.
T1
Data type:
LREAL
Changeable online:
System default:
1.0 s
Specifies the T1 time constant of the PT2 filter.

T2
Data type:
LREAL
Changeable online:
System default:
1.0 s

_type
Data type:
EnumForceControllerFilterType
Changeable online:
System default:
PT2
With 'PT2', a PT2 filter is selected.

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
This data element activates the filter

PT2 (909)
PT2
EnumYesNo
NO (91)
No
YES (173)
Yes

1-119
DriveAxis
StructAxisInvertFOutput - DriveAxis
The structure element for 'InvertF' specifies the inversion of the F-output value in front of the characteristic.
invSetPoint
Data type:
EnumYesNo
Changeable online:
System default:
NO

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 output inverted.
EnumYesNo
NO (91)
No
YES (173)
Yes
StructAxisInvertQOutput - DriveAxis
The structure element for 'InvertQ' specifies the inversion of the Q-output value in front of the characteristic.
invSetPoint
Data type:
EnumYesNo
Changeable online:
System default:
NO

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 output inverted.
EnumYesNo
1-120
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
Data type:
UDINT
Changeable online:
No
System default:
65535
Specifies the logical address for the actual speed value.

1-121
DriveAxis
StructAxisOperatingDataInInfo - DriveAxis
Specifies the configuration of the operating character data block.
enableActivePower
Data type:
EnumYesNo
Changeable online:
No
System default:
NO
Specifies the activation of the effective power display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableActualCurrent
Data type:
EnumYesNo
Changeable online:
No
System default:
NO
Specifies the activation of the actual current value display.

enableActualTorqueOrForce
Data type:
EnumYesNo
Changeable online:
No
System default:
NO
Specifies the activation of the torque / force actual value display.

enableMotorTemperature
Data type:
EnumYesNo
Changeable online:
No
System default:
NO
Specifies the activation of the motor temperature display.

enableTorqueOrForceUtilization
Data type:
EnumYesNo
Changeable online:
No
System default:
NO
Specifies the activation of the torque utilization display.

1-122

DriveAxis
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
EnumYesNo
NO (91)
No
YES (173)
Yes

1-123
DriveAxis
StructAxisPulsesEnabledConfig - DriveAxis
The bit position for pulsesEnable is defined with the configuration data in 'StructAxisPulsesEnabledConfig'.
bitNumber
Data type:
UDINT
Changeable online:
System default:
13
Specifies the bit number for pulse enable.

pzdNumber
Data type:
UDINT
Changeable online:
System default:
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
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
1-124
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
Data type:
LREAL
Changeable online:
System default:
0.0 s

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
NO (91)
No
YES (173)
Yes

1-125
DriveAxis
StructAxisSlidingFriction - DriveAxis
The structure elements of 'Sliding Friction' specify sliding friction compensation.
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

With 'NO', the sliding friction compensation is not activated.
With 'YES', the sliding friction compensation is activated.
factorForceControl
Data type:
LREAL
Changeable online:
System default:
0.01
Factor for the sliding friction compensation relative to the actual velocity when
traversing via force/pressure control.
factorMotionControl
Data type:
LREAL
Changeable online:
System default:
0.01
Factor for the sliding friction compensation relative to the setpoint velocity when
traversing via motion control.
maxSlidingFrictionForceControl
Data type:
LREAL
Changeable online:
System default:
0.0
Specifies the upper limit for the sliding friction component for pressure control.
EnumYesNo
1-126
NO (91)
No
YES (173)
Yes

DriveAxis
StructAxisSpeedLimitation - DriveAxis
Parameters for asymmetric manipulated variable limitation. This function is also referred to as a backstop.
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
Data type:
LREAL
Changeable online:
System default:
0.0 1/min
Specifies the upper limit for the manipulated variable range.

minSpeed
Data type:
LREAL
Changeable online:
System default:
0.0 1/min
Specifies the lower limit for the manipulated variable range.

EnumYesNo
NO (91)
No
YES (173)
Yes
StructAxisSystemDeadTimeData - DriveAxis
The structure elements belonging to 'SystemDeadTimeData' allow the correction of system-related
dead times.
additionalTime
Data type:
LREAL
Changeable online:
System default:
0.0 s
Correction value for system-related dead times.

1-127
DriveAxis
StructAxisTechnologicalData - DriveAxis
The structure elements belonging to TechnologicalData are used to specify addresses for additional
data exchange between drive and control unit.
driveSafetyExtendedFunctionsEnabled
Data type:
EnumYesNo
Changeable online:
No
System default:
NO
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
Data type:
EnumYesNo
Changeable online:
No
System default:
NO
Specifies the activation status of the technological data.

With 'NO', the technology data are not activated.
With 'YES', the technology data are activated.
EnumYesNo
NO (91)
No
YES (173)
Yes
1-128
DriveSafetyExtendedFunctionsInfoDataIn
(StructAxisDriveSafetyExtendedFunctionsInfoDataIn)
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
Data type:
UDINT
Changeable online:
No
System default:
65535
Specifies the logical address for the transfer of specific parameters in the cyclical message frame from
the drive.
StructAxisTechnologicalDataOutInfo - DriveAxis
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
Specifies the logical address for the transfer of specific parameters in the cyclical message frame to
the drive.

1-129
DriveAxis
StructControllerOutput - DriveAxis
Configures the controller for a hydraulic axis.
outputType
Data type:
EnumAxisControllerOutput
Changeable online:
No
System default:
DIRECT_OUTPUT
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.
DIRECT_OUTPUT (1)
Analog interface
DRIVE_INTERFACE (2)
Onboard interface or PROFIdrive
1-130
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 characteristic curve
InvertFOutput
(InvertSetPoint)
Inversion of the F-output behind the characteristic curve

DriveAxis
StructDaxDynamicQFData - DriveAxis
The structure elements belonging to 'DynamicQFData' specify the dynamic data of the cascade control system.
qOutputTimeConstant
Data type:
LREAL
Changeable online:
System default:
0.00005 s

Data type:
LREAL
Changeable online:
System default:
0.0005 s

1-131
DriveAxis
StructDirectOutputDriverInfo - DriveAxis
The structure elements of 'DirectOutputDriverInfo' are used to configure the controller for a hydraulic
axis.
format
Data type:
Changeable online:
System default:
VALUE_LEFT_MARGIN
Specifies the format of the actual value.

logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
Specifies the address.

maxOutputVoltage
Data type:
LREAL
Changeable online:
System default:
10.0 V
Not used
resolution
Data type:
UDINT
Changeable online:
System default:
15
Specifies the number of relevant bits.

1-132
Right-justified
Left-justified

DriveAxis
StructDriveInterfaceDriverInfo - DriveAxis
The structure elements of 'DriveInterfaceDriverInfo' are used to configure the controller for a hydraulic
axis.
actorType
Data type:
Changeable online:
No
System default:
NO_TYPE

With ANALOG, the interface is configured for analog drives.
With STEPMOTOR, the interface is configured for stepper motors.
lifeSignCheck
Data type:
EnumYesNo
Changeable online:
No
System default:
YES

With 'NO', the sign of life monitoring is not activated.
logAddressIn
Data type:
UDINT
Changeable online:
No
System default:
65535

logAddressOut
Data type:
UDINT
Changeable online:
No
System default:
65535

maxOutputVoltage
Data type:
LREAL
Changeable online:
No
System default:
10.0 V
Specifies the standard voltage on which the analog drive reaches its maximum speed.

1-133
DriveAxis
mode
Data type:
EnumAxisDriverMode
Changeable online:
No
System default:
SIMULATION

With 'ONBOARD', an onboard analog interface is used.
With 'DPMASTER', an onboard PROFIBUS DP interface is used.
With 'SIMULATION', a drive interface is simulated.
Data type:
DINT
Changeable online:
No
System default:
Reserved
telegramType
Data type:
Changeable online:
No
System default:

up.
up.
encoder) is set up.
1-134
NO_TYPE (0)
No type
ANALOG (1)
Analog
STEPMOTOR (2)
Step mode

DriveAxis
EnumYesNo
NO (91)
No
YES (173)
Yes
EnumAxisDriverMode
SIMULATION (0)
Simulation
ONBOARD (1)
Onboard
DPMASTER (2)
DP Master
NO_TELEGRAM (0)
No message frame
(101)
(102)
(103)

1-135
DriveAxis
StructDriverInfoDirectIncremental - DriveAxis
The parameters for the direct incremental encoder hardware are specified with the structure elements
for 'DriverInfoDirectIncremental' .
logAddress
Data type:
UDINT
Changeable online:
System default:
65535

resolution
Data type:
UDINT
Changeable online:
System default:
16
Specifies the number of bits of the incremental encoder.
1-136

DriveAxis
StructEnableBit - DriveAxis
The structure elements for 'EnableBit' can be used to configure an output bit for indicating the enables.
bitNumberOnDevice
Data type:
UDINT
Changeable online:
No
System default:
enable
Data type:
EnumYesNo
Changeable online:
No
System default:
NO
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
Data type:
UDINT
Changeable online:
No
System default:
65535

EnumYesNo
NO (91)
No
YES (173)
Yes

1-137
DriveAxis
StructPressureDifferenceMeasurement - DriveAxis
The structure element 'PressureDifferenceMeasurement' is used to configure the parameters for the
differential pressure measurement.
areaA
Data type:
LREAL
Changeable online:
System default:
1.0
Specifies the area parameter for pressure sensor A.

areaB
Data type:
LREAL
Changeable online:
System default:
1.0
Specifies the area parameter for pressure sensor B.

factor
Data type:
LREAL
Changeable online:
System default:
1.0
Specifies a normalization factor for the determined difference value.

invert
Data type:
EnumYesNo
Changeable online:
System default:
NO
Specifies whether the sign of the differential value should be inverted.

numberSensorA
Data type:
UDINT
Changeable online:
System default:
Specifies the sensor number for detecting the pA pressure.

numberSensorB
Data type:
UDINT
Changeable online:
System default:
Specifies the sensor number for detecting the pB pressure.
1-138

DriveAxis
EnumYesNo
NO (91)
No
YES (173)
Yes

Filter
(Filter)
Differential value smoothing
Range
(Range)
Differential value limitation

1-139
DriveAxis
StructSensorDriverInfo - DriveAxis
The elements of this structure are used to configure the I/O module of the additional encoder.
errorToleranceTime
Data type:
LREAL
Changeable online:
System default:
0.1 s
format
Data type:
Changeable online:
System default:
VALUE_LEFT_MARGIN
logAddress
Data type:
UDINT
Changeable online:
System default:
65535

maxValue
Data type:
DINT
Changeable online:
System default:
32511
minValue
Data type:
DINT
Changeable online:
System default:
-32512
1-140

DriveAxis
resolution
Data type:
UDINT
Changeable online:
System default:
15

Right-justified
Left-justified

1-141
DriveAxis
TypeOfAxisInfo - DriveAxis
The structure elements of 'TypeOfAxis' specify the axis parameters.
typeOfAxis
Data type:
EnumAxisIdentification
Changeable online:
No
System default:
REAL_AXIS
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 closedloop force/pressure specification via Q-valve.
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 specification (Q-valve and P-valve)
REAL_QFAXIS_WITH_CLOSED_LOOP_FOR
CE_CONTROL (5)
Real hydraulic axis with force/pressure control

(Q-valve)
_CONTROL_ONLY (6)
Real hydraulic axis with force/pressure specification (P-valve)
REAL_AXIS_WITH_SIGNAL_OUTPUT (7)
Real electric axis with master value output via

encoder signal simulation
1-142
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
Manipulated variable interface for Q output
ServoMonitoring
(StructAxisServoMonitoringConfig)
Activate control loop monitoring with active pressure 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

1-143
DriveAxis
1-144

ExternalEncoderType
LeadScrew (LeadScrewInfo)
Modulo (ModuloInfo)
AbsEncoder - ExternalEncoderType
Note
absBaudRate
Data type:
EnumAbsBaudrate
Changeable online:
No
System default:
Baudrate_3
absDataLength
Data type:
UDINT
Changeable online:
System default:
24
of revolutions.

2-145
ExternalEncoderType
absMessageFormat
Data type:
EnumAbsMsgFormat
Changeable online:
No
System default:
PINETREE

absMessageLength
Data type:
EnumAbsMsgLength
Changeable online:
No
System default:
LENGTH_25
absResolution
Data type:
UDINT
Changeable online:
System default:
4096
Data type:
UDINT
Changeable online:
No
System default:
Data type:
UDINT
Changeable online:
No
System default:
2-146

ExternalEncoderType
absState
Data type:
EnumAbsState
Changeable online:
No
System default:
GRAY_CODE
enableAbsMonitoring
Data type:
EnumYesNo
Changeable online:
System default:
YES
issued.
Note
positioning).
EnumAbsBaudrate
Baudrate_5 (16#01)
3 Mbaud
Baudrate_4 (16#02)
1.5 Mbaud
Baudrate_3 (16#04)
750 Kbaud
Baudrate_2 (16#08)
375 Kbaud
Baudrate_1 (16#10)
187.5 Kbaud
EnumAbsMsgFormat
RIGHT_MARGIN (0)
Right-justified
PINETREE (1)
Pine tree format

2-147
ExternalEncoderType
EnumAbsMsgLength
LENGTH_13 (13)
13 bits
LENGTH_21 (21)
21 bits
LENGTH_25 (25)
25 bits
EnumAbsState
BIN_CODE (16#00)
Binary
GRAY_CODE (16#01)
Gray Code
EnumYesNo
2-148
NO (91)
No
YES (173)
Yes

ExternalEncoderType
AbsHomingEncoder - ExternalEncoderType
The structure elements of 'AbsHomingEncoder' specify the synchronization data for an absolute encoder.
Note
absShift
Data type:
LREAL
Changeable online:
System default:
0.0 mm
Specifies the offset of the absolute encoder.

setOffsetOfAbsoluteEncoder
Data type:
EnumAbsoluteRelative
Changeable online:
System default:
RELATIVE
Specifies the effect of the absolute encoder offset set in the 'absshift' configuration data (V3.2 and higher).
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
ABSOLUTE (1)
Absolute
RELATIVE (115)
Relative

2-149
ExternalEncoderType
ActualVelocityMonitoring - ExternalEncoderType
actual velocity.
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

maximum
Data type:
LREAL
Changeable online:
System default:
0.0 mm/s

EnumYesNo
NO (91)
No
YES (173)
Yes
AdaptDrive - ExternalEncoderType
Note
denFactor
Data type:
UDINT
Changeable online:
System default:

numFactor
Data type:
UDINT
Changeable online:
System default:
2-150

ExternalEncoderType
AdaptExtern - ExternalEncoderType
type.
Note
denFactor
Data type:
UDINT
Changeable online:
System default:

numFactor
Data type:
UDINT
Changeable online:
System default:
AdaptLoad - ExternalEncoderType
Note
denFactor
Data type:
UDINT
Changeable online:
System default:

numFactor
Data type:
UDINT
Changeable online:
System default:

2-151
ExternalEncoderType
AnalogConversionDataType - ExternalEncoderType
values read.
_type
Data type:
Changeable online:
No
System default:

factor
Data type:
LREAL
Changeable online:
System default:
1.0
offset
Data type:
LREAL
Changeable online:
System default:
0.0

2-152
Linear relationship

ExternalEncoderType
AnalogSensorType - ExternalEncoderType
ConversionData

DriverInfo
Driver data
ErrorStateMonitoring
(StructAxisAnalogSensorErrorStateMonitoring)
Error-state monitoring
LogAddress
(StructLogAddressIoBitType)
Logical address of analog sensor
PositionFilter
(PositionFilterType)
Actual position value filter
ReadyStateMonitoring
(StructAxisAnalogSensorReadyStateMonitoring)
Ready-state monitoring
UpdateCounter
(StructAxisActualValueUpdateCounter)
Evaluation of actual value update

2-153
ExternalEncoderType
AssemblyBase - ExternalEncoderType
assemblyBase
Data type:
Changeable online:
System default:
ASSEMBLY_BASE_DRIVE

Drive side
Load side
External
Linear
DecodingConfig - ExternalEncoderType
Note
Data type:
DINT
Changeable online:
System default:
100
2-154

ExternalEncoderType
DistributedMotionInfo - ExternalEncoderType
The structure elements for 'DistributedMotion' set the sign-of-life failure tolerance.
enableDelayOfCommandValueOutput
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
Data type:
EnumYesNo
Changeable online:
System default:
YES
Specifies life sign monitoring.

With 'NO', the sign of life monitoring is deactivated.
enableOffsetCompensation
Data type:
EnumYesNo
Changeable online:
System default:
YES
Specifies offset compensation.

With 'NO', the compensation of the cycle offset is deactivated.
With 'YES', the compensation of the cycle offset is activated.
numberOfLifeSignFailures
Data type:
UDINT
Changeable online:
System default:
Specifies the maximum number of life sign failures tolerated.

EnumYesNo
NO (91)
No
YES (173)
Yes

2-155
ExternalEncoderType
DriverInfo - ExternalEncoderType
Note
Data type:
DINT
Changeable online:
No
System default:
lifeSignCheck
Data type:
EnumYesNo
Changeable online:
System default:
YES
logAddressIn
Data type:
UDINT
Changeable online:
No
System default:
65535

logAddressOut
Data type:
UDINT
Changeable online:
No
System default:
65535
2-156

ExternalEncoderType
telegramType
Data type:
Changeable online:
No
System default:
DP_TEL81_STANDARD

up.
up.
encoder) is set up.
EnumYesNo
NO (91)
No
YES (173)
Yes
NO_TELEGRAM (0)
No message frame

2-157
ExternalEncoderType
2-158
(101)
(102)
(103)

ExternalEncoderType
EncoderMain - ExternalEncoderType
dataAdaption
Data type:
EnumYesNo
Changeable online:
System default:
NO

Data type:
Changeable online:
No
System default:
SIMULATION

C230, C240, etc.).
DP interface.
encoderMode
Data type:
EnumAxisEncoderMode
Changeable online:
No
System default:
RECTANGLE_TTL


2-159
ExternalEncoderType
encoderSystem
Data type:
EnumAxisEncoderSystem
Changeable online:
No
System default:
ROTATORY_SYSTEM
Specifies the encoder system.

With ROTARY, a rotary encoder system is used.
With LINEAR, a linear encoder system is used.
encoderType
Data type:
EnumAxisEncoderType
Changeable online:
No
System default:
SENSOR_INCREMENTAL

encoderValueType
Data type:
Changeable online:
No
System default:
POSITION
and outputs.
EnumYesNo
NO (91)
No
YES (173)
Yes
2-160
SIMULATION (0)
Simulation
ONBOARD (1)
Onboard
DPMASTER (2)
DPMaster
DIRECT (4)

ExternalEncoderType
EnumAxisEncoderMode
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
PROFIDRIVE (11)
PROFIdrive profile
ROTATORY_SYSTEM (0)
Rotary encoder system
LINEAR_SYSTEM (1)
Linear encoder system (linear scale)
EnumAxisEncoderType
Incremental encoder
SENSOR_ABSOLUTE (2)
Absolute encoder
REMENT (4)
POSITION (0)
VELOCITY (1)

from DP protocol
IST_B (4)


2-161
ExternalEncoderType
2-162
AbsEncoder
(AbsEncoder)
Absolute encoder
AbsHomingEncoder
(AbsHomingEncoder)
Homing for absolute measuring system
AdaptDrive
(AdaptDrive)
AdaptExtern
(AdaptExtern)
AdaptLoad
(AdaptLoad)
AnalogSensor
(AnalogSensorType)
AssemblyBase
(AssemblyBase)
DriverInfo
(DriverInfo)

encoder
Filter
(Filter)
Actual value filter
FrequencyLimit
(FrequencyLimit)
IncEncoder
(IncEncoder)
Incremental encoder
IncHomingEncoder
(IncHomingEncoder)
Homing for incremental measuring system
Interval counter
NistDriverConfig
Actual speed value
PathPerRevolution
(PathPerRevolution)
Path per revolution
PositionFilter
(PT2PositionFilterType)
Position filter
Resolution
(Resolution)
Resolution
SensorControlConfig
SensorNist
(SensorNist)
Actual speed value extrapolation
StepMotorMonitoring
Stepper motor

ExternalEncoderType
ExecutionConfigInfo - ExternalEncoderType
Note
Online help
executionlevel
Data type:
Changeable online:
System default:
IPO
IPO (0)
IPO
IPO_2 (1)
IPO_2
SERVO (2)
Servo
IPO_FAST (3)
IPO_fast
SERVO_FAST (4)
Servo_fast

2-163
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
Data type:
LREAL
Changeable online:
System default:
0.01 s
Time constant T1 of the filter for the actual position.

T2
Data type:
LREAL
Changeable online:
System default:
0.01 s

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
Specifies the activation status of the PT2 filter for the actual position.
EnumYesNo
2-164
NO (91)
No
YES (173)
Yes

ExternalEncoderType
Filter - ExternalEncoderType
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

timeConstant
Data type:
LREAL
Changeable online:
System default:
0.01 s

EnumYesNo
NO (91)
No
YES (173)
Yes

2-165
ExternalEncoderType
FrequencyLimit - ExternalEncoderType
Data type:
LREAL
Changeable online:
System default:
400000.0 Hz
Gear - ExternalEncoderType
denFactor
Data type:
UDINT
Changeable online:
System default:

numFactor
Data type:
UDINT
Changeable online:
System default:
2-166

ExternalEncoderType
IncEncoder - ExternalEncoderType
Note
Data type:
EnumYesNo
Changeable online:
System default:
NO
marks.
incResolution
Data type:
UDINT
Changeable online:
System default:
2048
Data type:
UDINT
Changeable online:
System default:

EnumYesNo
NO (91)
No
YES (173)
Yes

2-167
ExternalEncoderType
IncHomingEncoder - ExternalEncoderType
The structure elements of 'IncHomingEncoder' specify the parameters for an incremental encoder.
Note
enableZeroMarkDistance
Data type:
EnumYesNo
Changeable online:
System default:
NO
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 reached 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
Data type:
EnumAxisPassiveApproachDirection
Changeable online:
System default:
ACTUAL_DIRECTION_PASSIVE
Specifies the expected approach direction for the passive homing.

For the setting 'passiveHomingMode:=ZM_PASSIVE' or 'passiveHomingMode:=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
Data type:
UDINT
Changeable online:
No
System default:
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.
2-168

ExternalEncoderType
passiveHomingMode
Data type:
EnumAxisPassiveHomingMode
Changeable online:
System default:
DEFAULT_PASSIVE
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 without the encoder zero mark, depending on the encoder type.
REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE is not available.
passiveLogAddressBero
Data type:
UDINT
Changeable online:
No
System default:
65535
Specifies the address of the reference cam during passive homing and for homing mode
zeroMarkDistance
Data type:
LREAL
Changeable online:
System default:
0.0 mm
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
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

2-169
ExternalEncoderType
2-170
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_P
ASSIVE (5)
Reference cam and external zero mark

ExternalEncoderType
IntervalCounterConversionDataType - ExternalEncoderType
interval counter.
module.
I/O area.
incResolution
Data type:
UDINT
Changeable online:
System default:
referenceTime
Data type:
LREAL
Changeable online:
System default:
0.0005 ms
DriverInfo


interval counter.)
2-171
ExternalEncoderType
InversCountDirection - ExternalEncoderType
value.
Data type:
EnumYesNo
Changeable online:
System default:
NO
EnumYesNo
NO (91)
No
YES (173)
Yes
LeadScrewInfo - ExternalEncoderType
The structure elements of 'LeadScrew' set the leadscrew pitch.
efficiency
Data type:
LREAL
Changeable online:
System default:
1.0
Efficiency of the spindle/nut combination.

pitchVal
Data type:
LREAL
Changeable online:
System default:
10.0 mm/rot
Specifies the leadscrew pitch per spindle revolution.
2-172

ExternalEncoderType
ModuloInfo - ExternalEncoderType
The structure elements of 'Modulo' specify the modulo information.
length
Data type:
LREAL
Changeable online:
System default:
360.0
Specifies modulo length.

The minimum modulo length that can be set depends on the available resolution!
startValue
Data type:
LREAL
Changeable online:
System default:
0.0
Specifies the initial value.

state
Data type:
EnumActiveInactive
Changeable online:
System default:
INACTIVE
Specifies modulo activation.

With ACTIVE, a modulo status is activated.
With INACTIVE, the modulo status is not activated.
EnumActiveInactive
ACTIVE (4)
Active
INACTIVE (61)
Inactive

2-173
ExternalEncoderType
PT2PositionFilterType - ExternalEncoderType
The structure elements of 'PositionFilter' specify the parameters of the position filter.
T1
Data type:
LREAL
Changeable online:
System default:
0.01 s
Time constant T1 of the position filter.

T2
Data type:
LREAL
Changeable online:
System default:
0.01 s

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
Specifies the activation status of the position filter.

EnumYesNo
NO (91)
No
YES (173)
Yes
PathPerRevolution - ExternalEncoderType
The structure elements of 'PathPerRevolution' specify the distance of one revolution for the EXTERN
assembly base.
length
Data type:
LREAL
Changeable online:
System default:
100.0 mm
Specifies the path length of an encoder revolution for EXTERNAL mount type.
2-174

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.
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

timeConstant
Data type:
LREAL
Changeable online:
System default:
0.01 s

EnumYesNo
NO (91)
No
YES (173)
Yes

2-175
ExternalEncoderType
Resolution - ExternalEncoderType
'Resolution' is used to configure the parameters of a linear encoder system (linear scale).
Note
distance
Data type:
LREAL
Changeable online:
No
System default:
0.001 mm
Distance between two encoder increments.

Note
The 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
Data type:
UDINT
Changeable online:
No
System default:
Incremental resolution
2-176

ExternalEncoderType
RestartInfo - ExternalEncoderType
just by command.
Data type:
Changeable online:
No
System default:
LAST_VALUE
Data type:
Changeable online:
System default:

DEFAULT_VALUE (2)
STOP_DEVICE (3)
LAST_VALUE (338)

2-177
ExternalEncoderType
SensorControlConfig - ExternalEncoderType
Note
Data type:
EnumYesNo
Changeable online:
System default:
NO
EnumYesNo
NO (91)
No
YES (173)
Yes
SensorNist - ExternalEncoderType
The structure elements of 'SensorNist' specify the parameters for the actual speed value from the I/O
area.
Note
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
Specifies the address of the actual speed value in the I/O area.
referenceValue
Data type:
LREAL
Changeable online:
System default:
3000.0
Specifies the reference time for the interval measurement.
2-178

ExternalEncoderType
SensorSetActualValue - ExternalEncoderType
system variable.
Note
maxFailures
Data type:
UDINT
Changeable online:
System default:
updateCycle
Data type:
EnumAxisUpdateCycle
Changeable online:
System default:
IPO

EnumAxisUpdateCycle
IPO (0)
IPO
IPO_2 (1)
IPO_2
SERVO (2)
Servo
IPO_FAST (3)
IPO_fast
SERVO_FAST (4)
Servo_fast

2-179
ExternalEncoderType
SmoothingFilter - ExternalEncoderType
'timeConstant':
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

mode
Data type:
EnumAxisFilterMode
Changeable online:
System default:
DEFAULT_MODE

timeConstant
Data type:
LREAL
Changeable online:
System default:
0.01 s

EnumYesNo
NO (91)
No
YES (173)
Yes
EnumAxisFilterMode
2-180
DEFAULT_MODE (0)
No filter
AVERAGING (1)
Form mean value
PT1 (2)
PT1 filter

ExternalEncoderType
StandStillSignal - ExternalEncoderType
Note
delayTimeToActivate
Data type:
LREAL
Changeable online:
System default:
0.01 s

filterDegree
Data type:
UINT
Changeable online:
System default:

filterFrequency
Data type:
LREAL
Changeable online:
System default:
0.0 Hz

maxVeloStandStill
Data type:
LREAL
Changeable online:
System default:
50.0 mm/min

2-181
ExternalEncoderType
StepMotorMonitoringType - ExternalEncoderType
Note
beroCycleDistance
Data type:
UDINT
Changeable online:
System default:
2048

beroCycleTolerance
Data type:
UDINT
Changeable online:
System default:
2048

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
2-182
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
Data type:
UDINT
Changeable online:
No
System default:
Specifies the first bit number of the update counter.

enableCounter
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
Data type:
UDINT
Changeable online:
No
System default:
65535
Specifies the logical address of the update counter.

maxFailure
Data type:
UDINT
Changeable online:
System default:
Specifies the number of permissible value failures before an error is output.

quantityOfBits
Data type:
UDINT
Changeable online:
System default:
Specifies the number of bits in the update counter.

2-183
ExternalEncoderType
updateCycle
Data type:
UDINT
Changeable online:
System default:
Specifies the ratio of the actual value update.

EnumYesNo
2-184
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
Data type:
UDINT
Changeable online:
System default:
Specifies the bit number of the error bit.

bitSemantics
Data type:
EnumTrueFalse
Changeable online:
System default:
_TRUE
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
Data type:
EnumYesNo
Changeable online:
System default:
NO
Specifies whether the error bit monitoring is performed.

With NO, the logical address is not used.
With YES, the logical address is used.
logAddress
Data type:
UDINT
Changeable online:
System default:
65535
Specifies the logical address of the error bit.

EnumTrueFalse
_TRUE (405)
true
_FALSE (406)
false
EnumYesNo
NO (91)
No
YES (173)
Yes

2-185
ExternalEncoderType
The structure elements of 'ReadyStateMonitoring' are used to set the parameters for evaluation of the
ready bit.
bitNumber
Data type:
UDINT
Changeable online:
System default:
Specifies the bit number of the ready bit.

bitSemantics
Data type:
EnumTrueFalse
Changeable online:
System default:
_TRUE
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
Data type:
EnumYesNo
Changeable online:
System default:
NO
Specifies whether the ready bit monitoring is performed.

logAddress
Data type:
UDINT
Changeable online:
System default:
65535
Specifies the logical address of the ready bit.

EnumTrueFalse
_TRUE (405)
true
_FALSE (406)
false
EnumYesNo
2-186
NO (91)
No
YES (173)
Yes

ExternalEncoderType
StructAxisDriveControlConfig - ExternalEncoderType
dataAdaption
Data type:
EnumYesNo
Changeable online:
System default:
NO
Data type:
Changeable online:
System default:
COMPATIBILITY_MODE
block.
releaseDisableMode
Data type:
UDINT
Changeable online:
System default:
127
reset.
Bit0 - ON

2-187
ExternalEncoderType
EnumYesNo
NO (91)
No
YES (173)
Yes
YES (173)


pulsesEnabled
2-188

ExternalEncoderType
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - ExternalEncoderType
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
StructAxisNistDriverConfig - ExternalEncoderType
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535

2-189
ExternalEncoderType
StructAxisOperatingDataInInfo - ExternalEncoderType
enableActivePower
Data type:
EnumYesNo
Changeable online:
No
System default:
NO

enableActualCurrent
Data type:
EnumYesNo
Changeable online:
No
System default:
NO

Data type:
EnumYesNo
Changeable online:
No
System default:
NO

Data type:
EnumYesNo
Changeable online:
No
System default:
NO

Data type:
EnumYesNo
Changeable online:
No
System default:
NO

2-190

ExternalEncoderType
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
EnumYesNo
NO (91)
No
YES (173)
Yes

2-191
ExternalEncoderType
StructAxisPulsesEnabledConfig - ExternalEncoderType
bitNumber
Data type:
UDINT
Changeable online:
System default:
13

pzdNumber
Data type:
UDINT
Changeable online:
System default:
2-192

ExternalEncoderType
StructAxisSpeedLimitation - ExternalEncoderType
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

maxSpeed
Data type:
LREAL
Changeable online:
System default:
0.0 1/min

minSpeed
Data type:
LREAL
Changeable online:
System default:
0.0 1/min

EnumYesNo
NO (91)
No
YES (173)
Yes

2-193
ExternalEncoderType
StructAxisTechnologicalData - ExternalEncoderType
Data type:
EnumYesNo
Changeable online:
No
System default:
NO
enable
Data type:
EnumYesNo
Changeable online:
No
System default:
NO

EnumYesNo
NO (91)
No
YES (173)
Yes
2-194

OperatingDataInInfo

ExternalEncoderType
StructAxisTechnologicalDataInInfo - ExternalEncoderType
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
the drive.
StructAxisTechnologicalDataOutInfo - ExternalEncoderType
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
the drive.

2-195
ExternalEncoderType
StructDriverInfoDirectIncremental - ExternalEncoderType
logAddress
Data type:
UDINT
Changeable online:
System default:
65535

resolution
Data type:
UDINT
Changeable online:
System default:
16
2-196

ExternalEncoderType
StructExtrapolation - ExternalEncoderType
The structure elements belonging to 'Extrapolation' are used to set the extrapolation time on the master value axis.
extrapolatedVelocitySwitch
Data type:
EnumAxisExtrapolatedVelocitySwitch
Changeable online:
System default:
DIFFERENTIATION
Used to select the velocity master value for master value extrapolation.
extrapolationTime
Data type:
LREAL
Changeable online:
System default:
0.01 s
Time specification for extrapolation. With 0.0, there is no extrapolation.

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

2-197
ExternalEncoderType
StructExtrapolationFilter - ExternalEncoderType
The structure elements belonging to 'Filter' are used to set the filter for the actual velocity on the master value axis.
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

mode
Data type:
EnumAxisFilterMode
Changeable online:
System default:
DEFAULT_MODE

With 'DEFAULT_MODE', the actual speed is not smoothed.
timeConstant
Data type:
LREAL
Changeable online:
System default:
0.01 s

EnumYesNo
NO (91)
No
YES (173)
Yes
EnumAxisFilterMode
2-198
DEFAULT_MODE (0)
No filter
AVERAGING (1)
Form mean value
PT1 (2)
PT1 filter

ExternalEncoderType
StructLogAddressIoBitType - ExternalEncoderType
The structure elements of 'LogAddress' are used to set the logical address.
bitNumber
Data type:
UDINT
Changeable online:
System default:
Specifies the bit number of the measuring input input.

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
Specifies whether the indicated logical address should be used.

logAddress
Data type:
UDINT
Changeable online:
System default:
65535
Specifies the logical base address of the measuring input input.

EnumYesNo
NO (91)
No
YES (173)
Yes

2-199
ExternalEncoderType
StructSensorDriverInfo - ExternalEncoderType
errorToleranceTime
Data type:
LREAL
Changeable online:
System default:
0.1 s
format
Data type:
Changeable online:
System default:
VALUE_LEFT_MARGIN
logAddress
Data type:
UDINT
Changeable online:
System default:
65535

maxValue
Data type:
DINT
Changeable online:
System default:
32511
minValue
Data type:
DINT
Changeable online:
System default:
-32512
2-200

ExternalEncoderType
resolution
Data type:
UDINT
Changeable online:
System default:
15

Right-justified
Left-justified

2-201
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
Data type:
EnumYesNo
Changeable online:
System default:
NO
Activation of the tolerance range.

With 'NO', the tolerance range is deactivated.
With 'YES', the tolerance range is activated.
value
Data type:
LREAL
Changeable online:
System default:
0.0 mm
Specifies the tolerance window around the actual position value of the master axis.
EnumYesNo
2-202
NO (91)
No
YES (173)
Yes

ExternalEncoderType
TypeOfAxisInfo - ExternalEncoderType
typeOfAxis
Data type:
EnumEncoderIdentification
Changeable online:
No
System default:
REAL_AXIS
Specifies the type of encoder configured.

With REAL_AXIS, the encoder is connected to a real process.
EnumEncoderIdentification
REAL_AXIS (0)
Real external encoder

DecodingConfig
(DecodingConfig)
Command processing
DistributedMotion
(DistributedMotionInfo)
Distributed motion control
Encoder_1
(EncoderMain)
Measuring system
Extrapolation
(StructExtrapolation)
Gear
(Gear)
Load gearbox
SmoothingFilter
(SmoothingFilter)
StandStillSignal
(StandStillSignal)
Standstill signal

2-203
ExternalEncoderType
2-204

PosAxis
Modulo (ModuloInfo)
AbsBackLash - PosAxis
The structure elements of 'AbsBackLash' specify the backlash compensation for the absolute encoder.
Note
_type
Data type:
EnumBackLashType
Changeable online:
System default:
POSITIVE
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
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
Data type:
LREAL
Changeable online:
System default:
0.0 mm
Specifies the backlash compensation value.

3-205
PosAxis
startUpDifference
Data type:
EnumBackLashDiff
Changeable online:
System default:
DIFF_POSITIVE
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
velocity
Data type:
LREAL
Changeable online:
System default:
0.0 mm/s
Specifies the velocity at which backlash compensation is stopped. If the value is 0, the backlash is
calculated without limits.
EnumBackLashType
POSITIVE (0)
positive
NEGATIVE (1)
negative
EnumYesNo
NO (91)
No
YES (173)
Yes
EnumBackLashDiff
3-206
DIFF_POSITIVE (0)
positive
DIFF_NEGATIVE (1)
negative

PosAxis
AbsEncoder - PosAxis
Note
absBaudRate
Data type:
EnumAbsBaudrate
Changeable online:
No
System default:
Baudrate_3
absDataLength
Data type:
UDINT
Changeable online:
System default:
24
of revolutions.
absMessageFormat
Data type:
EnumAbsMsgFormat
Changeable online:
No
System default:
PINETREE

absMessageLength
Data type:
EnumAbsMsgLength
Changeable online:
No
System default:
LENGTH_25

3-207
PosAxis
absResolution
Data type:
UDINT
Changeable online:
System default:
4096
Data type:
UDINT
Changeable online:
No
System default:
Data type:
UDINT
Changeable online:
No
System default:
absState
Data type:
EnumAbsState
Changeable online:
No
System default:
GRAY_CODE
3-208

PosAxis
enableAbsMonitoring
Data type:
EnumYesNo
Changeable online:
System default:
YES
issued.
Note
positioning).
EnumAbsBaudrate
Baudrate_5 (16#01)
3 Mbaud
Baudrate_4 (16#02)
1.5 Mbaud
Baudrate_3 (16#04)
750 Kbaud
Baudrate_2 (16#08)
375 Kbaud
Baudrate_1 (16#10)
187.5 Kbaud
EnumAbsMsgFormat
RIGHT_MARGIN (0)
Right-justified
PINETREE (1)
Pine tree format
EnumAbsMsgLength
LENGTH_13 (13)
13 bits
LENGTH_21 (21)
21 bits
LENGTH_25 (25)
25 bits

3-209
PosAxis
EnumAbsState
BIN_CODE (16#00)
Binary
GRAY_CODE (16#01)
Gray Code
EnumYesNo
3-210
NO (91)
No
YES (173)
Yes

PosAxis
AbsHomingEncoder - PosAxis
Note
absShift
Data type:
LREAL
Changeable online:
System default:
0.0 mm

Data type:
Changeable online:
System default:
RELATIVE
ABSOLUTE (1)
Absolute
RELATIVE (115)
Relative

3-211
PosAxis
ActualAccelerationMonitoring - PosAxis
The structure elements of 'ActualAccelerationMonitoring' specify the monitoring of actual acceleration.
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
Activation of actual acceleration monitoring.

maximum
Data type:
LREAL
Changeable online:
System default:
0.0 m/min
Maximum actual acceleration.

EnumYesNo
3-212
NO (91)
No
YES (173)
Yes

PosAxis
ActualVelocityMonitoring - PosAxis
actual velocity.
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

maximum
Data type:
LREAL
Changeable online:
System default:
0.0 mm/s

EnumYesNo
NO (91)
No
YES (173)
Yes

3-213
PosAxis
AdaptDrive - PosAxis
Note
denFactor
Data type:
UDINT
Changeable online:
System default:

numFactor
Data type:
UDINT
Changeable online:
System default:
AdaptExtern - PosAxis
type.
Note
denFactor
Data type:
UDINT
Changeable online:
System default:

numFactor
Data type:
UDINT
Changeable online:
System default:
3-214

PosAxis
AdaptLoad - PosAxis
Note
denFactor
Data type:
UDINT
Changeable online:
System default:

numFactor
Data type:
UDINT
Changeable online:
System default:

3-215
PosAxis
AdditionalSensorDriverInfo - PosAxis
errorToleranceTime
Data type:
LREAL
Changeable online:
System default:
0.1 s
format
Data type:
Changeable online:
System default:
VALUE_LEFT_MARGIN
logAddress
Data type:
UDINT
Changeable online:
System default:
65535

maxValue
Data type:
DINT
Changeable online:
System default:
32511
minValue
Data type:
DINT
Changeable online:
System default:
-32512
resolution
Data type:
UDINT
Changeable online:
System default:
15
3-216

PosAxis
Right-justified
Left-justified

3-217
PosAxis
AdditionalSensorMain - PosAxis
Data type:
Changeable online:
No
System default:
STANDARD

interfaceActivation
Data type:
Changeable online:
No
System default:
STARTUP_ACTIVATED

startup.
STANDARD (0)
(1)
3-218
ConversionData
(ConversionData)
DriverInfo
Analog input module
Filter
(Filter)
Range
(Range)

PosAxis
AdditionalSensorNumber - PosAxis
additional encoder.
number
Data type:
UDINT
Changeable online:
System default:
AnalogConversionDataType - PosAxis
values read.
_type
Data type:
Changeable online:
No
System default:

factor
Data type:
LREAL
Changeable online:
System default:
1.0
offset
Data type:
LREAL
Changeable online:
System default:
0.0


Linear relationship
3-219
PosAxis
AnalogSensorType - PosAxis
ConversionData

DriverInfo
Driver data
LogAddress
PositionFilter
UpdateCounter
AssemblyBase - PosAxis
assemblyBase
Data type:
Changeable online:
System default:
ASSEMBLY_BASE_DRIVE

3-220
Drive side
Load side
External
Linear

PosAxis
ClampingMonitoring - PosAxis
The structure elements of 'ClampingMonitoring' specify the clamping monitoring.
Note
followingErrorDeviation
Data type:
LREAL
Changeable online:
System default:
20.0 mm
Specifies the required following error to detect the end stop.

positionTolerance
Data type:
LREAL
Changeable online:
System default:
10.0 mm
Specifies the permissible deviation of the actual value from the setpoint in the clamped state.
recognitionMode
Data type:
EnumRecognitionMode
Changeable online:
System default:
DO_NOT_CLAMP
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
DO_NOT_CLAMP (0)
No detection
CLAMP_BY_FOLLOWING_ERROR_DEVIATI
ON (1)
By following error
CLAMP_WHEN_TORQUE_LIMIT_REACHED
(2)
By force moment/torque

3-221
PosAxis
ControllerDynamic - PosAxis
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

maxVeloTolerance
Data type:
LREAL
Changeable online:
System default:
2.0 %
EnumYesNo
3-222
NO (91)
No
YES (173)
Yes

PosAxis
ControllerStruct - PosAxis
Note
conType
Data type:
Changeable online:
No
System default:
PV

NODEF (0)
No significance
DIRECT (1)
Control only
PD (2)
PID controller
PV (3)
PV controller
PID (4)
PID controller
PID_ACTUAL (5)

PD_Controller
(PD_Controller)
PID controller
PID_Controller
(PID_ControllerPos)
PID controller
PV_Controller
(PV_Controller)
P-controller with precontrol
ControllerSwitchData - PosAxis
The structure elements for 'ControllerSwitchData' are used to configure digital inputs for force or pressure control.
NumberOfDigitalInputs
(NumberOfDigitalInputs)

Digital inputs
3-223
PosAxis
ConversionData - PosAxis
values read.
Note
Online help
_type
Data type:
Changeable online:
No
System default:

factor
Data type:
LREAL
Changeable online:
System default:
1.0 Pa

invert
Data type:
EnumYesNo
Changeable online:
System default:
NO
offset
Data type:
LREAL
Changeable online:
System default:
0.0 Pa

Linear relationship
EnumYesNo
3-224
NO (91)
No
YES (173)
Yes

PosAxis
DataSetMain - PosAxis
Note

data record
ClampingMonitoring
(ClampingMonitoring)
Clamping monitoring
ControllerDynamic
(ControllerDynamic)
ControllerStruct
(ControllerStruct)
DynamicComp
(DynamicComp)
Dynamic compensation
DynamicData
(DynamicData)
DynamicFollowing
(DynamicFollowing)
Dynamic following error monitoring
DynamicQFData
(StructPaxDynamicQFData)
EncoderNumber
(EncoderNumber)
ForceControllerData
Gear
(Gear)
InvertQ
InvertSetPoint
ProcessModel
(ProcessModel)
Process model

3-225
PosAxis
DecodingConfig - PosAxis
Note
Data type:
Changeable online:
System default:

been reached.
Data type:
Changeable online:
System default:
NONE
Data type:
Changeable online:
System default:
IMMEDIATELY
the interpolator.
3-226

PosAxis
directionDynamic
Data type:
EnumYesNo
Changeable online:
System default:
NO

Data type:
EnumYesNo
Changeable online:
System default:
YES
Data type:
DINT
Changeable online:
System default:
Data type:
DINT
Changeable online:
System default:
100
Data type:
DINT
Changeable online:
System default:

3-227
PosAxis
Data type:
Changeable online:
System default:
COMMAND_DYNAMICS

Data type:
EnumYesNo
Changeable online:
System default:
NO
stopWithJerk
Data type:
EnumYesNo
Changeable online:
System default:
NO
Data type:
Changeable online:
System default:
TRANSFER_STANDSTILL
is reset.
3-228

PosAxis
NONE (0)
No cyclic resetting
POSITION_BASED (1)
IMMEDIATELY (0)
NEXT_IPO_CYCLE (1)
EnumYesNo
NO (91)
No
YES (173)
Yes
values

TRANSFER_MERGE (1)

merge mode
TRANSFER_RESET (2)

3-229
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
Data type:
UDINT
Changeable online:
No
System default:
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
3-230

PosAxis
DistributedMotionInfo - PosAxis
Data type:
EnumYesNo
Changeable online:
System default:
NO

Data type:
EnumYesNo
Changeable online:
System default:
YES

Data type:
EnumYesNo
Changeable online:
System default:
YES

Data type:
UDINT
Changeable online:
System default:

EnumYesNo
NO (91)
No
YES (173)
Yes

3-231
PosAxis
Drift - PosAxis
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
3-232
NO (91)
No
YES (173)
Yes

PosAxis
DriveData - PosAxis
Note
maxSpeed
Data type:
LREAL
Changeable online:
System default:
3000.0 1/min

maxTorque
Data type:
LREAL
Changeable online:
System default:
3.2 Nm

nominalSpeed
Data type:
LREAL
Changeable online:
System default:
3000.0 1/min

nominalTorque
Data type:
LREAL
Changeable online:
System default:
3.2 Nm

speedReference
Data type:
Changeable online:
System default:
MAX_VALUE

Data type:
Changeable online:
System default:
BASIC

3-233
PosAxis
torqueReference
Data type:
Changeable online:
System default:
MAX_VALUE

MAX_VALUE (0)
Maximum value
NOMINAL_VALUE (1)
Nominal value
3-234
STANDARD (0)
Resolution 1/100
BASIC (16)
Resolution 1/16384

PosAxis
DriverInfo - PosAxis
Note
Data type:
DINT
Changeable online:
No
System default:
lifeSignCheck
Data type:
EnumYesNo
Changeable online:
System default:
YES
logAddressIn
Data type:
UDINT
Changeable online:
No
System default:
65535

logAddressOut
Data type:
UDINT
Changeable online:
No
System default:
65535

3-235
PosAxis
telegramType
Data type:
Changeable online:
No
System default:

up.
up.
encoder) is set up.
EnumYesNo
NO (91)
No
YES (173)
Yes
3-236
NO_TELEGRAM (0)
No message frame

PosAxis
(101)
(102)
(103)

3-237
PosAxis
DynamicComp - PosAxis
The structure elements of 'DynamicComp' specify dynamic compensation.
Note
T1
Data type:
LREAL
Changeable online:
System default:
0.0 s

T2
Data type:
LREAL
Changeable online:
System default:
0.0 s

deadTime
Data type:
LREAL
Changeable online:
System default:
0.0 s
Specifies the dead time.

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
Specifies the activation status of compensation.

With 'NO', the compensation is not activated.
With 'YES', the compensation is activated.
EnumYesNo
3-238
NO (91)
No
YES (173)
Yes

PosAxis
DynamicData - PosAxis
Note
positionTimeConstant
Data type:
LREAL
Changeable online:
System default:
0.1 s
Specifies the equivalent time constant of the position control system.

torqueTimeConstant
Data type:
LREAL
Changeable online:
System default:
0.00005 s
Not used.
Data type:
LREAL
Changeable online:
System default:
0.0005 s

Note

3-239
PosAxis
DynamicFollowing - PosAxis
The structure elements of 'DynamicFollowing' set the dynamic following error monitoring system.
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
YES
Specifies the activation status of dynamic following error monitoring.

maxPositionTolerance
Data type:
LREAL
Changeable online:
System default:
100.0 mm
Specifies the maximum permissible following error at maximum axis velocity.

minPositionTolerance
Data type:
LREAL
Changeable online:
System default:
10.0 mm
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
Data type:
LREAL
Changeable online:
System default:
10.0 mm/s
Specifies the axis velocity from which the maximum permissible following error begins to rise in proportion to velocity.
3-240

PosAxis
warningLimit
Data type:
LREAL
Changeable online:
System default:
100.0 %
Specifies the percentage value, relative to the maximum permissible following error calculated, which
triggers a warning if exceeded.
EnumYesNo
NO (91)
No
YES (173)
Yes

3-241
PosAxis
EmergencyRampGenerator - PosAxis
generator.
maxDeceleration
Data type:
LREAL
Changeable online:
System default:
10000.0 m/s
3-242

PosAxis
EncoderMain - PosAxis
dataAdaption
Data type:
EnumYesNo
Changeable online:
System default:
NO

Data type:
Changeable online:
No
System default:
SIMULATION

C230, C240, etc.).
DP interface.
encoderMode
Data type:
EnumAxisEncoderMode
Changeable online:
No
System default:
RECTANGLE_TTL


3-243
PosAxis
encoderSystem
Data type:
Changeable online:
No
System default:
ROTATORY_SYSTEM

encoderType
Data type:
EnumAxisEncoderType
Changeable online:
No
System default:
SENSOR_INCREMENTAL

encoderValueType
Data type:
Changeable online:
No
System default:
POSITION
and outputs.
interfaceAllocation
Data type:
Changeable online:
No
System default:
EXCLUSIVE

EnumYesNo
3-244
NO (91)
No
YES (173)
Yes

PosAxis
SIMULATION (0)
Simulation
ONBOARD (1)
Onboard
DPMASTER (2)
DPMaster
DIRECT (4)
EnumAxisEncoderMode
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
PROFIDRIVE (11)
PROFIdrive profile
ROTATORY_SYSTEM (0)
LINEAR_SYSTEM (1)
EnumAxisEncoderType
Incremental encoder
SENSOR_ABSOLUTE (2)
Absolute encoder
REMENT (4)
POSITION (0)
VELOCITY (1)

from DP protocol
IST_B (4)


3-245
PosAxis
EXCLUSIVE (939)
Exclusive
VATED (940)
ED (941)
3-246
AbsBackLash
(AbsBackLash)
Backlash compensation for absolute measuring

system
AbsEncoder
(AbsEncoder)
Absolute encoder
AbsHomingEncoder
(AbsHomingEncoder)
AdaptDrive
(AdaptDrive)
AdaptExtern
(AdaptExtern)
AdaptLoad
(AdaptLoad)
AnalogSensor
(AnalogSensorType)
AssemblyBase
(AssemblyBase)
DriverInfo
(DriverInfo)

encoder
Filter
(Filter)
Actual value filter
FrequencyLimit
(FrequencyLimit)
IncBackLash
(IncBackLash)
Backlash compensation for incremental measuring system
IncEncoder
(IncEncoder)
Incremental encoder
IncHomingEncoder
(IncHomingEncoder)
Interval counter
NistDriverConfig
Actual speed value
PathPerRevolution
(PathPerRevolution)
Path per revolution
PositionDifferenceMeasurement
(StructPositionDifferenceMeasurement)

PosAxis
PositionFilter
Position filter
Resolution
(Resolution)
Resolution
SensorControlConfig
SensorNist
(SensorNist)
Slippage
(Slippage)
Slippage
StepMotorMonitoring
Stepper motor

3-247
PosAxis
EncoderNumber - PosAxis
EncoderNumber
Data type:
UDINT
Changeable online:
System default:
ExecutionConfigInfo - PosAxis
Note
Online help
executionlevel
Data type:
Changeable online:
System default:
IPO
3-248
IPO (0)
IPO
IPO_2 (1)
IPO_2
SERVO (2)
Servo
IPO_FAST (3)
IPO_fast
SERVO_FAST (4)
Servo_fast

PosAxis
ExtrapolationPositionFilterType - PosAxis
T1
Data type:
LREAL
Changeable online:
System default:
0.01 s

T2
Data type:
LREAL
Changeable online:
System default:
0.01 s

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
EnumYesNo
NO (91)
No
YES (173)
Yes

3-249
PosAxis
Filter - PosAxis
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

timeConstant
Data type:
LREAL
Changeable online:
System default:
0.01 s

EnumYesNo
3-250
NO (91)
No
YES (173)
Yes

PosAxis
FineInterpolator - PosAxis
Note
_type
Data type:
Changeable online:
System default:
LINEAR_MODE

DIRECT_MODE (0)
No interpolation
LINEAR_MODE (1)
CUBIC_MODE (2)
QUADRATIC_MODE (3)
ForceControlHeldValueMonitoring - PosAxis
delayTimeToActivate
Data type:
LREAL
Changeable online:
System default:
0.0 s
tolerance
Data type:
LREAL
Changeable online:
System default:
20.0 Pa

3-251
PosAxis
ForceControlRunningInWindowMonitoring - PosAxis
maxDelayTime
Data type:
LREAL
Changeable online:
System default:
0.0 s
tolerance
Data type:
LREAL
Changeable online:
System default:
10.0 Pa

winTolTime
Data type:
LREAL
Changeable online:
System default:
1.0 s
3-252

PosAxis
ForceControllerData - PosAxis
Note
_type
Data type:
Changeable online:
System default:
PID

invertControlValue
Data type:
EnumYesNo
Changeable online:
System default:
NO

typeOfSensorData
Data type:
EnumSensorDataType
Changeable online:
System default:
UNI_DIRECTION

PID (1)
PID controller
PID_ACTUAL (2)
EnumYesNo
NO (91)
No
YES (173)
Yes

3-253
PosAxis
EnumSensorDataType
UNI_DIRECTION (1)
Unidirectional
BOTH_DIRECTION (2)
Bidirectional
3-254
FilterForceControl
OutputLimits
(OutputLimits)
PID_Controller

PosAxis
ForceControllerDifference - PosAxis
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
maxForceTolerance
Data type:
LREAL
Changeable online:
System default:
10.0 Pa

EnumYesNo
NO (91)
No
YES (173)
Yes
FrequencyLimit - PosAxis
Data type:
LREAL
Changeable online:
System default:
400000.0 Hz

3-255
PosAxis
Friction - PosAxis
amplitude
Data type:
LREAL
Changeable online:
System default:
5.0 mm/s

decayTime
Data type:
LREAL
Changeable online:
System default:
0.05 s

delayTimeStandStill
Data type:
LREAL
Changeable online:
System default:
0.01 s

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

maxVeloStandStill
Data type:
LREAL
Changeable online:
System default:
0.2 mm/s

EnumYesNo
3-256
NO (91)
No
YES (173)
Yes

PosAxis
Gear - PosAxis
denFactor
Data type:
UDINT
Changeable online:
System default:

numFactor
Data type:
UDINT
Changeable online:
System default:

3-257
PosAxis
HWEndPos - PosAxis
switches.
bitNumberNegative
Data type:
UDINT
Changeable online:
No
System default:
bitNumberPositive
Data type:
UDINT
Changeable online:
No
System default:
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

interfaceActivation
Data type:
Changeable online:
No
System default:
STARTUP_ACTIVATED

startup.
logAddressNegative
Data type:
UDINT
Changeable online:
No
System default:
65535
3-258

PosAxis
logAddressPositive
Data type:
UDINT
Changeable online:
No
System default:
65535

mode
Data type:
EnumMountSwitch
Changeable online:
System default:
END_MOUNTED_SWITCH
EnumYesNo
NO (91)
No
YES (173)
Yes
EnumMountSwitch

range always active

3-259
PosAxis
Homing - PosAxis
The structure elements of 'Homing' specify the parameters for homing the axis.
Note
beroDistance
Data type:
LREAL
Changeable online:
System default:
0.0 mm
Specifies the maximum distance from the current position to the homing cam or to the external zero
mark.
direction
Data type:
EnumDirectionType
Changeable online:
System default:
POSITIVE
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
Data type:
EnumYesNo
Changeable online:
System default:
NO
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.
3-260

PosAxis
referencingNecessary
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
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
EnumYesNo
NO (91)
No
YES (173)
Yes

ReverseCamNegative
(ReverseCamNegative)
Negative reversing cam
ReverseCamPositive
(ReverseCamPositive)
Positive reversing cam

3-261
PosAxis
IncBackLash - PosAxis
The structure elements of 'IncBackLash' specify the backlash compensation for the incremental encoder.
Note
_type
Data type:
EnumBackLashType
Changeable online:
System default:
POSITIVE

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
Specifies the activation status of backlash compensation for the incremental encoder.
length
Data type:
LREAL
Changeable online:
System default:
0.0 mm

velocity
Data type:
LREAL
Changeable online:
System default:
0.0 mm/s
Specifies the velocity at which backlash compensation is stopped.

If the value is 0, the backlash is calculated without limits.
EnumBackLashType
POSITIVE (0)
positive
NEGATIVE (1)
negative
EnumYesNo
3-262
NO (91)
No
YES (173)
Yes

PosAxis
IncEncoder - PosAxis
Note
Data type:
EnumYesNo
Changeable online:
System default:
NO
marks.
incResolution
Data type:
UDINT
Changeable online:
System default:
2048
Data type:
UDINT
Changeable online:
System default:

EnumYesNo
NO (91)
No
YES (173)
Yes

3-263
PosAxis
IncHomingEncoder - PosAxis
Note
approachDirection
Data type:
EnumAxisApproachDirection
Changeable online:
System default:
APPROACH_NEGATIVE
Specifies the approach direction of the encoder zero mark with the following homing modes: 'homingMode:=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: 'homingMode:=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
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 'homingMode:=MODE_REFERENCE_CAM_AND_EXTERNAL_ZM', the edge and side of the external zero
mark are evaluated.
bitNumberBero
Data type:
UDINT
Changeable online:
No
System default:
Specifies the bit number of the reference cam for homing mode CAM_AND_ZM or
MODE_REFERENCE_CAM_AND_EXTERNAL_ZM.
3-264

PosAxis
Data type:
EnumYesNo
Changeable online:
System default:
NO
is reached.
homingMode
Data type:
EnumAxisHomingMode
Changeable online:
System default:
MODE_NO_REFERENCE

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
Data type:
UDINT
Changeable online:
No
System default:
65535
Specifies the address of the reference cam for homing mode CAM_AND_ZM or

3-265
PosAxis
Data type:
Changeable online:
System default:

direction.
is expected.
is expected.
is expected.
mark is expected.
Data type:
UDINT
Changeable online:
No
System default:
passiveHomingMode
Data type:
Changeable online:
System default:
DEFAULT_PASSIVE

3-266

PosAxis
Data type:
UDINT
Changeable online:
No
System default:
65535
proceedShiftPos
Data type:
LREAL
Changeable online:
System default:
0.0 mm
Specifies the home position offset.

referenceCamType
Data type:
EnumAxisReferenceCamType
Changeable online:
No
System default:
STANDARD
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
Data type:
LREAL
Changeable online:
System default:
0.0 mm
APPROACH_NEGATIVE (0)
APPROACH_POSITIVE (1)
EDGE_POS_SIDE_NEG (2)
EDGE_POS_SIDE_POS (3)
EDGE_NEG_SIDE_POS (4)
EDGE_NEG_SIDE_NEG (5)
EnumYesNo
NO (91)
No
YES (173)
Yes

3-267
PosAxis
EnumAxisHomingMode
MODE_NO_REFERENCE (0)
No reference mode
MODE_CAM_AND_ZM (1)
MODE_ZM (2)
MODE_CAM (3)
MODE_REFERENCE_CAM_AND_EXTERNAL
_ZM (4)
Next edge
ZM_PASSIVE (2)
CAM_PASSIVE (3)
DEFAULT_PASSIVE (4)

ASSIVE (5)
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)
3-268
External zero mark status of digital drive

PosAxis
IntervalCounterConversionDataType - PosAxis
interval counter.
module.
I/O area.
incResolution
Data type:
UDINT
Changeable online:
System default:
referenceTime
Data type:
LREAL
Changeable online:
System default:
0.0005 ms
DriverInfo


interval counter.)
3-269
PosAxis
InversCountDirection - PosAxis
value.
Data type:
EnumYesNo
Changeable online:
System default:
NO
EnumYesNo
NO (91)
No
YES (173)
Yes
InvertSetPoint - PosAxis
invSetPoint
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
3-270
NO (91)
No
YES (173)
Yes

PosAxis
InvertSetPointHydraulicType - PosAxis
invert
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
NO (91)
No
YES (173)
Yes
LeadScrewInfo - PosAxis
efficiency
Data type:
LREAL
Changeable online:
System default:
1.0

pitchVal
Data type:
LREAL
Changeable online:
System default:
10.0 mm/rot

3-271
PosAxis
LinearMotorDriveData - PosAxis
Note
Data type:
Changeable online:
System default:
BASIC

forceReference
Data type:
Changeable online:
System default:
MAX_VALUE

maxForce
Data type:
LREAL
Changeable online:
System default:
1000.0 N

maxSpeed
Data type:
LREAL
Changeable online:
No
System default:
3000.0 1/min

nominalForce
Data type:
LREAL
Changeable online:
System default:
1000.0 N

nominalSpeed
Data type:
LREAL
Changeable online:
No
System default:
3000.0 1/min
3-272

PosAxis
speedReference
Data type:
Changeable online:
System default:
MAX_VALUE

STANDARD (0)
Resolution 1/100
BASIC (16)
Resolution 1/16384
MAX_VALUE (0)
Maximum value
NOMINAL_VALUE (1)
Nominal value

3-273
PosAxis
LinearStepMotorDriveDataType - PosAxis
maxFrequency
Data type:
LREAL
Changeable online:
No
System default:
50000.0 Hz

stepMotorResolution
Data type:
UDINT
Changeable online:
System default:
1000
3-274

PosAxis
MaxAcceleration - PosAxis
Note
Data type:
EnumYesNo
Changeable online:
System default:
NO
limited.
maximum
Data type:
LREAL
Changeable online:
System default:
10000.0 mm/s

EnumYesNo
NO (91)
No
YES (173)
Yes

3-275
PosAxis
MaxForceCommandData - PosAxis
Note
maximum
Data type:
LREAL
Changeable online:
System default:
1000.0

maximumDerived
Data type:
LREAL
Changeable online:
System default:
10000.0
MaxJerk - PosAxis
Note
Online help
maximum
Data type:
LREAL
Changeable online:
System default:
200000.0 mm/s
3-276

PosAxis
MaxVelocity - PosAxis
Note
maximum
Data type:
LREAL
Changeable online:
System default:
500.0 mm/s
ModuloInfo - PosAxis
length
Data type:
LREAL
Changeable online:
System default:
360.0

startValue
Data type:
LREAL
Changeable online:
System default:
0.0

state
Data type:
EnumActiveInactive
Changeable online:
System default:
INACTIVE

EnumActiveInactive
ACTIVE (4)
Active
INACTIVE (61)
Inactive

3-277
PosAxis
NeutralBand - PosAxis
centreValue
Data type:
LREAL
Changeable online:
System default:
0.0

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

range
Data type:
LREAL
Changeable online:
System default:
0.0

EnumYesNo
3-278
NO (91)
No
YES (173)
Yes

PosAxis
NumberOfAdditionalSensors - PosAxis
Note
number
Data type:
UDINT
Changeable online:
No
System default:

AdditionalSensor_1
Encoder 1
AdditionalSensor_2
Encoder 2
AdditionalSensor_3
Encoder 3
AdditionalSensor_4
Encoder 4
AdditionalSensor_5
Encoder 5
AdditionalSensor_6
Encoder 6
AdditionalSensor_7
Encoder 7
AdditionalSensor_8
Encoder 8

3-279
PosAxis
NumberOfDataSets - PosAxis
Note
changeMode
Data type:
EnumChangeMode
Changeable online:
System default:
IN_POSITION

initDataSet
Data type:
UDINT
Changeable online:
System default:

numberOfDataSets
Data type:
UDINT
Changeable online:
No
System default:

Data type:
LREAL
Changeable online:
System default:
0.0 s
EnumChangeMode
3-280
NEVER (0)
No switchover
IN_POSITION (1)
IN_STANDSTILL (3)
IMMEDIATELY (7)

PosAxis

DataSet_1
(DataSetMain)
Data record 1
DataSet_10
(DataSetMain)
Data record 10
DataSet_11
(DataSetMain)
Data record 11
DataSet_12
(DataSetMain)
Data record 12
DataSet_13
(DataSetMain)
Data record 13
DataSet_14
(DataSetMain)
Data record 14
DataSet_15
(DataSetMain)
Data record 15
DataSet_16
(DataSetMain)
Data record 16
DataSet_2
(DataSetMain)
Data record 2
DataSet_3
(DataSetMain)
Data record 3
DataSet_4
(DataSetMain)
Data record 4
DataSet_5
(DataSetMain)
Data record 5
DataSet_6
(DataSetMain)
Data record 6
DataSet_7
(DataSetMain)
Data record 7
DataSet_8
(DataSetMain)
Data record 8
DataSet_9
(DataSetMain)
Data record 9

3-281
PosAxis
NumberOfDigitalInputs - PosAxis
The structure elements of 'NumberOfDigitalInputs' are used to configure the number of digital inputs.
number
Data type:
UDINT
Changeable online:
No
System default:
Specifies the number of inputs.

3-282
DigitalInput_1
(DigitalInputMain)
Digital input 1
DigitalInput_2
(DigitalInputMain)
Digital input 2
DigitalInput_3
(DigitalInputMain)
Digital input 3
DigitalInput_4
(DigitalInputMain)
Digital input 4
DigitalInput_5
(DigitalInputMain)
Digital input 5
DigitalInput_6
(DigitalInputMain)
Digital input 6
DigitalInput_7
(DigitalInputMain)
Digital input 7
DigitalInput_8
(DigitalInputMain)
Digital input 8

PosAxis
NumberOfEncoders - PosAxis
Note
dscEncoderNumber
Data type:
UDINT
Changeable online:
No
System default:

numberOfEncoders
Data type:
UDINT
Changeable online:
No
System default:

Encoder_1
(EncoderMain)
Encoder 1
Encoder_2
(EncoderMain)
Encoder 2
Encoder_3
(EncoderMain)
Encoder 3
Encoder_4
(EncoderMain)
Encoder 4
Encoder_5
(EncoderMain)
Encoder 5
Encoder_6
(EncoderMain)
Encoder 6
Encoder_7
(EncoderMain)
Encoder 7
Encoder_8
(EncoderMain)
Encoder 8

3-283
PosAxis
OutputLimits - PosAxis
Note
_max
Data type:
LREAL
Changeable online:
System default:
500.0

_min
Data type:
LREAL
Changeable online:
System default:
-500.0
PD_Controller - PosAxis
The structure elements of 'PD_Controller' specify the parameters of the PD controller.
decayTime
Data type:
LREAL
Changeable online:
System default:
0.0 s

kd
Data type:
LREAL
Changeable online:
System default:
0.0

kp
Data type:
LREAL
Changeable online:
System default:
10.0 1/s
3-284

PosAxis
PID_ControllerForce - PosAxis
decayTime
Data type:
LREAL
Changeable online:
System default:
1.0 s

enableAntiWindup
Data type:
EnumYesNo
Changeable online:
System default:
YES

Data type:
LREAL
Changeable online:
System default:
0.0 s

kd
Data type:
LREAL
Changeable online:
System default:
0.0

ki
Data type:
LREAL
Changeable online:
System default:
0.0

kp
Data type:
LREAL
Changeable online:
System default:
1.0 1/s

3-285
PosAxis
kpc
Data type:
LREAL
Changeable online:
System default:
100.0 %

preCon
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
3-286
NO (91)
No
YES (173)
Yes

PosAxis
PID_ControllerPos - PosAxis
balanceFilterMode
Data type:
Changeable online:
System default:
MODE_1

decayTime
Data type:
LREAL
Changeable online:
System default:
1.0 s

enableAntiWindup
Data type:
EnumYesNo
Changeable online:
System default:
YES

kd
Data type:
LREAL
Changeable online:
System default:
0.0

ki
Data type:
LREAL
Changeable online:
System default:
0.0 1/s

kp
Data type:
LREAL
Changeable online:
System default:
1.0 1/s

3-287
PosAxis
kpc
Data type:
LREAL
Changeable online:
System default:
100.0 %

preCon
Data type:
EnumYesNo
Changeable online:
System default:
NO

OFF (0)
MODE_1 (1)
MODE_2 (2)
EnumYesNo
3-288
NO (91)
No
YES (173)
Yes

PosAxis
PT2PositionFilterType - PosAxis
T1
Data type:
LREAL
Changeable online:
System default:
0.01 s

T2
Data type:
LREAL
Changeable online:
System default:
0.01 s

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
NO (91)
No
YES (173)
Yes

3-289
PosAxis
PV_Controller - PosAxis
The structure elements of 'PV_Controller' specify the parameters of the P controller with precontrol.
Note
balanceFilterMode
Data type:
Changeable online:
System default:
MODE_1
Specifies the balancing filter type.

enableDSC
Data type:
EnumYesNo
Changeable online:
System default:
NO
Specifies the activation status of DSC.

With NO, DSC is not activated.
With YES, DSC is activated.
kpc
Data type:
LREAL
Changeable online:
System default:
100.0 %

kv
Data type:
LREAL
Changeable online:
System default:
10.0 1/s
Specifies the gain factor of the position feedback loop.
3-290

PosAxis
preCon
Data type:
EnumYesNo
Changeable online:
System default:
NO

With NO, the precontrol is not activated.
With YES, the precontrol is activated.
OFF (0)
MODE_1 (1)
MODE_2 (2)
EnumYesNo
NO (91)
No
YES (173)
Yes

3-291
PosAxis
PathPerRevolution - PosAxis
assembly base.
length
Data type:
LREAL
Changeable online:
System default:
100.0 mm
PathSyncAxisPosTolerance - PosAxis
The setting of the setpoint differential monitoring on the synchronous axis is specified with the structure elements for 'PathSyncAxisPosTolerance'.
Note
"Further information can be found in the Path Interpolation Technology Object Function Manual and
in online help."
commandValueTolerance
Data type:
LREAL
Changeable online:
System default:
10.0 mm
Specifies the permissible setpoint deviation. An alarm is output if the value is exceeded.
enableCommandValue
Data type:
EnumAxisPathPosToleranceCommandValue
Changeable online:
System default:
WITHOUT_JERK
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.
3-292
NO_ACTIVATE (0)
No
WITHOUT_JERK (1)
Without jerk
WITH_JERK (2)
With jerk

PosAxis
PositionFilterType - PosAxis
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

timeConstant
Data type:
LREAL
Changeable online:
System default:
0.01 s

EnumYesNo
NO (91)
No
YES (173)
Yes

3-293
PosAxis
PositionMonitoring - PosAxis
The structure elements of 'PositionMonitoring' specify position monitoring.
Note
posWinTolDelayTime
Data type:
LREAL
Changeable online:
System default:
0.1 s
Specifies the delay between the time when the actual value reaches the tolerance window and activation of zero speed monitoring.
posWinTolTime
Data type:
LREAL
Changeable online:
System default:
1.0 s
Specifies the delay between activation of monitoring and the time when the actual value reaches the
tolerance window.
tolerance
Data type:
LREAL
Changeable online:
System default:
1.0 mm
Specifies the width of the positioning window.
3-294

PosAxis
ProcessModel - PosAxis
Note
T1
Data type:
LREAL
Changeable online:
System default:
0.003 s

T2
Data type:
LREAL
Changeable online:
System default:
0.0001 s

ks
Data type:
LREAL
Changeable online:
System default:
0.00000095367431640625

3-295
PosAxis
Range - PosAxis
_max
Data type:
LREAL
Changeable online:
System default:
10000.0

_min
Data type:
LREAL
Changeable online:
System default:
-10000.0
Resolution - PosAxis
Note
distance
Data type:
LREAL
Changeable online:
No
System default:
0.001 mm

Note
multiplierCyclic
Data type:
UDINT
Changeable online:
No
System default:
3-296

PosAxis
RestartConditionInfo - PosAxis
Data type:
Changeable online:
System default:
AXIS_DISABLED

NO_CONSTRAINTS (0)
STANDSTILL (1)
AXIS_DISABLED (2)

3-297
PosAxis
RestartInfo - PosAxis
just by command.
Data type:
Changeable online:
No
System default:
LAST_VALUE
Data type:
Changeable online:
System default:

DEFAULT_VALUE (2)
STOP_DEVICE (3)
LAST_VALUE (338)
3-298

PosAxis
ReverseCamNegative - PosAxis
The structure elements of 'ReverseCamNegative' specify the parameters for a negative reversing
cam.
_type
Data type:
EnumAxisHomingReverseCamType
Changeable online:
No
System default:
NONE
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
Data type:
UDINT
Changeable online:
No
System default:
Specifies the bit umber of the negative reversing cam for the selection SPECIFIC.
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
Specifies the address of the negative reversing cam for the selection SPECIFIC.
NONE (93)
No reversing cam
SPECIFIC (387)
Newly defined reversing cam
HARDWARE_LIMIT_SWITCH (388)
Hardware limit switch as reversing cam

3-299
PosAxis
ReverseCamPositive - PosAxis
The structure elements of 'ReverseCamPositive' specify the parameters for a positive reversing cam.
_type
Data type:
Changeable online:
No
System default:
NONE

With NONE, a positive reversing cam is not present.
With HARDWARE_LIMIT_SWITCH, the positive hardware limit switch is used as the reversing cam.
bitNumber
Data type:
UDINT
Changeable online:
No
System default:
Specifies the bit number of the positive reversing cam for the selection SPECIFIC.
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
Specifies the address of the positive reversing cam for the selection SPECIFIC.
3-300
NONE (93)
No reversing cam
SPECIFIC (387)

PosAxis
SensorControlConfig - PosAxis
Note
Data type:
EnumYesNo
Changeable online:
System default:
NO
EnumYesNo
NO (91)
No
YES (173)
Yes

3-301
PosAxis
SensorNist - PosAxis
area.
Note
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
referenceValue
Data type:
LREAL
Changeable online:
System default:
3000.0
3-302

PosAxis
SensorSetActualValue - PosAxis
system variable.
Note
maxFailures
Data type:
UDINT
Changeable online:
System default:
updateCycle
Data type:
EnumAxisUpdateCycle
Changeable online:
System default:
IPO

EnumAxisUpdateCycle
IPO (0)
IPO
IPO_2 (1)
IPO_2
SERVO (2)
Servo
IPO_FAST (3)
IPO_fast
SERVO_FAST (4)
Servo_fast

3-303
PosAxis
SetPointDriverInfo - PosAxis
Note
actorType
Data type:
Changeable online:
No
System default:
NO_TYPE

interfaceAllocation
Data type:
Changeable online:
No
System default:
EXCLUSIVE

lifeSignCheck
Data type:
EnumYesNo
Changeable online:
System default:
YES

logAddressIn
Data type:
UDINT
Changeable online:
No
System default:
65535
3-304

PosAxis
logAddressOut
Data type:
UDINT
Changeable online:
No
System default:
65535

maxSetPointVoltage
Data type:
LREAL
Changeable online:
System default:
10.0 V
mode
Data type:
EnumAxisDriverMode
Changeable online:
No
System default:
SIMULATION

.
motorType
Data type:
EnumAxisMotorType
Changeable online:
No
System default:
STANDARD_MOTORTYPE

Data type:
UDINT
Changeable online:
No
System default:
Not used

3-305
PosAxis
telegramType
Data type:
Changeable online:
No
System default:

up.
up.
encoder) is set up.
for DriveAxis.
V4.2.
NO_TYPE (0)
No type
ANALOG (1)
Analog
STEPMOTOR (2)
Step mode
EXCLUSIVE (939)
VATED (940)
ED (941)
EnumYesNo
3-306
NO (91)
No
YES (173)
Yes

PosAxis
EnumAxisDriverMode
SIMULATION (0)
Simulation
ONBOARD (1)
Onboard
DPMASTER (2)
DP Master
EnumAxisMotorType
Standard motor
Linear motor
NO_TELEGRAM (0)
No message frame
(101)
(102)
(103)

DriveData
(DriveData)
InvertSetPoint
(InvertSetPoint)
StepMotorDriveData

3-307
PosAxis
SimulationInfo - PosAxis
simulationMode
Data type:
EnumYesNo
Changeable online:
No
System default:
NO

EnumYesNo
NO (91)
No
YES (173)
Yes
Slippage - PosAxis
Not functional.
slippageLimit
3-308
Data type:
UDINT
Changeable online:
System default:
1000 mm

PosAxis
SmoothingFilter - PosAxis
'timeConstant':
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

mode
Data type:
EnumAxisFilterMode
Changeable online:
System default:
DEFAULT_MODE

timeConstant
Data type:
LREAL
Changeable online:
System default:
0.01 s

EnumYesNo
NO (91)
No
YES (173)
Yes
EnumAxisFilterMode
DEFAULT_MODE (0)
No filter
AVERAGING (1)
Form mean value
PT1 (2)
PT1 filter

3-309
PosAxis
StandStillMonitoring - PosAxis
The structure elements of 'StandStillMonitoring' specify zero speed monitoring.
Note
delayTimeToActivate
Data type:
LREAL
Changeable online:
System default:
0.0 s
Specifies the delay between the time at which the monitoring window is reached and activation of the
message.
stillStandTolerance
Data type:
LREAL
Changeable online:
System default:
1.0 mm
Specifies the maximum position tolerance at standstill.
3-310

PosAxis
StandStillSignal - PosAxis
Note
delayTimeToActivate
Data type:
LREAL
Changeable online:
System default:
0.01 s

filterDegree
Data type:
UINT
Changeable online:
System default:

filterFrequency
Data type:
LREAL
Changeable online:
System default:
0.0 Hz

maxVeloStandStill
Data type:
LREAL
Changeable online:
System default:
50.0 mm/min

3-311
PosAxis
StateDriveExternalZeroMark - PosAxis
The structure elements of 'StateDriveExternalZeroMark' specify the parameters for the status of an
external zero mark for a digital drive.
available
Data type:
EnumYesNo
Changeable online:
No
System default:
NO
Specifies that the external zero mark status for a digital drive is available.
bitNumber
Data type:
UDINT
Changeable online:
No
System default:
Specifies the bit number of the external zero mark for a digital drive.
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
Specifies the address of the external zero mark for a digital drive.
EnumYesNo
NO (91)
No
YES (173)
Yes
StepMotorDriveDataType - PosAxis
maxFrequency
Data type:
LREAL
Changeable online:
No
System default:
50000.0 Hz

stepMotorResolution
Data type:
UDINT
Changeable online:
System default:
1000
3-312

PosAxis
StepMotorMonitoringType - PosAxis
Note
beroCycleDistance
Data type:
UDINT
Changeable online:
System default:
2048

beroCycleTolerance
Data type:
UDINT
Changeable online:
System default:
2048

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
NO (91)
No
YES (173)
Yes

3-313
PosAxis
StructAxisActualValueUpdateCounter - PosAxis
value update.
bitNumber
Data type:
UDINT
Changeable online:
No
System default:

enableCounter
Data type:
EnumYesNo
Changeable online:
System default:
NO

logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535

maxFailure
Data type:
UDINT
Changeable online:
System default:

quantityOfBits
Data type:
UDINT
Changeable online:
System default:
3-314

PosAxis
updateCycle
Data type:
UDINT
Changeable online:
System default:

EnumYesNo
NO (91)
No
YES (173)
Yes

3-315
PosAxis
StructAxisAdditionalOffset - PosAxis
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

Data type:
LREAL
Changeable online:
System default:
1.0 mm/s

Data type:
LREAL
Changeable online:
System default:
1.0 mm/s
Data type:
LREAL
Changeable online:
System default:
1.0 mm/s
Data type:
LREAL
Changeable online:
System default:
1.0 mm/s
3-316

PosAxis
Data type:
LREAL
Changeable online:
System default:
1.0 mm/s
EnumYesNo
NO (91)
No
YES (173)
Yes

3-317
PosAxis
StructAxisAnalogSensorErrorStateMonitoring - PosAxis
error bit.
bitNumber
Data type:
UDINT
Changeable online:
System default:

bitSemantics
Data type:
EnumTrueFalse
Changeable online:
System default:
_TRUE

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

logAddress
Data type:
UDINT
Changeable online:
System default:
65535

EnumTrueFalse
_TRUE (405)
true
_FALSE (406)
false
EnumYesNo
3-318
NO (91)
No
YES (173)
Yes

PosAxis
StructAxisAnalogSensorReadyStateMonitoring - PosAxis
ready bit.
bitNumber
Data type:
UDINT
Changeable online:
System default:

bitSemantics
Data type:
EnumTrueFalse
Changeable online:
System default:
_TRUE

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

logAddress
Data type:
UDINT
Changeable online:
System default:
65535

EnumTrueFalse
_TRUE (405)
true
_FALSE (406)
false
EnumYesNo
NO (91)
No
YES (173)
Yes

3-319
PosAxis
StructAxisDriveControlConfig - PosAxis
dataAdaption
Data type:
EnumYesNo
Changeable online:
System default:
NO
Data type:
Changeable online:
System default:
COMPATIBILITY_MODE
block.
releaseDisableMode
Data type:
UDINT
Changeable online:
System default:
127
reset.
Bit0 - ON
EnumYesNo
3-320
NO (91)
No
YES (173)
Yes

PosAxis
YES (173)


pulsesEnabled

3-321
PosAxis
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - PosAxis
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
3-322

PosAxis
StructAxisFilterForceControlConfig - PosAxis
T1
Data type:
LREAL
Changeable online:
System default:
1.0 s

T2
Data type:
LREAL
Changeable online:
System default:
1.0 s

_type
Data type:
Changeable online:
System default:
PT2

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

PT2 (909)
PT2
EnumYesNo
NO (91)
No
YES (173)
Yes

3-323
PosAxis
StructAxisInvertFOutput - PosAxis
invSetPoint
Data type:
EnumYesNo
Changeable online:
System default:
NO

unchanged.
EnumYesNo
NO (91)
No
YES (173)
Yes
StructAxisInvertQOutput - PosAxis
invSetPoint
Data type:
EnumYesNo
Changeable online:
System default:
NO

unchanged.
EnumYesNo
3-324
NO (91)
No
YES (173)
Yes

PosAxis
StructAxisNistDriverConfig - PosAxis
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535

3-325
PosAxis
StructAxisOperatingDataInInfo - PosAxis
enableActivePower
Data type:
EnumYesNo
Changeable online:
No
System default:
NO

enableActualCurrent
Data type:
EnumYesNo
Changeable online:
No
System default:
NO

Data type:
EnumYesNo
Changeable online:
No
System default:
NO

Data type:
EnumYesNo
Changeable online:
No
System default:
NO

Data type:
EnumYesNo
Changeable online:
No
System default:
NO

3-326

PosAxis
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
EnumYesNo
NO (91)
No
YES (173)
Yes

3-327
PosAxis
StructAxisPulsesEnabledConfig - PosAxis
bitNumber
Data type:
UDINT
Changeable online:
System default:
13

pzdNumber
Data type:
UDINT
Changeable online:
System default:
StructAxisServoMonitoringConfig - PosAxis
Data type:
EnumYesNo
Changeable online:
System default:
NO
EnumYesNo
3-328
NO (91)
No
YES (173)
Yes

PosAxis
StructAxisSetpointFilter - PosAxis
branch.
T1
Data type:
LREAL
Changeable online:
System default:
0.0 s

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
NO (91)
No
YES (173)
Yes

3-329
PosAxis
StructAxisSlidingFriction - PosAxis
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

factorForceControl
Data type:
LREAL
Changeable online:
System default:
0.01
factorMotionControl
Data type:
LREAL
Changeable online:
System default:
0.01
Data type:
LREAL
Changeable online:
System default:
0.0
EnumYesNo
3-330
NO (91)
No
YES (173)
Yes

PosAxis
StructAxisSpeedLimitation - PosAxis
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

maxSpeed
Data type:
LREAL
Changeable online:
System default:
0.0 1/min

minSpeed
Data type:
LREAL
Changeable online:
System default:
0.0 1/min

EnumYesNo
NO (91)
No
YES (173)
Yes

3-331
PosAxis
StructAxisSwLimitConfig - PosAxis
The structure elements for 'SwLimit' are used to parameterize the efficiency and the approach functionality of the software limit switch.
modeSpecificMonitoring
Data type:
EnumAxisSwLimitModeSpecificMonitoring
Changeable online:
System default:
IN_CLOSED_LOOP_POSITION_CONTROL
Specifies the approach behavior at the software limit switch.

monitoringAtMotionStart
Data type:
EnumYesNo
Changeable online:
System default:
YES
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
Data type:
LREAL
Changeable online:
System default:
0.0
Tolerance window for the retraction from/via the software limit switch.
(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
EnumYesNo
3-332
NO (91)
No
YES (173)
Yes

PosAxis
StructAxisSystemDeadTimeData - PosAxis
dead times.
additionalTime
Data type:
LREAL
Changeable online:
System default:
0.0 s

3-333
PosAxis
StructAxisTechnologicalData - PosAxis
Data type:
EnumYesNo
Changeable online:
No
System default:
NO
enable
Data type:
EnumYesNo
Changeable online:
No
System default:
NO

EnumYesNo
NO (91)
No
YES (173)
Yes
3-334

OperatingDataInInfo

PosAxis
StructAxisTechnologicalDataInInfo - PosAxis
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
the drive.
StructAxisTechnologicalDataOutInfo - PosAxis
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
the drive.

3-335
PosAxis
StructCommandValueQuantization - PosAxis
The structure elements of 'CommandValueQuantization' are used to set the quantization filter.
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
Specifies the activation status of the quantization filter.

With 'NO', the quantization filter is not activated.
With 'YES', the quantization filter is activated.
mode
Data type:
EnumCommandValueQuantizationMode
Changeable online:
No
System default:
REFER_TO_ACTUAL_SENSOR_VALUE_RES
OLUTION
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
Data type:
LREAL
Changeable online:
System default:
1.0e-12 mm
Specifies the manipulated variable quantization.

EnumYesNo
NO (91)
No
YES (173)
Yes
3-336
DIRECT (40)
Quantization to input value
OLUTION (936)
Quantization to current sensor

PosAxis
StructControllerOutput - PosAxis
outputType
Data type:
Changeable online:
No
System default:
DIRECT_OUTPUT

DIRECT_OUTPUT (1)
Analog interface
DRIVE_INTERFACE (2)

EnableBit
(StructEnableBit)
Enable bit
InvertF
InvertFOutput
(InvertSetPoint)

3-337
PosAxis
StructDirectOutputDriverInfo - PosAxis
axis.
format
Data type:
Changeable online:
System default:
VALUE_LEFT_MARGIN

logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535

maxOutputVoltage
Data type:
LREAL
Changeable online:
System default:
10.0 V
Not used
resolution
Data type:
UDINT
Changeable online:
System default:
15

3-338
Right-justified
Left-justified

PosAxis
StructDriveInterfaceDriverInfo - PosAxis
axis.
actorType
Data type:
Changeable online:
No
System default:
NO_TYPE

lifeSignCheck
Data type:
EnumYesNo
Changeable online:
No
System default:
YES

logAddressIn
Data type:
UDINT
Changeable online:
No
System default:
65535

logAddressOut
Data type:
UDINT
Changeable online:
No
System default:
65535

maxOutputVoltage
Data type:
LREAL
Changeable online:
No
System default:
10.0 V

3-339
PosAxis
mode
Data type:
EnumAxisDriverMode
Changeable online:
No
System default:
SIMULATION

Data type:
DINT
Changeable online:
No
System default:
Reserved
telegramType
Data type:
Changeable online:
No
System default:

up.
up.
encoder) is set up.
3-340
NO_TYPE (0)
No type
ANALOG (1)
Analog
STEPMOTOR (2)
Step mode

PosAxis
EnumYesNo
NO (91)
No
YES (173)
Yes
EnumAxisDriverMode
SIMULATION (0)
Simulation
ONBOARD (1)
Onboard
DPMASTER (2)
DP Master
NO_TELEGRAM (0)
No message frame
(101)
(102)
(103)

3-341
PosAxis
StructDriverInfoDirectIncremental - PosAxis
logAddress
Data type:
UDINT
Changeable online:
System default:
65535

resolution
Data type:
UDINT
Changeable online:
System default:
16
3-342

PosAxis
StructEnableBit - PosAxis
bitNumberOnDevice
Data type:
UDINT
Changeable online:
No
System default:
enable
Data type:
EnumYesNo
Changeable online:
No
System default:
NO

logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535

EnumYesNo
NO (91)
No
YES (173)
Yes

3-343
PosAxis
StructExtrapolation - PosAxis
Data type:
Changeable online:
System default:
DIFFERENTIATION
extrapolationTime
Data type:
LREAL
Changeable online:
System default:
0.01 s

TRANSFER (409)
3-344
Filter
ToleranceRange
Tolerance range

PosAxis
StructExtrapolationFilter - PosAxis
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

mode
Data type:
EnumAxisFilterMode
Changeable online:
System default:
DEFAULT_MODE

timeConstant
Data type:
LREAL
Changeable online:
System default:
0.01 s

EnumYesNo
NO (91)
No
YES (173)
Yes
EnumAxisFilterMode
DEFAULT_MODE (0)
No filter
AVERAGING (1)
Form mean value
PT1 (2)
PT1 filter

3-345
PosAxis
StructLogAddressIoBitType - PosAxis
bitNumber
Data type:
UDINT
Changeable online:
System default:

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

logAddress
Data type:
UDINT
Changeable online:
System default:
65535

EnumYesNo
3-346
NO (91)
No
YES (173)
Yes

PosAxis
StructPaxDynamicQFData - PosAxis
Data type:
LREAL
Changeable online:
System default:
0.1 s

qOutputTimeConstant
Data type:
LREAL
Changeable online:
System default:
0.00005 s

3-347
PosAxis
StructPositionDifferenceMeasurement - PosAxis
The 'PositionDifferenceMeasurement' structure element is used to configure the parameters for the
differential position measurement.
invert
Data type:
EnumYesNo
Changeable online:
System default:
NO

numberEncoderA
Data type:
UDINT
Changeable online:
System default:
Specifies the encoder number for detecting the A actual position.

numberEncoderB
Data type:
UDINT
Changeable online:
System default:
Specifies the encoder number for detecting the B actual position.

offset
Data type:
LREAL
Changeable online:
System default:
0.0
Specifies an offset for the calculation with the difference value.

EnumYesNo
NO (91)
No
YES (173)
Yes
3-348
Filter
(Filter)
Range
(Range)

PosAxis
StructPressureDifferenceMeasurement - PosAxis
areaA
Data type:
LREAL
Changeable online:
System default:
1.0

areaB
Data type:
LREAL
Changeable online:
System default:
1.0

factor
Data type:
LREAL
Changeable online:
System default:
1.0

invert
Data type:
EnumYesNo
Changeable online:
System default:
NO

numberSensorA
Data type:
UDINT
Changeable online:
System default:

numberSensorB
Data type:
UDINT
Changeable online:
System default:

3-349
PosAxis
EnumYesNo
NO (91)
No
YES (173)
Yes
3-350
Filter
(Filter)
Range
(Range)

PosAxis
StructSensorDriverInfo - PosAxis
errorToleranceTime
Data type:
LREAL
Changeable online:
System default:
0.1 s
format
Data type:
Changeable online:
System default:
VALUE_LEFT_MARGIN
logAddress
Data type:
UDINT
Changeable online:
System default:
65535

maxValue
Data type:
DINT
Changeable online:
System default:
32511
minValue
Data type:
DINT
Changeable online:
System default:
-32512

3-351
PosAxis
resolution
Data type:
UDINT
Changeable online:
System default:
15

3-352
Right-justified
Left-justified

PosAxis
StructToleranceRange - PosAxis
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

value
Data type:
LREAL
Changeable online:
System default:
0.0 mm
EnumYesNo
NO (91)
No
YES (173)
Yes

3-353
PosAxis
TypeOfAxisInfo - PosAxis
typeOfAxis
Data type:
Changeable online:
No
System default:
REAL_AXIS

REAL_AXIS (0)
Real electric axis
VIRTUAL_AXIS (1)
Virtual axis
REAL_QFAXIS (3)
_CONTROL (4)
CE_CONTROL (5)

(Q-valve)
_CONTROL_ONLY (6)

3-354
ActualAccelerationMonitoring
(ActualAccelerationMonitoring)
Actual acceleration monitoring
AdditionalOffset

CommandValueQuantization
(StructCommandValueQuantization)
Quantization filter
ControllerSwitchData
(ControllerSwitchData)
Digital inputs for pressure control
DecodingConfig
(DecodingConfig)
Command processing
DistributedMotion
Drift
(Drift)
Drift compensation

PosAxis
DriveControlConfig
Extrapolation
FOutput
FineInterpolator
(FineInterpolator)
Fine interpolator
Friction
(Friction)
HWEndPos
(HWEndPos)
Homing
(Homing)
Homing
MaxAcceleration
(MaxAcceleration)
MaxForceCommandData
MaxJerk
(MaxJerk)
Maximum jerk
MaxVelocity
(MaxVelocity)
Maximum velocity
NeutralBand
(NeutralBand)
NumberOfDataSets
(NumberOfDataSets)
NumberOfEncoders
(NumberOfEncoders)
Configured encoder
PathSyncAxisPosTolerance
(PathSyncAxisPosTolerance)
Setpoint differential monitoring of synchronous

axis
PositionMonitoring
(PositionMonitoring)
Position monitoring
QOutput
ServoMonitoring
SetPointDriverInfo
Drive interface
SetpointFilter

3-355
PosAxis
3-356
SlidingFriction
SmoothingFilter
(SmoothingFilter)
SpeedLimitation
StandStillMonitoring
(StandStillMonitoring)
Standstill monitoring
StandStillSignal
(StandStillSignal)
Standstill signal
SwLimit
(StructAxisSwLimitConfig)
Software limit switches
SystemDeadTimeData
TechnologicalData
VelocityPositionProfile
(VelocityPositionProfile)
Settings for the v(s) profile

PosAxis
VelocityPositionProfile - PosAxis
The structure elements for 'VelocityPositionProfile' set properties in velocity-position profiles.
Note
endPositionTolerance
Data type:
LREAL
Changeable online:
System default:
0.0 mm
Tolerance for profile end detection.

3-357
PosAxis
3-358

MeasuringInputType
DecodingConfig (DecodingConfigInfo)
LogAddress (StructMeasuringInputLogAddress)
MeasuringRange (StructMeasuringRange)
MipBaseCfg (MipBaseCfgInfo)
MipInputCfg (MipInputCfgInfo)
TimeStampConfig (StructMeasuringInputTimeStampConfig)
DecodingConfigInfo - MeasuringInputType
Note
"Further information can be found in the TO Synchronous Operation, Cam Function Manual and in the
online help."
Data type:
DINT
Changeable online:
System default:
10
A command ID is added to the list with the ST command '_bufferCommandId'.
Removal from the list takes place with the ST command '_removeBufferedCommandId'.

4-359
MeasuringInputType
MipBaseCfgInfo - MeasuringInputType
The time classification of the measuring input is specified with the structure element for 'MipBaseConfig'.
inputAccess
Data type:
EnumMeasuringInputAccess
Changeable online:
System default:
DIRECT
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
Data type:
EnumMeasuringInputInputType
Changeable online:
System default:
STANDARD
Specifies whether the signals at the input of the measuring input are to be assigned a time stamp.
tasklevel
Data type:
EnumMeasuringInputTaskLevel
Changeable online:
System default:
IPO
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
DIRECT (40)
The input of the measuring input of the technology object is used
TO_INTERFACE (382)
EventIn interface of the TO is used
EnumMeasuringInputInputType
STANDARD (0)
Standard
TIME_STAMP (1)
With time stamp
EnumMeasuringInputTaskLevel
4-360
IPO (0)
IPO
IPO_2 (1)
IPO_2
SERVO (2)
Servo
IPO_FAST (3)
IPO_fast
SERVO_FAST (4)
Servo_fast

MeasuringInputType
MipInputCfgInfo - MeasuringInputType
The structure elements of 'MipInputCfg' specify the measuring input of the measuring system in use.
checkProbeState
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
Data type:
DINT
Changeable online:
System default:
Specifies the number of the measuring input to be used.

sensorSystemNumber
Data type:
DINT
Changeable online:
System default:
Specifies the number of the encoder on the assigned axis.

EnumYesNo
NO (91)
No
YES (173)
Yes

4-361
MeasuringInputType
RestartInfo - MeasuringInputType
just by command.
Data type:
Changeable online:
No
System default:
LAST_VALUE
Data type:
Changeable online:
System default:

DEFAULT_VALUE (2)
STOP_DEVICE (3)
LAST_VALUE (338)
4-362

MeasuringInputType
StructMeasuringInputLogAddress - MeasuringInputType
The structure elements of 'LogAddress' are used to set the logical address of the measuring input.
bitNumber
Data type:
UDINT
Changeable online:
No
System default:
Specifies the bit number of the input of the measuring input.

logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
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 'timeStampConfig'.
correctionTime
Data type:
LREAL
Changeable online:
System default:
0.0 s
If this value is greater than 0, the measuring input supplies axis values that are "older" by the amount
of the correction time.

4-363
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
Data type:
LREAL
Changeable online:
System default:
0.0 s
The specified actuation time is used for the ON/OFF of the measuring range. For example, the runtimes can be compensated during activation via PROFIBUS and the drive.
4-364

OutputCamType
LogAddress (LogAddressInfo)
OcaBaseCfg (OcaBaseCfgInfo)
OcaType (OcaTypeInfo)
DecodingConfigInfo - OutputCamType
Data type:
DINT
Changeable online:
System default:
10
timeCamDeactivationTime
Data type:
EnumYesNo
Changeable online:
System default:
NO
Specifies whether the actuation time/delay for the time-based cam is taken into account on the switchoff edge.
With NO, the actuation time/delay is not taken into account.
With YES, the actuation time/delay is taken into account.
EnumYesNo
NO (91)
No
YES (173)
Yes

5-365
OutputCamType
LogAddressInfo - OutputCamType
The structure elements of 'LogAddressInfo' are used to set the logical address of the output cam signal.
bitNumber
Data type:
UDINT
Changeable online:
No
System default:
Specifies the bit number of the output cam signal.

enableOutput
Data type:
EnumYesNo
Changeable online:
System default:
NO

With NO, an output cam result is not output.
With YES, an output cam result is output.
logAddressOut
Data type:
UDINT
Changeable online:
No
System default:
65535
Specifies the logical base address of the output cam signal.

logicOperation
Data type:
EnumLogicOperation
Changeable online:
System default:
OPERATION_OR
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
NO (91)
No
YES (173)
Yes
EnumLogicOperation
5-366
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
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
Data type:
EnumOutputCamOutputType
Changeable online:
System default:
STANDARD
Specifies whether the signals at the output cam output are to be assigned a time stamp.
posvaluetype
Data type:
EnumPosValue
Changeable online:
System default:
RATED
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
Data type:
EnumOutputCamTaskLevel
Changeable online:
System default:
IPO
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 'hwTimer'.
With IPO_2, the output cam is calculated in the interpolator cycle and subject to the setting in 'hwTimer'.
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
NO (91)
No
YES (173)
Yes

5-367
OutputCamType
EnumOutputCamOutputType
STANDARD (0)
Standard
TIME_STAMP (1)
With time stamp
EnumPosValue
RATED (0)
Setpoints
ACTUAL (1)
Actual values
EnumOutputCamTaskLevel
5-368
IPO (0)
IPO
IPO_2 (1)
IPO_2
SERVO (2)
Servo
IPO_FAST (3)
IPO_fast
SERVO_FAST (4)
Servo_fast

OutputCamType
OcaTypeInfo - OutputCamType
The structure element of 'OcaType' specifies the output cam type.
_type
Data type:
EnumOutputCamType
Changeable online:
System default:
TYPE_WAY
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
TYPE_WAY (0)
Position-based cam
TYPE_TIME (1)
Time-based cam
TYPE_SWITCH (2)
Unidirectional output cam
TYPE_REVERSE (3)
Reversing cam

5-369
OutputCamType
RestartInfo - OutputCamType
just by command.
Data type:
Changeable online:
No
System default:
LAST_VALUE
Data type:
Changeable online:
System default:

DEFAULT_VALUE (2)
STOP_DEVICE (3)
LAST_VALUE (338)
5-370

CamTrackType
LogAddress (LogAddressInfo)
OctBaseCfg (OctBaseCfgInfo)
OctTechnologicalCfg (OctTechnologicalCfgInfo)
OctType (OctTypeInfo)
DecodingConfigInfo - CamTrackType
Note
online help."
Data type:
DINT
Changeable online:
System default:
10

6-371
CamTrackType
LogAddressInfo - CamTrackType
The structure elements of 'LogAddressInfo' are used to set the logical address of the output cam signal.
bitNumber
Data type:
UDINT
Changeable online:
No
System default:
Specifies the bit number of the output cam signal.

enableOutput
Data type:
EnumYesNo
Changeable online:
System default:
NO

With NO, an output cam result is not output.
With YES, an output cam result is output.
logAddressOut
Data type:
UDINT
Changeable online:
No
System default:
65535
Specifies the logical base address of the output cam signal.

EnumYesNo
6-372
NO (91)
No
YES (173)
Yes

CamTrackType
OctBaseCfgInfo - CamTrackType
The structure elements for 'OctBaseCfg' set the output cam base configuration.
hwTimer
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
Data type:
EnumCamTrackOutputType
Changeable online:
System default:
STANDARD
Specifies the cam track output via TM15/TM17

With 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
Data type:
EnumCamTrackPositionReference
Changeable online:
System default:
COMMAND_VALUE
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 establishing the switching result.

6-373
CamTrackType
taskLevel
Data type:
EnumCamTrackTaskLevel
Changeable online:
System default:
IPO
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 'hwTimer'.
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
NO (91)
No
YES (173)
Yes
EnumCamTrackOutputType
STANDARD (0)
Standard
TIME_STAMP (1)
With time stamp
EnumCamTrackPositionReference
COMMAND_VALUE (0)
Setpoints
ACTUAL_VALUE (1)
Actual values
EnumCamTrackTaskLevel
6-374
IPO (0)
IPO
IPO_2 (1)
IPO_2
SERVO (2)
Servo
IPO_FAST (3)
IPO_fast
SERVO_FAST (4)
Servo_fast

CamTrackType
OctTechnologicalCfgInfo - CamTrackType
invertOutput
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
NO (91)
No
YES (173)
Yes
OctTypeInfo - CamTrackType
The structure element of 'OctType' specifies the output cam type.
camTrackType
Data type:
EnumCamTrackType
Changeable online:
System default:
TYPE_WAY
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
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

6-375
CamTrackType
RestartInfo - CamTrackType
just by command.
Data type:
Changeable online:
No
System default:
LAST_VALUE
Data type:
Changeable online:
System default:

DEFAULT_VALUE (2)
STOP_DEVICE (3)
LAST_VALUE (338)
6-376

FollowingAxis
Modulo (ModuloInfo)
AbsBackLash - FollowingAxis
Note
_type
Data type:
EnumBackLashType
Changeable online:
System default:
POSITIVE

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
length
Data type:
LREAL
Changeable online:
System default:
0.0 mm

7-377
FollowingAxis
startUpDifference
Data type:
EnumBackLashDiff
Changeable online:
System default:
DIFF_POSITIVE

velocity
Data type:
LREAL
Changeable online:
System default:
0.0 mm/s
EnumBackLashType
POSITIVE (0)
positive
NEGATIVE (1)
negative
EnumYesNo
NO (91)
No
YES (173)
Yes
EnumBackLashDiff
7-378
DIFF_POSITIVE (0)
positive
DIFF_NEGATIVE (1)
negative

FollowingAxis
AbsEncoder - FollowingAxis
Note
absBaudRate
Data type:
EnumAbsBaudrate
Changeable online:
No
System default:
Baudrate_3
absDataLength
Data type:
UDINT
Changeable online:
System default:
24
of revolutions.
absMessageFormat
Data type:
EnumAbsMsgFormat
Changeable online:
No
System default:
PINETREE

absMessageLength
Data type:
EnumAbsMsgLength
Changeable online:
No
System default:
LENGTH_25

7-379
FollowingAxis
absResolution
Data type:
UDINT
Changeable online:
System default:
4096
Data type:
UDINT
Changeable online:
No
System default:
Data type:
UDINT
Changeable online:
No
System default:
absState
Data type:
EnumAbsState
Changeable online:
No
System default:
GRAY_CODE
7-380

FollowingAxis
enableAbsMonitoring
Data type:
EnumYesNo
Changeable online:
System default:
YES
issued.
Note
positioning).
EnumAbsBaudrate
Baudrate_5 (16#01)
3 Mbaud
Baudrate_4 (16#02)
1.5 Mbaud
Baudrate_3 (16#04)
750 Kbaud
Baudrate_2 (16#08)
375 Kbaud
Baudrate_1 (16#10)
187.5 Kbaud
EnumAbsMsgFormat
RIGHT_MARGIN (0)
Right-justified
PINETREE (1)
Pine tree format
EnumAbsMsgLength
LENGTH_13 (13)
13 bits
LENGTH_21 (21)
21 bits
LENGTH_25 (25)
25 bits

7-381
FollowingAxis
EnumAbsState
BIN_CODE (16#00)
Binary
GRAY_CODE (16#01)
Gray Code
EnumYesNo
7-382
NO (91)
No
YES (173)
Yes

FollowingAxis
AbsHomingEncoder - FollowingAxis
Note
absShift
Data type:
LREAL
Changeable online:
System default:
0.0 mm

Data type:
Changeable online:
System default:
RELATIVE
ABSOLUTE (1)
Absolute
RELATIVE (115)
Relative

7-383
FollowingAxis
ActualAccelerationMonitoring - FollowingAxis
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

maximum
Data type:
LREAL
Changeable online:
System default:
0.0 m/min

EnumYesNo
7-384
NO (91)
No
YES (173)
Yes

FollowingAxis
ActualVelocityMonitoring - FollowingAxis
actual velocity.
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

maximum
Data type:
LREAL
Changeable online:
System default:
0.0 mm/s

EnumYesNo
NO (91)
No
YES (173)
Yes

7-385
FollowingAxis
AdaptDrive - FollowingAxis
Note
denFactor
Data type:
UDINT
Changeable online:
System default:

numFactor
Data type:
UDINT
Changeable online:
System default:
AdaptExtern - FollowingAxis
type.
Note
denFactor
Data type:
UDINT
Changeable online:
System default:

numFactor
Data type:
UDINT
Changeable online:
System default:
7-386

FollowingAxis
AdaptLoad - FollowingAxis
Note
denFactor
Data type:
UDINT
Changeable online:
System default:

numFactor
Data type:
UDINT
Changeable online:
System default:

7-387
FollowingAxis
AdditionalSensorDriverInfo - FollowingAxis
errorToleranceTime
Data type:
LREAL
Changeable online:
System default:
0.1 s
format
Data type:
Changeable online:
System default:
VALUE_LEFT_MARGIN
logAddress
Data type:
UDINT
Changeable online:
System default:
65535

maxValue
Data type:
DINT
Changeable online:
System default:
32511
minValue
Data type:
DINT
Changeable online:
System default:
-32512
resolution
Data type:
UDINT
Changeable online:
System default:
15
7-388

FollowingAxis
Right-justified
Left-justified

7-389
FollowingAxis
AdditionalSensorMain - FollowingAxis
Data type:
Changeable online:
No
System default:
STANDARD

interfaceActivation
Data type:
Changeable online:
No
System default:
STARTUP_ACTIVATED

startup.
STANDARD (0)
(1)
7-390
ConversionData
(ConversionData)
DriverInfo
Analog input module
Filter
(Filter)
Range
(Range)

FollowingAxis
AdditionalSensorNumber - FollowingAxis
additional encoder.
number
Data type:
UDINT
Changeable online:
System default:
AnalogConversionDataType - FollowingAxis
values read.
_type
Data type:
Changeable online:
No
System default:

factor
Data type:
LREAL
Changeable online:
System default:
1.0
offset
Data type:
LREAL
Changeable online:
System default:
0.0


Linear relationship
7-391
FollowingAxis
AnalogSensorType - FollowingAxis
ConversionData

DriverInfo
Driver data
LogAddress
PositionFilter
UpdateCounter
AssemblyBase - FollowingAxis
assemblyBase
Data type:
Changeable online:
System default:
ASSEMBLY_BASE_DRIVE

7-392
Drive side
Load side
External
Linear

FollowingAxis
ClampingMonitoring - FollowingAxis
Note
Data type:
LREAL
Changeable online:
System default:
20.0 mm

positionTolerance
Data type:
LREAL
Changeable online:
System default:
10.0 mm
recognitionMode
Data type:
EnumRecognitionMode
Changeable online:
System default:
DO_NOT_CLAMP

EnumRecognitionMode
DO_NOT_CLAMP (0)
No detection
ON (1)
By following error
(2)

7-393
FollowingAxis
ControllerDynamic - FollowingAxis
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

maxVeloTolerance
Data type:
LREAL
Changeable online:
System default:
2.0 %
EnumYesNo
7-394
NO (91)
No
YES (173)
Yes

FollowingAxis
ControllerStruct - FollowingAxis
Note
conType
Data type:
Changeable online:
No
System default:
PV

NODEF (0)
No significance
DIRECT (1)
Control only
PD (2)
PID controller
PV (3)
PV controller
PID (4)
PID controller
PID_ACTUAL (5)

PD_Controller
(PD_Controller)
PID controller
PID_Controller
(PID_ControllerPos)
PID controller
PV_Controller
(PV_Controller)
ControllerSwitchData - FollowingAxis

Digital inputs
7-395
FollowingAxis
ConversionData - FollowingAxis
values read.
Note
Online help
_type
Data type:
Changeable online:
No
System default:

factor
Data type:
LREAL
Changeable online:
System default:
1.0 Pa

invert
Data type:
EnumYesNo
Changeable online:
System default:
NO
offset
Data type:
LREAL
Changeable online:
System default:
0.0 Pa

Linear relationship
EnumYesNo
7-396
NO (91)
No
YES (173)
Yes

FollowingAxis
DataSetMain - FollowingAxis
Note

data record
ClampingMonitoring
Clamping monitoring
ControllerDynamic
(ControllerDynamic)
ControllerStruct
(ControllerStruct)
DynamicComp
(DynamicComp)
DynamicData
(DynamicData)
DynamicFollowing
(DynamicFollowing)
DynamicQFData
EncoderNumber
(EncoderNumber)
ForceControllerData
Gear
(Gear)
InvertQ
InvertSetPoint
ProcessModel
(ProcessModel)
Process model

7-397
FollowingAxis
DecodingConfig - FollowingAxis
Note
Data type:
Changeable online:
System default:

been reached.
Data type:
Changeable online:
System default:
NONE
Data type:
Changeable online:
System default:
IMMEDIATELY
the interpolator.
7-398

FollowingAxis
directionDynamic
Data type:
EnumYesNo
Changeable online:
System default:
NO

Data type:
EnumYesNo
Changeable online:
System default:
YES
Data type:
DINT
Changeable online:
System default:
Data type:
DINT
Changeable online:
System default:
100
Data type:
DINT
Changeable online:
System default:

7-399
FollowingAxis
Data type:
Changeable online:
System default:
COMMAND_DYNAMICS

Data type:
EnumYesNo
Changeable online:
System default:
NO
stopWithJerk
Data type:
EnumYesNo
Changeable online:
System default:
NO
Data type:
Changeable online:
System default:
TRANSFER_STANDSTILL
is reset.
7-400

FollowingAxis
NONE (0)
No cyclic resetting
POSITION_BASED (1)
IMMEDIATELY (0)
NEXT_IPO_CYCLE (1)
EnumYesNo
NO (91)
No
YES (173)
Yes
values

TRANSFER_MERGE (1)

merge mode
TRANSFER_RESET (2)

7-401
FollowingAxis
DigitalInputMain - FollowingAxis
it to the axis.
bitNumber
Data type:
UDINT
Changeable online:
No
System default:
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
7-402

FollowingAxis
DistributedMotionInfo - FollowingAxis
Data type:
EnumYesNo
Changeable online:
System default:
NO

Data type:
EnumYesNo
Changeable online:
System default:
YES

Data type:
EnumYesNo
Changeable online:
System default:
YES

Data type:
UDINT
Changeable online:
System default:

EnumYesNo
NO (91)
No
YES (173)
Yes

7-403
FollowingAxis
Drift - FollowingAxis
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
7-404
NO (91)
No
YES (173)
Yes

FollowingAxis
DriveData - FollowingAxis
Note
maxSpeed
Data type:
LREAL
Changeable online:
System default:
3000.0 1/min

maxTorque
Data type:
LREAL
Changeable online:
System default:
3.2 Nm

nominalSpeed
Data type:
LREAL
Changeable online:
System default:
3000.0 1/min

nominalTorque
Data type:
LREAL
Changeable online:
System default:
3.2 Nm

speedReference
Data type:
Changeable online:
System default:
MAX_VALUE

Data type:
Changeable online:
System default:
BASIC

7-405
FollowingAxis
torqueReference
Data type:
Changeable online:
System default:
MAX_VALUE

MAX_VALUE (0)
Maximum value
NOMINAL_VALUE (1)
Nominal value
7-406
STANDARD (0)
Resolution 1/100
BASIC (16)
Resolution 1/16384

FollowingAxis
DriverInfo - FollowingAxis
Note
Data type:
DINT
Changeable online:
No
System default:
lifeSignCheck
Data type:
EnumYesNo
Changeable online:
System default:
YES
logAddressIn
Data type:
UDINT
Changeable online:
No
System default:
65535

logAddressOut
Data type:
UDINT
Changeable online:
No
System default:
65535

7-407
FollowingAxis
telegramType
Data type:
Changeable online:
No
System default:

up.
up.
encoder) is set up.
EnumYesNo
NO (91)
No
YES (173)
Yes
7-408
NO_TELEGRAM (0)
No message frame

FollowingAxis
(101)
(102)
(103)

7-409
FollowingAxis
DynamicComp - FollowingAxis
Note
T1
Data type:
LREAL
Changeable online:
System default:
0.0 s

T2
Data type:
LREAL
Changeable online:
System default:
0.0 s

deadTime
Data type:
LREAL
Changeable online:
System default:
0.0 s

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
7-410
NO (91)
No
YES (173)
Yes

FollowingAxis
DynamicData - FollowingAxis
Note
Data type:
LREAL
Changeable online:
System default:
0.1 s

torqueTimeConstant
Data type:
LREAL
Changeable online:
System default:
0.00005 s
Not used.
Data type:
LREAL
Changeable online:
System default:
0.0005 s

Note

7-411
FollowingAxis
DynamicFollowing - FollowingAxis
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
YES

Data type:
LREAL
Changeable online:
System default:
100.0 mm

Data type:
LREAL
Changeable online:
System default:
10.0 mm
minVelocity
Data type:
LREAL
Changeable online:
System default:
10.0 mm/s
7-412

FollowingAxis
warningLimit
Data type:
LREAL
Changeable online:
System default:
100.0 %
EnumYesNo
NO (91)
No
YES (173)
Yes

7-413
FollowingAxis
EmergencyRampGenerator - FollowingAxis
generator.
maxDeceleration
Data type:
LREAL
Changeable online:
System default:
10000.0 m/s
7-414

FollowingAxis
EncoderMain - FollowingAxis
dataAdaption
Data type:
EnumYesNo
Changeable online:
System default:
NO

Data type:
Changeable online:
No
System default:
SIMULATION

C230, C240, etc.).
DP interface.
encoderMode
Data type:
EnumAxisEncoderMode
Changeable online:
No
System default:
RECTANGLE_TTL


7-415
FollowingAxis
encoderSystem
Data type:
Changeable online:
No
System default:
ROTATORY_SYSTEM

encoderType
Data type:
EnumAxisEncoderType
Changeable online:
No
System default:
SENSOR_INCREMENTAL

encoderValueType
Data type:
Changeable online:
No
System default:
POSITION
and outputs.
interfaceAllocation
Data type:
Changeable online:
No
System default:
EXCLUSIVE

EnumYesNo
7-416
NO (91)
No
YES (173)
Yes

FollowingAxis
SIMULATION (0)
Simulation
ONBOARD (1)
Onboard
DPMASTER (2)
DPMaster
DIRECT (4)
EnumAxisEncoderMode
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
PROFIDRIVE (11)
PROFIdrive profile
ROTATORY_SYSTEM (0)
LINEAR_SYSTEM (1)
EnumAxisEncoderType
Incremental encoder
SENSOR_ABSOLUTE (2)
Absolute encoder
REMENT (4)
POSITION (0)
VELOCITY (1)

from DP protocol
IST_B (4)


7-417
FollowingAxis
EXCLUSIVE (939)
Exclusive
VATED (940)
ED (941)
7-418
AbsBackLash
(AbsBackLash)

system
AbsEncoder
(AbsEncoder)
Absolute encoder
AbsHomingEncoder
(AbsHomingEncoder)
AdaptDrive
(AdaptDrive)
AdaptExtern
(AdaptExtern)
AdaptLoad
(AdaptLoad)
AnalogSensor
(AnalogSensorType)
AssemblyBase
(AssemblyBase)
DriverInfo
(DriverInfo)

encoder
Filter
(Filter)
Actual value filter
FrequencyLimit
(FrequencyLimit)
IncBackLash
(IncBackLash)
IncEncoder
(IncEncoder)
Incremental encoder
IncHomingEncoder
(IncHomingEncoder)
Interval counter
NistDriverConfig
Actual speed value
PathPerRevolution
(PathPerRevolution)
Path per revolution

FollowingAxis
PositionFilter
Position filter
Resolution
(Resolution)
Resolution
SensorControlConfig
SensorNist
(SensorNist)
Slippage
(Slippage)
Slippage
StepMotorMonitoring
Stepper motor

7-419
FollowingAxis
EncoderNumber - FollowingAxis
EncoderNumber
Data type:
UDINT
Changeable online:
System default:
ExecutionConfigInfo - FollowingAxis
Note
Online help
executionlevel
Data type:
Changeable online:
System default:
IPO
7-420
IPO (0)
IPO
IPO_2 (1)
IPO_2
SERVO (2)
Servo
IPO_FAST (3)
IPO_fast
SERVO_FAST (4)
Servo_fast

FollowingAxis
ExtrapolationPositionFilterType - FollowingAxis
T1
Data type:
LREAL
Changeable online:
System default:
0.01 s

T2
Data type:
LREAL
Changeable online:
System default:
0.01 s

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
EnumYesNo
NO (91)
No
YES (173)
Yes

7-421
FollowingAxis
Filter - FollowingAxis
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

timeConstant
Data type:
LREAL
Changeable online:
System default:
0.01 s

EnumYesNo
7-422
NO (91)
No
YES (173)
Yes

FollowingAxis
FineInterpolator - FollowingAxis
Note
_type
Data type:
Changeable online:
System default:
LINEAR_MODE

DIRECT_MODE (0)
No interpolation
LINEAR_MODE (1)
CUBIC_MODE (2)
QUADRATIC_MODE (3)

7-423
FollowingAxis
ForceControlHeldValueMonitoring - FollowingAxis
delayTimeToActivate
Data type:
LREAL
Changeable online:
System default:
0.0 s
tolerance
Data type:
LREAL
Changeable online:
System default:
20.0 Pa
ForceControlRunningInWindowMonitoring - FollowingAxis
maxDelayTime
Data type:
LREAL
Changeable online:
System default:
0.0 s
tolerance
Data type:
LREAL
Changeable online:
System default:
10.0 Pa

winTolTime
Data type:
LREAL
Changeable online:
System default:
1.0 s
7-424

FollowingAxis
ForceControllerData - FollowingAxis
Note
_type
Data type:
Changeable online:
System default:
PID

invertControlValue
Data type:
EnumYesNo
Changeable online:
System default:
NO

typeOfSensorData
Data type:
EnumSensorDataType
Changeable online:
System default:
UNI_DIRECTION

PID (1)
PID controller
PID_ACTUAL (2)
EnumYesNo
NO (91)
No
YES (173)
Yes

7-425
FollowingAxis
EnumSensorDataType
UNI_DIRECTION (1)
Unidirectional
BOTH_DIRECTION (2)
Bidirectional
7-426
FilterForceControl
OutputLimits
(OutputLimits)
PID_Controller

FollowingAxis
ForceControllerDifference - FollowingAxis
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
maxForceTolerance
Data type:
LREAL
Changeable online:
System default:
10.0 Pa

EnumYesNo
NO (91)
No
YES (173)
Yes
FrequencyLimit - FollowingAxis
Data type:
LREAL
Changeable online:
System default:
400000.0 Hz

7-427
FollowingAxis
Friction - FollowingAxis
amplitude
Data type:
LREAL
Changeable online:
System default:
5.0 mm/s

decayTime
Data type:
LREAL
Changeable online:
System default:
0.05 s

delayTimeStandStill
Data type:
LREAL
Changeable online:
System default:
0.01 s

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

maxVeloStandStill
Data type:
LREAL
Changeable online:
System default:
0.2 mm/s

EnumYesNo
7-428
NO (91)
No
YES (173)
Yes

FollowingAxis
Gear - FollowingAxis
denFactor
Data type:
UDINT
Changeable online:
System default:

numFactor
Data type:
UDINT
Changeable online:
System default:

7-429
FollowingAxis
GearingPosTolerance - FollowingAxis
The structure elements of 'GearingPosTolerance' specify the synchronization monitoring setting on
the slave axis.
Note
online help."
actualValueTolerance
Data type:
LREAL
Changeable online:
System default:
0.0 mm
Specifies the permissible actual value deviation. An alarm is output if the value is exceeded.
Data type:
LREAL
Changeable online:
System default:
10.0 mm
enableActualValue
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
Data type:
EnumGearingPosToleranceCommandValue
Changeable online:
System default:
WITHOUT_JERK

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.
7-430

FollowingAxis
enableErrorReporting
Data type:
EnumErrorReporting
Changeable online:
System default:
NO_REPORTING
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
NO (91)
No
YES (173)
Yes
NO_ACTIVATE (0)
No
WITHOUT_JERK (1)
Without jerk
WITH_JERK (2)
With jerk
EnumErrorReporting
NO_REPORTING (0)
No
COMMAND_VALUE_TOLERANCE (1)
Setpoints
ACTUAL_VALUE_TOLERANCE (2)
Actual values
ALL_ERRORS_WITH_ABORT_SYNCHRONIZ
ATION (3)
All errors

7-431
FollowingAxis
HWEndPos - FollowingAxis
switches.
bitNumberNegative
Data type:
UDINT
Changeable online:
No
System default:
bitNumberPositive
Data type:
UDINT
Changeable online:
No
System default:
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

interfaceActivation
Data type:
Changeable online:
No
System default:
STARTUP_ACTIVATED

startup.
logAddressNegative
Data type:
UDINT
Changeable online:
No
System default:
65535
7-432

FollowingAxis
logAddressPositive
Data type:
UDINT
Changeable online:
No
System default:
65535

mode
Data type:
EnumMountSwitch
Changeable online:
System default:
END_MOUNTED_SWITCH
EnumYesNo
NO (91)
No
YES (173)
Yes
EnumMountSwitch

range always active

7-433
FollowingAxis
Homing - FollowingAxis
Note
beroDistance
Data type:
LREAL
Changeable online:
System default:
0.0 mm
mark.
direction
Data type:
EnumDirectionType
Changeable online:
System default:
POSITIVE

enableBeroDistance
Data type:
EnumYesNo
Changeable online:
System default:
NO
Data type:
EnumYesNo
Changeable online:
System default:
NO
7-434

FollowingAxis
EnumDirectionType
POSITIVE (0)
NEGATIVE (1)
EnumYesNo
NO (91)
No
YES (173)
Yes

ReverseCamNegative
ReverseCamPositive

7-435
FollowingAxis
IncBackLash - FollowingAxis
Note
_type
Data type:
EnumBackLashType
Changeable online:
System default:
POSITIVE

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
length
Data type:
LREAL
Changeable online:
System default:
0.0 mm

velocity
Data type:
LREAL
Changeable online:
System default:
0.0 mm/s

EnumBackLashType
POSITIVE (0)
positive
NEGATIVE (1)
negative
EnumYesNo
7-436
NO (91)
No
YES (173)
Yes

FollowingAxis
IncEncoder - FollowingAxis
Note
Data type:
EnumYesNo
Changeable online:
System default:
NO
marks.
incResolution
Data type:
UDINT
Changeable online:
System default:
2048
Data type:
UDINT
Changeable online:
System default:

EnumYesNo
NO (91)
No
YES (173)
Yes

7-437
FollowingAxis
IncHomingEncoder - FollowingAxis
Note
approachDirection
Data type:
Changeable online:
System default:
APPROACH_NEGATIVE
direction.
direction.
direction.
negative direction.
direction.
mark are evaluated.
bitNumberBero
Data type:
UDINT
Changeable online:
No
System default:
7-438

FollowingAxis
Data type:
EnumYesNo
Changeable online:
System default:
NO
is reached.
homingMode
Data type:
EnumAxisHomingMode
Changeable online:
System default:
MODE_NO_REFERENCE

logAddressBero
Data type:
UDINT
Changeable online:
No
System default:
65535

7-439
FollowingAxis
Data type:
Changeable online:
System default:

direction.
is expected.
is expected.
is expected.
mark is expected.
Data type:
UDINT
Changeable online:
No
System default:
passiveHomingMode
Data type:
Changeable online:
System default:
DEFAULT_PASSIVE

7-440

FollowingAxis
Data type:
UDINT
Changeable online:
No
System default:
65535
proceedShiftPos
Data type:
LREAL
Changeable online:
System default:
0.0 mm

referenceCamType
Data type:
Changeable online:
No
System default:
STANDARD

cam.
zeroMarkDistance
Data type:
LREAL
Changeable online:
System default:
0.0 mm
EnumYesNo
NO (91)
No
YES (173)
Yes

7-441
FollowingAxis
EnumAxisHomingMode
No reference mode
MODE_CAM_AND_ZM (1)
MODE_ZM (2)
MODE_CAM (3)
_ZM (4)
Next edge
ZM_PASSIVE (2)
CAM_PASSIVE (3)
DEFAULT_PASSIVE (4)

ASSIVE (5)
STANDARD (358)
Reference cam
(390)

7-442

FollowingAxis
IntervalCounterConversionDataType - FollowingAxis
interval counter.
module.
I/O area.
incResolution
Data type:
UDINT
Changeable online:
System default:
referenceTime
Data type:
LREAL
Changeable online:
System default:
0.0005 ms
DriverInfo


interval counter.)
7-443
FollowingAxis
InversCountDirection - FollowingAxis
value.
Data type:
EnumYesNo
Changeable online:
System default:
NO
EnumYesNo
NO (91)
No
YES (173)
Yes
InvertSetPoint - FollowingAxis
invSetPoint
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
7-444
NO (91)
No
YES (173)
Yes

FollowingAxis
InvertSetPointHydraulicType - FollowingAxis
invert
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
NO (91)
No
YES (173)
Yes
LeadScrewInfo - FollowingAxis
efficiency
Data type:
LREAL
Changeable online:
System default:
1.0

pitchVal
Data type:
LREAL
Changeable online:
System default:
10.0 mm/rot

7-445
FollowingAxis
LinearMotorDriveData - FollowingAxis
Note
Data type:
Changeable online:
System default:
BASIC

forceReference
Data type:
Changeable online:
System default:
MAX_VALUE

maxForce
Data type:
LREAL
Changeable online:
System default:
1000.0 N

maxSpeed
Data type:
LREAL
Changeable online:
No
System default:
3000.0 1/min

nominalForce
Data type:
LREAL
Changeable online:
System default:
1000.0 N

nominalSpeed
Data type:
LREAL
Changeable online:
No
System default:
3000.0 1/min
7-446

FollowingAxis
speedReference
Data type:
Changeable online:
System default:
MAX_VALUE

STANDARD (0)
Resolution 1/100
BASIC (16)
Resolution 1/16384
MAX_VALUE (0)
Maximum value
NOMINAL_VALUE (1)
Nominal value

7-447
FollowingAxis
LinearStepMotorDriveDataType - FollowingAxis
maxFrequency
Data type:
LREAL
Changeable online:
No
System default:
50000.0 Hz

stepMotorResolution
Data type:
UDINT
Changeable online:
System default:
1000
7-448

FollowingAxis
MaxAcceleration - FollowingAxis
Note
Data type:
EnumYesNo
Changeable online:
System default:
NO
limited.
maximum
Data type:
LREAL
Changeable online:
System default:
10000.0 mm/s

EnumYesNo
NO (91)
No
YES (173)
Yes

7-449
FollowingAxis
MaxForceCommandData - FollowingAxis
Note
maximum
Data type:
LREAL
Changeable online:
System default:
1000.0

maximumDerived
Data type:
LREAL
Changeable online:
System default:
10000.0
MaxJerk - FollowingAxis
Note
Online help
maximum
Data type:
LREAL
Changeable online:
System default:
200000.0 mm/s
7-450

FollowingAxis
MaxVelocity - FollowingAxis
Note
maximum
Data type:
LREAL
Changeable online:
System default:
500.0 mm/s

7-451
FollowingAxis
ModuloInfo - FollowingAxis
length
Data type:
LREAL
Changeable online:
System default:
360.0

startValue
Data type:
LREAL
Changeable online:
System default:
0.0

state
Data type:
EnumActiveInactive
Changeable online:
System default:
INACTIVE

EnumActiveInactive
7-452
ACTIVE (4)
Active
INACTIVE (61)
Inactive

FollowingAxis
NeutralBand - FollowingAxis
centreValue
Data type:
LREAL
Changeable online:
System default:
0.0

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

range
Data type:
LREAL
Changeable online:
System default:
0.0

EnumYesNo
NO (91)
No
YES (173)
Yes

7-453
FollowingAxis
NumberOfAdditionalSensors - FollowingAxis
Note
number
Data type:
UDINT
Changeable online:
No
System default:

7-454
AdditionalSensor_1
Encoder 1
AdditionalSensor_2
Encoder 2
AdditionalSensor_3
Encoder 3
AdditionalSensor_4
Encoder 4
AdditionalSensor_5
Encoder 5
AdditionalSensor_6
Encoder 6
AdditionalSensor_7
Encoder 7
AdditionalSensor_8
Encoder 8

FollowingAxis
NumberOfDataSets - FollowingAxis
Note
changeMode
Data type:
EnumChangeMode
Changeable online:
System default:
IN_POSITION

initDataSet
Data type:
UDINT
Changeable online:
System default:

numberOfDataSets
Data type:
UDINT
Changeable online:
No
System default:

Data type:
LREAL
Changeable online:
System default:
0.0 s
EnumChangeMode
NEVER (0)
No switchover
IN_POSITION (1)
IN_STANDSTILL (3)
IMMEDIATELY (7)

7-455
FollowingAxis
7-456
DataSet_1
(DataSetMain)
Data record 1
DataSet_10
(DataSetMain)
Data record 10
DataSet_11
(DataSetMain)
Data record 11
DataSet_12
(DataSetMain)
Data record 12
DataSet_13
(DataSetMain)
Data record 13
DataSet_14
(DataSetMain)
Data record 14
DataSet_15
(DataSetMain)
Data record 15
DataSet_16
(DataSetMain)
Data record 16
DataSet_2
(DataSetMain)
Data record 2
DataSet_3
(DataSetMain)
Data record 3
DataSet_4
(DataSetMain)
Data record 4
DataSet_5
(DataSetMain)
Data record 5
DataSet_6
(DataSetMain)
Data record 6
DataSet_7
(DataSetMain)
Data record 7
DataSet_8
(DataSetMain)
Data record 8
DataSet_9
(DataSetMain)
Data record 9

FollowingAxis
NumberOfDigitalInputs - FollowingAxis
number
Data type:
UDINT
Changeable online:
No
System default:

DigitalInput_1
(DigitalInputMain)
Digital input 1
DigitalInput_2
(DigitalInputMain)
Digital input 2
DigitalInput_3
(DigitalInputMain)
Digital input 3
DigitalInput_4
(DigitalInputMain)
Digital input 4
DigitalInput_5
(DigitalInputMain)
Digital input 5
DigitalInput_6
(DigitalInputMain)
Digital input 6
DigitalInput_7
(DigitalInputMain)
Digital input 7
DigitalInput_8
(DigitalInputMain)
Digital input 8

7-457
FollowingAxis
NumberOfEncoders - FollowingAxis
Note
dscEncoderNumber
Data type:
UDINT
Changeable online:
No
System default:

numberOfEncoders
Data type:
UDINT
Changeable online:
No
System default:

7-458
Encoder_1
(EncoderMain)
Encoder 1
Encoder_2
(EncoderMain)
Encoder 2
Encoder_3
(EncoderMain)
Encoder 3
Encoder_4
(EncoderMain)
Encoder 4
Encoder_5
(EncoderMain)
Encoder 5
Encoder_6
(EncoderMain)
Encoder 6
Encoder_7
(EncoderMain)
Encoder 7
Encoder_8
(EncoderMain)
Encoder 8

FollowingAxis
OutputLimits - FollowingAxis
Note
_max
Data type:
LREAL
Changeable online:
System default:
500.0

_min
Data type:
LREAL
Changeable online:
System default:
-500.0

7-459
FollowingAxis
PD_Controller - FollowingAxis
decayTime
Data type:
LREAL
Changeable online:
System default:
0.0 s

kd
Data type:
LREAL
Changeable online:
System default:
0.0

kp
Data type:
LREAL
Changeable online:
System default:
10.0 1/s
7-460

FollowingAxis
PID_ControllerForce - FollowingAxis
decayTime
Data type:
LREAL
Changeable online:
System default:
1.0 s

enableAntiWindup
Data type:
EnumYesNo
Changeable online:
System default:
YES

Data type:
LREAL
Changeable online:
System default:
0.0 s

kd
Data type:
LREAL
Changeable online:
System default:
0.0

ki
Data type:
LREAL
Changeable online:
System default:
0.0

kp
Data type:
LREAL
Changeable online:
System default:
1.0 1/s

7-461
FollowingAxis
kpc
Data type:
LREAL
Changeable online:
System default:
100.0 %

preCon
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
7-462
NO (91)
No
YES (173)
Yes

FollowingAxis
PID_ControllerPos - FollowingAxis
balanceFilterMode
Data type:
Changeable online:
System default:
MODE_1

decayTime
Data type:
LREAL
Changeable online:
System default:
1.0 s

enableAntiWindup
Data type:
EnumYesNo
Changeable online:
System default:
YES

kd
Data type:
LREAL
Changeable online:
System default:
0.0

ki
Data type:
LREAL
Changeable online:
System default:
0.0 1/s

kp
Data type:
LREAL
Changeable online:
System default:
1.0 1/s

7-463
FollowingAxis
kpc
Data type:
LREAL
Changeable online:
System default:
100.0 %

preCon
Data type:
EnumYesNo
Changeable online:
System default:
NO

OFF (0)
MODE_1 (1)
MODE_2 (2)
EnumYesNo
7-464
NO (91)
No
YES (173)
Yes

FollowingAxis
PT2PositionFilterType - FollowingAxis
T1
Data type:
LREAL
Changeable online:
System default:
0.01 s

T2
Data type:
LREAL
Changeable online:
System default:
0.01 s

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
NO (91)
No
YES (173)
Yes

7-465
FollowingAxis
PV_Controller - FollowingAxis
Note
balanceFilterMode
Data type:
Changeable online:
System default:
MODE_1

enableDSC
Data type:
EnumYesNo
Changeable online:
System default:
NO

kpc
Data type:
LREAL
Changeable online:
System default:
100.0 %

kv
Data type:
LREAL
Changeable online:
System default:
10.0 1/s

preCon
Data type:
EnumYesNo
Changeable online:
System default:
NO

7-466

FollowingAxis
OFF (0)
MODE_1 (1)
MODE_2 (2)
EnumYesNo
NO (91)
No
YES (173)
Yes

7-467
FollowingAxis
PathPerRevolution - FollowingAxis
assembly base.
length
Data type:
LREAL
Changeable online:
System default:
100.0 mm
7-468

FollowingAxis
PathSyncAxisPosTolerance - FollowingAxis
Note
in online help."
Data type:
LREAL
Changeable online:
System default:
10.0 mm
enableCommandValue
Data type:
Changeable online:
System default:
WITHOUT_JERK

NO_ACTIVATE (0)
No
WITHOUT_JERK (1)
Without jerk
WITH_JERK (2)
With jerk

7-469
FollowingAxis
PositionFilterType - FollowingAxis
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

timeConstant
Data type:
LREAL
Changeable online:
System default:
0.01 s

EnumYesNo
7-470
NO (91)
No
YES (173)
Yes

FollowingAxis
PositionMonitoring - FollowingAxis
Note
posWinTolDelayTime
Data type:
LREAL
Changeable online:
System default:
0.1 s
posWinTolTime
Data type:
LREAL
Changeable online:
System default:
1.0 s
tolerance window.
tolerance
Data type:
LREAL
Changeable online:
System default:
1.0 mm

7-471
FollowingAxis
ProcessModel - FollowingAxis
Note
T1
Data type:
LREAL
Changeable online:
System default:
0.003 s

T2
Data type:
LREAL
Changeable online:
System default:
0.0001 s

ks
Data type:
LREAL
Changeable online:
System default:
0.00000095367431640625
Range - FollowingAxis
_max
Data type:
LREAL
Changeable online:
System default:
10000.0

_min
Data type:
LREAL
Changeable online:
System default:
-10000.0
7-472

FollowingAxis
Resolution - FollowingAxis
Note
distance
Data type:
LREAL
Changeable online:
No
System default:
0.001 mm

Note
multiplierCyclic
Data type:
UDINT
Changeable online:
No
System default:
RestartConditionInfo - FollowingAxis
Data type:
Changeable online:
System default:
AXIS_DISABLED

NO_CONSTRAINTS (0)
STANDSTILL (1)
AXIS_DISABLED (2)

7-473
FollowingAxis
RestartInfo - FollowingAxis
just by command.
Data type:
Changeable online:
No
System default:
LAST_VALUE
Data type:
Changeable online:
System default:

DEFAULT_VALUE (2)
STOP_DEVICE (3)
LAST_VALUE (338)
7-474

FollowingAxis
ReverseCamNegative - FollowingAxis
cam.
_type
Data type:
Changeable online:
No
System default:
NONE

bitNumber
Data type:
UDINT
Changeable online:
No
System default:
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
NONE (93)
No reversing cam
SPECIFIC (387)

7-475
FollowingAxis
ReverseCamPositive - FollowingAxis
_type
Data type:
Changeable online:
No
System default:
NONE

bitNumber
Data type:
UDINT
Changeable online:
No
System default:
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
7-476
NONE (93)
No reversing cam
SPECIFIC (387)

FollowingAxis
SensorControlConfig - FollowingAxis
Note
Data type:
EnumYesNo
Changeable online:
System default:
NO
EnumYesNo
NO (91)
No
YES (173)
Yes
SensorNist - FollowingAxis
area.
Note
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
referenceValue
Data type:
LREAL
Changeable online:
System default:
3000.0

7-477
FollowingAxis
SensorSetActualValue - FollowingAxis
system variable.
Note
maxFailures
Data type:
UDINT
Changeable online:
System default:
updateCycle
Data type:
EnumAxisUpdateCycle
Changeable online:
System default:
IPO

EnumAxisUpdateCycle
7-478
IPO (0)
IPO
IPO_2 (1)
IPO_2
SERVO (2)
Servo
IPO_FAST (3)
IPO_fast
SERVO_FAST (4)
Servo_fast

FollowingAxis
SetPointDriverInfo - FollowingAxis
Note
actorType
Data type:
Changeable online:
No
System default:
NO_TYPE

interfaceAllocation
Data type:
Changeable online:
No
System default:
EXCLUSIVE

lifeSignCheck
Data type:
EnumYesNo
Changeable online:
System default:
YES

logAddressIn
Data type:
UDINT
Changeable online:
No
System default:
65535

7-479
FollowingAxis
logAddressOut
Data type:
UDINT
Changeable online:
No
System default:
65535

maxSetPointVoltage
Data type:
LREAL
Changeable online:
System default:
10.0 V
mode
Data type:
EnumAxisDriverMode
Changeable online:
No
System default:
SIMULATION

.
motorType
Data type:
EnumAxisMotorType
Changeable online:
No
System default:
STANDARD_MOTORTYPE

Data type:
UDINT
Changeable online:
No
System default:
Not used
7-480

FollowingAxis
telegramType
Data type:
Changeable online:
No
System default:

up.
up.
encoder) is set up.
for DriveAxis.
V4.2.
NO_TYPE (0)
No type
ANALOG (1)
Analog
STEPMOTOR (2)
Step mode
EXCLUSIVE (939)
VATED (940)
ED (941)
EnumYesNo
NO (91)
No
YES (173)
Yes

7-481
FollowingAxis
EnumAxisDriverMode
SIMULATION (0)
Simulation
ONBOARD (1)
Onboard
DPMASTER (2)
DP Master
EnumAxisMotorType
Standard motor
Linear motor
NO_TELEGRAM (0)
No message frame
(101)
(102)
(103)
7-482
DriveData
(DriveData)
InvertSetPoint
(InvertSetPoint)
StepMotorDriveData

FollowingAxis
SimulationInfo - FollowingAxis
simulationMode
Data type:
EnumYesNo
Changeable online:
No
System default:
NO

EnumYesNo
NO (91)
No
YES (173)
Yes
Slippage - FollowingAxis
Not functional.
slippageLimit
Data type:
UDINT
Changeable online:
System default:
1000 mm

7-483
FollowingAxis
SmoothingFilter - FollowingAxis
'timeConstant':
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

mode
Data type:
EnumAxisFilterMode
Changeable online:
System default:
DEFAULT_MODE

timeConstant
Data type:
LREAL
Changeable online:
System default:
0.01 s

EnumYesNo
NO (91)
No
YES (173)
Yes
EnumAxisFilterMode
7-484
DEFAULT_MODE (0)
No filter
AVERAGING (1)
Form mean value
PT1 (2)
PT1 filter

FollowingAxis
StandStillMonitoring - FollowingAxis
Note
delayTimeToActivate
Data type:
LREAL
Changeable online:
System default:
0.0 s
message.
stillStandTolerance
Data type:
LREAL
Changeable online:
System default:
1.0 mm

7-485
FollowingAxis
StandStillSignal - FollowingAxis
Note
delayTimeToActivate
Data type:
LREAL
Changeable online:
System default:
0.01 s

filterDegree
Data type:
UINT
Changeable online:
System default:

filterFrequency
Data type:
LREAL
Changeable online:
System default:
0.0 Hz

maxVeloStandStill
Data type:
LREAL
Changeable online:
System default:
50.0 mm/min
7-486

FollowingAxis
StateDriveExternalZeroMark - FollowingAxis
available
Data type:
EnumYesNo
Changeable online:
No
System default:
NO
bitNumber
Data type:
UDINT
Changeable online:
No
System default:
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
EnumYesNo
NO (91)
No
YES (173)
Yes

7-487
FollowingAxis
StepMotorDriveDataType - FollowingAxis
maxFrequency
Data type:
LREAL
Changeable online:
No
System default:
50000.0 Hz

stepMotorResolution
Data type:
UDINT
Changeable online:
System default:
1000
7-488

FollowingAxis
StepMotorMonitoringType - FollowingAxis
Note
beroCycleDistance
Data type:
UDINT
Changeable online:
System default:
2048

beroCycleTolerance
Data type:
UDINT
Changeable online:
System default:
2048

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
NO (91)
No
YES (173)
Yes

7-489
FollowingAxis
StructAxisActualValueUpdateCounter - FollowingAxis
value update.
bitNumber
Data type:
UDINT
Changeable online:
No
System default:

enableCounter
Data type:
EnumYesNo
Changeable online:
System default:
NO

logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535

maxFailure
Data type:
UDINT
Changeable online:
System default:

quantityOfBits
Data type:
UDINT
Changeable online:
System default:
7-490

FollowingAxis
updateCycle
Data type:
UDINT
Changeable online:
System default:

EnumYesNo
NO (91)
No
YES (173)
Yes

7-491
FollowingAxis
StructAxisAdditionalOffset - FollowingAxis
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

Data type:
LREAL
Changeable online:
System default:
1.0 mm/s

Data type:
LREAL
Changeable online:
System default:
1.0 mm/s
Data type:
LREAL
Changeable online:
System default:
1.0 mm/s
Data type:
LREAL
Changeable online:
System default:
1.0 mm/s
7-492

FollowingAxis
Data type:
LREAL
Changeable online:
System default:
1.0 mm/s
EnumYesNo
NO (91)
No
YES (173)
Yes

7-493
FollowingAxis
StructAxisAnalogSensorErrorStateMonitoring - FollowingAxis
error bit.
bitNumber
Data type:
UDINT
Changeable online:
System default:

bitSemantics
Data type:
EnumTrueFalse
Changeable online:
System default:
_TRUE

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

logAddress
Data type:
UDINT
Changeable online:
System default:
65535

EnumTrueFalse
_TRUE (405)
true
_FALSE (406)
false
EnumYesNo
7-494
NO (91)
No
YES (173)
Yes

FollowingAxis
StructAxisAnalogSensorReadyStateMonitoring - FollowingAxis
ready bit.
bitNumber
Data type:
UDINT
Changeable online:
System default:

bitSemantics
Data type:
EnumTrueFalse
Changeable online:
System default:
_TRUE

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

logAddress
Data type:
UDINT
Changeable online:
System default:
65535

EnumTrueFalse
_TRUE (405)
true
_FALSE (406)
false
EnumYesNo
NO (91)
No
YES (173)
Yes

7-495
FollowingAxis
StructAxisDriveControlConfig - FollowingAxis
dataAdaption
Data type:
EnumYesNo
Changeable online:
System default:
NO
Data type:
Changeable online:
System default:
COMPATIBILITY_MODE
block.
releaseDisableMode
Data type:
UDINT
Changeable online:
System default:
127
reset.
Bit0 - ON
EnumYesNo
7-496
NO (91)
No
YES (173)
Yes

FollowingAxis
YES (173)


pulsesEnabled

7-497
FollowingAxis
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - FollowingAxis
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
7-498

FollowingAxis
StructAxisFilterForceControlConfig - FollowingAxis
T1
Data type:
LREAL
Changeable online:
System default:
1.0 s

T2
Data type:
LREAL
Changeable online:
System default:
1.0 s

_type
Data type:
Changeable online:
System default:
PT2

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

PT2 (909)
PT2
EnumYesNo
NO (91)
No
YES (173)
Yes

7-499
FollowingAxis
StructAxisInvertFOutput - FollowingAxis
invSetPoint
Data type:
EnumYesNo
Changeable online:
System default:
NO

unchanged.
EnumYesNo
NO (91)
No
YES (173)
Yes
StructAxisInvertQOutput - FollowingAxis
invSetPoint
Data type:
EnumYesNo
Changeable online:
System default:
NO

unchanged.
EnumYesNo
7-500
NO (91)
No
YES (173)
Yes

FollowingAxis
StructAxisNistDriverConfig - FollowingAxis
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535

7-501
FollowingAxis
StructAxisOperatingDataInInfo - FollowingAxis
enableActivePower
Data type:
EnumYesNo
Changeable online:
No
System default:
NO

enableActualCurrent
Data type:
EnumYesNo
Changeable online:
No
System default:
NO

Data type:
EnumYesNo
Changeable online:
No
System default:
NO

Data type:
EnumYesNo
Changeable online:
No
System default:
NO

Data type:
EnumYesNo
Changeable online:
No
System default:
NO

7-502

FollowingAxis
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
EnumYesNo
NO (91)
No
YES (173)
Yes

7-503
FollowingAxis
StructAxisPulsesEnabledConfig - FollowingAxis
bitNumber
Data type:
UDINT
Changeable online:
System default:
13

pzdNumber
Data type:
UDINT
Changeable online:
System default:
StructAxisServoMonitoringConfig - FollowingAxis
Data type:
EnumYesNo
Changeable online:
System default:
NO
EnumYesNo
7-504
NO (91)
No
YES (173)
Yes

FollowingAxis
StructAxisSetpointFilter - FollowingAxis
branch.
T1
Data type:
LREAL
Changeable online:
System default:
0.0 s

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
NO (91)
No
YES (173)
Yes

7-505
FollowingAxis
StructAxisSlidingFriction - FollowingAxis
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

factorForceControl
Data type:
LREAL
Changeable online:
System default:
0.01
factorMotionControl
Data type:
LREAL
Changeable online:
System default:
0.01
Data type:
LREAL
Changeable online:
System default:
0.0
EnumYesNo
7-506
NO (91)
No
YES (173)
Yes

FollowingAxis
StructAxisSpeedLimitation - FollowingAxis
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

maxSpeed
Data type:
LREAL
Changeable online:
System default:
0.0 1/min

minSpeed
Data type:
LREAL
Changeable online:
System default:
0.0 1/min

EnumYesNo
NO (91)
No
YES (173)
Yes

7-507
FollowingAxis
StructAxisSwLimitConfig - FollowingAxis
Data type:
Changeable online:
System default:

Data type:
EnumYesNo
Changeable online:
System default:
YES
relieveWindow
Data type:
LREAL
Changeable online:
System default:
0.0
(0)


control
EnumYesNo
7-508
NO (91)
No
YES (173)
Yes

FollowingAxis
StructAxisSystemDeadTimeData - FollowingAxis
dead times.
additionalTime
Data type:
LREAL
Changeable online:
System default:
0.0 s
StructAxisTechnologicalData - FollowingAxis
Data type:
EnumYesNo
Changeable online:
No
System default:
NO
enable
Data type:
EnumYesNo
Changeable online:
No
System default:
NO

EnumYesNo
NO (91)
No
YES (173)
Yes


OperatingDataInInfo

7-509
FollowingAxis
StructAxisTechnologicalDataInInfo - FollowingAxis
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
the drive.
StructAxisTechnologicalDataOutInfo - FollowingAxis
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
the drive.
7-510

FollowingAxis
StructCommandValueQuantization - FollowingAxis
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

mode
Data type:
Changeable online:
No
System default:
OLUTION

value
Data type:
LREAL
Changeable online:
System default:
1.0e-12 mm

EnumYesNo
NO (91)
No
YES (173)
Yes
DIRECT (40)
OLUTION (936)

7-511
FollowingAxis
StructControllerOutput - FollowingAxis
outputType
Data type:
Changeable online:
No
System default:
DIRECT_OUTPUT

DIRECT_OUTPUT (1)
Analog interface
DRIVE_INTERFACE (2)
7-512
EnableBit
(StructEnableBit)
Enable bit
InvertF
InvertFOutput
(InvertSetPoint)

FollowingAxis
StructDirectOutputDriverInfo - FollowingAxis
axis.
format
Data type:
Changeable online:
System default:
VALUE_LEFT_MARGIN

logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535

maxOutputVoltage
Data type:
LREAL
Changeable online:
System default:
10.0 V
Not used
resolution
Data type:
UDINT
Changeable online:
System default:
15

Right-justified
Left-justified

7-513
FollowingAxis
StructDriveInterfaceDriverInfo - FollowingAxis
axis.
actorType
Data type:
Changeable online:
No
System default:
NO_TYPE

lifeSignCheck
Data type:
EnumYesNo
Changeable online:
No
System default:
YES

logAddressIn
Data type:
UDINT
Changeable online:
No
System default:
65535

logAddressOut
Data type:
UDINT
Changeable online:
No
System default:
65535

maxOutputVoltage
Data type:
LREAL
Changeable online:
No
System default:
10.0 V
7-514

FollowingAxis
mode
Data type:
EnumAxisDriverMode
Changeable online:
No
System default:
SIMULATION

Data type:
DINT
Changeable online:
No
System default:
Reserved
telegramType
Data type:
Changeable online:
No
System default:

up.
up.
encoder) is set up.
NO_TYPE (0)
No type
ANALOG (1)
Analog
STEPMOTOR (2)
Step mode

7-515
FollowingAxis
EnumYesNo
NO (91)
No
YES (173)
Yes
EnumAxisDriverMode
SIMULATION (0)
Simulation
ONBOARD (1)
Onboard
DPMASTER (2)
DP Master
7-516
NO_TELEGRAM (0)
No message frame
(101)
(102)
(103)

FollowingAxis
StructDriverInfoDirectIncremental - FollowingAxis
logAddress
Data type:
UDINT
Changeable online:
System default:
65535

resolution
Data type:
UDINT
Changeable online:
System default:
16

7-517
FollowingAxis
StructEnableBit - FollowingAxis
bitNumberOnDevice
Data type:
UDINT
Changeable online:
No
System default:
enable
Data type:
EnumYesNo
Changeable online:
No
System default:
NO

logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535

EnumYesNo
7-518
NO (91)
No
YES (173)
Yes

FollowingAxis
StructExtrapolation - FollowingAxis
Data type:
Changeable online:
System default:
DIFFERENTIATION
extrapolationTime
Data type:
LREAL
Changeable online:
System default:
0.01 s

TRANSFER (409)

Filter
ToleranceRange
Tolerance range

7-519
FollowingAxis
StructExtrapolationFilter - FollowingAxis
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

mode
Data type:
EnumAxisFilterMode
Changeable online:
System default:
DEFAULT_MODE

timeConstant
Data type:
LREAL
Changeable online:
System default:
0.01 s

EnumYesNo
NO (91)
No
YES (173)
Yes
EnumAxisFilterMode
7-520
DEFAULT_MODE (0)
No filter
AVERAGING (1)
Form mean value
PT1 (2)
PT1 filter

FollowingAxis
StructLogAddressIoBitType - FollowingAxis
bitNumber
Data type:
UDINT
Changeable online:
System default:

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

logAddress
Data type:
UDINT
Changeable online:
System default:
65535

EnumYesNo
NO (91)
No
YES (173)
Yes

7-521
FollowingAxis
StructPaxDynamicQFData - FollowingAxis
Data type:
LREAL
Changeable online:
System default:
0.1 s

qOutputTimeConstant
Data type:
LREAL
Changeable online:
System default:
0.00005 s
7-522

FollowingAxis
StructPositionDifferenceMeasurement - FollowingAxis
invert
Data type:
EnumYesNo
Changeable online:
System default:
NO

numberEncoderA
Data type:
UDINT
Changeable online:
System default:

numberEncoderB
Data type:
UDINT
Changeable online:
System default:

offset
Data type:
LREAL
Changeable online:
System default:
0.0

EnumYesNo
NO (91)
No
YES (173)
Yes

Filter
(Filter)
Range
(Range)

7-523
FollowingAxis
StructPressureDifferenceMeasurement - FollowingAxis
areaA
Data type:
LREAL
Changeable online:
System default:
1.0

areaB
Data type:
LREAL
Changeable online:
System default:
1.0

factor
Data type:
LREAL
Changeable online:
System default:
1.0

invert
Data type:
EnumYesNo
Changeable online:
System default:
NO

numberSensorA
Data type:
UDINT
Changeable online:
System default:
7-524

FollowingAxis
numberSensorB
Data type:
UDINT
Changeable online:
System default:

EnumYesNo
NO (91)
No
YES (173)
Yes

Filter
(Filter)
Range
(Range)

7-525
FollowingAxis
StructSensorDriverInfo - FollowingAxis
errorToleranceTime
Data type:
LREAL
Changeable online:
System default:
0.1 s
format
Data type:
Changeable online:
System default:
VALUE_LEFT_MARGIN
logAddress
Data type:
UDINT
Changeable online:
System default:
65535

maxValue
Data type:
DINT
Changeable online:
System default:
32511
minValue
Data type:
DINT
Changeable online:
System default:
-32512
7-526

FollowingAxis
resolution
Data type:
UDINT
Changeable online:
System default:
15

Right-justified
Left-justified

7-527
FollowingAxis
StructToleranceRange - FollowingAxis
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

value
Data type:
LREAL
Changeable online:
System default:
0.0 mm
EnumYesNo
7-528
NO (91)
No
YES (173)
Yes

FollowingAxis
TypeOfAxisInfo - FollowingAxis
typeOfAxis
Data type:
Changeable online:
No
System default:
REAL_AXIS

REAL_AXIS (0)
Real electric axis
VIRTUAL_AXIS (1)
Virtual axis
REAL_QFAXIS (3)
_CONTROL (4)
CE_CONTROL (5)

(Q-valve)
_CONTROL_ONLY (6)


AdditionalOffset

Quantization filter
DecodingConfig
(DecodingConfig)
Command processing
DistributedMotion
Drift
(Drift)
Drift compensation

7-529
FollowingAxis
7-530
DriveControlConfig
Extrapolation
FOutput
FineInterpolator
(FineInterpolator)
Fine interpolator
Friction
(Friction)
GearingPosTolerance
(GearingPosTolerance)
Monitoring of synchronous operation
HWEndPos
(HWEndPos)
Homing
(Homing)
Homing
MaxAcceleration
(MaxAcceleration)
MaxForceCommandData
MaxJerk
(MaxJerk)
Maximum jerk
MaxVelocity
(MaxVelocity)
Maximum velocity
NeutralBand
(NeutralBand)
NumberOfDataSets
(NumberOfDataSets)
NumberOfEncoders
(NumberOfEncoders)
Configured encoder

axis
PositionMonitoring
Position monitoring
QOutput
ServoMonitoring
SetPointDriverInfo
Drive interface

FollowingAxis
SetpointFilter
SlidingFriction
SmoothingFilter
(SmoothingFilter)
SpeedLimitation
StandStillSignal
(StandStillSignal)
Standstill signal
SwLimit
SystemDeadTimeData
TechnologicalData

7-531
FollowingAxis
VelocityPositionProfile - FollowingAxis
Note
Data type:
LREAL
Changeable online:
System default:
0.0 mm
7-532

FollowingObjectType
DistributedMotion (DistributedMotionInfo)
SyncingMotion (SyncingMotionInfo)
DecodingConfigInfo - FollowingObjectType
disableSynchronousOperation
Data type:
EnumYesNo
Changeable online:
System default:
NO
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.
Data type:
DINT
Changeable online:
System default:
100
Specifies the maximum number of command IDs active simultaneously whose status can be requested 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
NO (91)
No
YES (173)
Yes

8-533
FollowingObjectType
DistributedMotionInfo - FollowingObjectType
Data type:
EnumYesNo
Changeable online:
System default:
YES

Data type:
UDINT
Changeable online:
System default:

EnumYesNo
NO (91)
No
YES (173)
Yes
ExecutionConfigInfo - FollowingObjectType
Note
Online help
executionlevel
Data type:
Changeable online:
System default:
IPO
8-534
IPO (0)
IPO
IPO_2 (1)
IPO_2
SERVO (2)
Servo
IPO_FAST (3)
IPO_fast
SERVO_FAST (4)
Servo_fast

FollowingObjectType
RestartInfo - FollowingObjectType
just by command.
Data type:
Changeable online:
No
System default:
LAST_VALUE
Data type:
Changeable online:
System default:

DEFAULT_VALUE (2)
STOP_DEVICE (3)
LAST_VALUE (338)

8-535
FollowingObjectType
SyncingMotionInfo - FollowingObjectType
The structure elements of 'SyncingMotion' specify the motion synchronization.
approachLeadingValue
Data type:
EnumFollowingObjectSyncMode
Changeable online:
System default:
WITHOUT_DYNAMIC_RESTRICTION
Specifies the synchronization type; relevant only if the parameter 'syncProfileReference:=Synchronisierart LeadingValue'.
With WITHOUT_DYNAMIC_RESTRICTION, the synchronization process is calculated without consideration of the dynamic values.
With WITH_DYNAMIC_RESTRICTION, the synchronization process is calculated with consideration
of the dynamic values of the synchronous object.
camReferenceBySlaveModeRelative
Data type:
EnumCamReferenceBySlaveModeRelative
Changeable online:
System default:
COMPATIBILITY_MODE
The parameter defines the placement position for the slave value in ratio to the cam
for 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 programmed 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
Data type:
EnumYesNo
Changeable online:
System default:
NO
Specifies the acceleration model.

With NO, the non-direction-related acceleration model is not used.
masterReversionTolerance
Data type:
LREAL
Changeable online:
System default:
0.0
Specifies the maximum master value reversal without aborting the synchronization process.
8-536

FollowingObjectType
maximumOfMasterChange
Data type:
LREAL
Changeable online:
System default:
20.0 %
Specifies the master change.

Percentage for the maximum change of the master velocity, which is to be considered for the synchronization 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 dynamic values are violated when the limit is exceeded.
motionImpact
Data type:
EnumFollowingObjectMotionImpact
Changeable online:
No
System default:
STANDARD
Specifies the superimposition effect of this synchronous object.

overDriveFactor
Data type:
LREAL
Changeable online:
System default:
100.0 %
Specifies a resonance factor for synchronization with increased dynamic response values.
smoothAbsoluteSynchronization
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
Data type:
EnumYesNo
Changeable online:
System default:
YES
With YES, the dynamic response values required for the synchronization are adapted appropriately.
With NO, synchronization to the specified dynamic values always takes place.

8-537
FollowingObjectType
velocityMode
Data type:
EnumFollowingObjectVelocityMode
Changeable online:
System default:
CONTINUOUS
Selection of either continuous-velocity or non-continuous velocity transition. Only valid if approachLeadingValue has the value WITHOUT_DYNAMIC_RESTRICTION'.
With CONTINUOUS, the velocity-continuous transition is selected.
With NON_CONTINUOUS, the velocity-noncontinuous transition is selected.
EnumFollowingObjectSyncMode
WITHOUT_DYNAMIC_RESTRICTION (0)
Without dynamic restriction
WITH_DYNAMIC_RESTRICTION (1)
With dynamic restriction
EnumCamReferenceBySlaveModeRelative
Slave axis position corresponds to the programmed cam start value at standstill, otherwise the
cam initial value
BEGIN_OF_CAM (1)
Slave axis position corresponds to the programmed cam initial value
POSITION_AT_START_OF_CAMMING (2)
Slave axis position corresponds to the cam initial

value
EnumYesNo
NO (91)
No
YES (173)
Yes
EnumFollowingObjectMotionImpact
STANDARD (0)
No superimposing effect
SUPERIMPOSED_MOTION (1)
Superimposing effect
EnumFollowingObjectVelocityMode
8-538
CONTINUOUS (0)
Continuous velocity
NON_CONTINUOUS (1)
Non-continuous velocity

CamType
InterpolationSettings (StructCamInterpolationSettings)
InverseCamRepresentation (InverseCamRepresentationInfo)
Tolerance (ToleranceInfo)
DecodingConfigInfo - CamType
Note
online help."
Data type:
DINT
Changeable online:
System default:
10

9-539
CamType
InverseCamRepresentationInfo - CamType
Cam inversion
camRepresentation
Data type:
EnumCamRepresentation
Changeable online:
System default:
STANDARD
Inverted representation of cam

followingRangeApproximationLimit
Data type:
LREAL
Changeable online:
System default:
1.0e-5
Slave axis iteration limit

leadingRangeApproximationLimit
Data type:
LREAL
Changeable online:
System default:
1.0e-5
Master axis iteration limit

maximumIterationLimit
Data type:
UDINT
Changeable online:
System default:
50
Maximum number of iteration cycles

EnumCamRepresentation
9-540
STANDARD (0)
Not inverted
STANDARD_AND_INVERSE (1)
Inverted

CamType
RestartInfo - CamType
just by command.
Data type:
Changeable online:
No
System default:
LAST_VALUE
Data type:
Changeable online:
System default:

DEFAULT_VALUE (2)
STOP_DEVICE (3)
LAST_VALUE (338)

9-541
CamType
StructCamInterpolationSettings - CamType
Interpolation settings
bSplineInterpolation
Data type:
EnumCamBSplineInterpolation
Changeable online:
System default:
STANDARD
Type of the B spline interpolation

cSplineInterpolation
Data type:
EnumCamCSplineInterpolation
Changeable online:
System default:
STANDARD
Type of the C spline interpolation

dataMode
Data type:
EnumCamDataMode
Changeable online:
System default:
SEGMENTS_AND_POINTS
Construction of the cam from points and/or segments

maximumOfPoints
Data type:
UDINT
Changeable online:
System default:
Maximum number of points for the specification of a points table without segments (dataMode:=POINTS_ONLY).
EnumCamBSplineInterpolation
STANDARD (0)
Standard interpolation
WITHOUT_APPROXIMATION (1)
Interpolation without approximation
EnumCamCSplineInterpolation
STANDARD (0)
Standard interpolation
ADVANCED (1)
Interpolation over the complete curve
EnumCamDataMode
9-542
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
Data type:
LREAL
Changeable online:
System default:
0.0
Defines when two values are to be treated as equal

zeroEnvironment
Data type:
LREAL
Changeable online:
System default:
1.0e-30
Zero definition
IterativeZeroEnvironment
(IterativeZeroEnvironment)

9-543
CamType
9-544

Part II
TP Path

II-545
II-546

Contents
Part II
TP Path
10
PathObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - PathObjectType . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - PathObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructPathArticulatedArm2DConfig - PathObjectType . . . . . . . . . . . . . .
StructPathArticulatedArmKinematicsConfig - PathObjectType . . . . . . . .
StructPathArticulatedArmLinkCompensationConfig - PathObjectType. .
StructPathCartesianKinematicsConfig - PathObjectType . . . . . . . . . . . .
StructPathDecodingConfigInfo - PathObjectType . . . . . . . . . . . . . . . . . .
StructPathInterpolationConfigInfo - PathObjectType . . . . . . . . . . . . . . .
StructPathKinematicsConfig - PathObjectType. . . . . . . . . . . . . . . . . . . .
StructPathKinematicsOffsetConfig - PathObjectType . . . . . . . . . . . . . . .
StructPathPickerKinematicsConfig - PathObjectType. . . . . . . . . . . . . . .
StructPathRotaryArmKinematicsConfig - PathObjectType . . . . . . . . . . .
StructPathScaraKinematicsConfig - PathObjectType . . . . . . . . . . . . . . .
StructPathSpecificKinematicsConfig - PathObjectType . . . . . . . . . . . . .
10-551
10-551
10-552
10-553
10-555
10-556
10-558
10-559
10-560
10-561
10-563
10-565
10-566
10-567
10-568
10-569
10-570
10-571
10-572
10-573
10-574
10-575
10-576
11
PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsBackLash - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsEncoder - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsHomingEncoder - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ActualAccelerationMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . .
ActualVelocityMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptDrive - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptExtern - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptLoad - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorNumber - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
AnalogSensorType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AssemblyBase - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ClampingMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerDynamic - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11-577
11-577
11-579
11-583
11-584
11-585
11-586
11-586
11-587
11-588
11-590
11-591
11-591
11-592
11-592
11-593
11-594

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Contents-547
Contents
ControllerStruct - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerSwitchData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DataSetMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DigitalInputMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DistributedMotionInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drift - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriveData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicComp - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicFollowing - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EmergencyRampGenerator - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderNumber - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExtrapolationPositionFilterType - PathAxis . . . . . . . . . . . . . . . . . . . . . .
Filter - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FineInterpolator - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControlHeldValueMonitoring - PathAxis. . . . . . . . . . . . . . . . . . . .
ForceControlRunningInWindowMonitoring - PathAxis . . . . . . . . . . . . .
ForceControllerData - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControllerDifference - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Friction - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Gear - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
GearingPosTolerance - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HWEndPos - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncBackLash - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncEncoder - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncHomingEncoder - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - PathAxis. . . . . . . . . . . . . . . . . .
InversCountDirection - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPoint - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPointHydraulicType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
LeadScrewInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LinearMotorDriveData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LinearStepMotorDriveDataType - PathAxis . . . . . . . . . . . . . . . . . . . . .
MaxAcceleration - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxForceCommandData - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxJerk - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxVelocity - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NeutralBand - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfAdditionalSensors - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDataSets - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDigitalInputs - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfEncoders - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OutputLimits - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PD_Controller - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerForce - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents-548
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11-595
11-595
11-596
11-597
11-598
11-602
11-603
11-604
11-605
11-607
11-610
11-611
11-612
11-614
11-615
11-620
11-620
11-621
11-622
11-623
11-624
11-624
11-625
11-627
11-627
11-628
11-629
11-630
11-632
11-634
11-636
11-637
11-638
11-643
11-644
11-644
11-645
11-645
11-646
11-648
11-649
11-650
11-650
11-651
11-652
11-653
11-654
11-655
11-657
11-658
11-659
11-660
11-661

Contents
PID_ControllerPos - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PT2PositionFilterType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PV_Controller - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathAxisPosTolerance - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathPerRevolution - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathSyncAxisPosTolerance - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . .
PositionFilterType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PositionMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProcessModel - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Range - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolution - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartConditionInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamNegative - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamPositive - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorNist - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorSetActualValue - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SetPointDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SimulationInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Slippage - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SmoothingFilter - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StateDriveExternalZeroMark - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorDriveDataType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorMonitoringType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisActualValueUpdateCounter - PathAxis . . . . . . . . . . . . . . . . .
StructAxisAdditionalOffset - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisAnalogSensorErrorStateMonitoring - PathAxis . . . . . . . . . . .
StructAxisAnalogSensorReadyStateMonitoring - PathAxis. . . . . . . . . .
StructAxisDriveControlConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - PathAxis. . . . . .
StructAxisFilterForceControlConfig - PathAxis . . . . . . . . . . . . . . . . . . .
StructAxisInvertFOutput - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisInvertQOutput - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisNistDriverConfig - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisOperatingDataInInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - PathAxis . . . . . . . . . . . . . . . . . . . . .
StructAxisServoMonitoringConfig - PathAxis . . . . . . . . . . . . . . . . . . . .
StructAxisSetpointFilter - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSlidingFriction - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSpeedLimitation - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSwLimitConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSystemDeadTimeData - PathAxis. . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataInInfo - PathAxis . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataOutInfo - PathAxis . . . . . . . . . . . . . . . . . .
StructCommandValueQuantization - PathAxis . . . . . . . . . . . . . . . . . . .
StructControllerOutput - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructDirectOutputDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructDriveInterfaceDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . .
StructDriverInfoDirectIncremental - PathAxis . . . . . . . . . . . . . . . . . . . .

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Contents-549
Contents
StructEnableBit - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolation - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolationFilter - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructLogAddressIoBitType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructPaxDynamicQFData - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . .
StructPositionDifferenceMeasurement - PathAxis . . . . . . . . . . . . . . . .
StructPressureDifferenceMeasurement - PathAxis. . . . . . . . . . . . . . . .
StructSensorDriverInfo - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructToleranceRange - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TypeOfAxisInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VelocityPositionProfile - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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10
PathObjectType
DecodingConfig (StructPathDecodingConfigInfo)
InterpolationConfig (StructPathInterpolationConfigInfo)
Kinematics (StructPathKinematicsConfig)
ExecutionConfigInfo - PathObjectType
Note
Online help
executionlevel
Data type:
Changeable online:
System default:
IPO
IPO (0)
IPO
IPO_2 (1)
IPO_2
SERVO (2)
Servo
IPO_FAST (3)
IPO_fast
SERVO_FAST (4)
Servo_fast

10-551
PathObjectType
RestartInfo - PathObjectType
just by command.
Data type:
Changeable online:
No
System default:
LAST_VALUE
Data type:
Changeable online:
System default:

DEFAULT_VALUE (2)
STOP_DEVICE (3)
LAST_VALUE (338)
10-552

PathObjectType
StructPathArticulatedArm2DConfig - PathObjectType
The structure elements of 'ArticulatedArm2DConfig' specify the parameters for the articulated armspecific 2D coordinate transformation.
config2D
Data type:
EnumPathKinematicsConfig2D
Changeable online:
System default:
X_Y
Defines the programming level.

distanceA1A2
Data type:
LREAL
Changeable online:
System default:
1.0 mm
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
Data type:
LREAL
Changeable online:
System default:
1.0 mm
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
Data type:
LREAL
Changeable online:
System default:
0.0
Defines the angular offset at rotary joint A1.

10-553
PathObjectType
offsetA2
Data type:
LREAL
Changeable online:
System default:
0.0

X_Y (0)
xy plane
Y_Z (1)
yz plane
Z_X (2)
zx plane
10-554
BasicOffset
(StructPathKinematicsOffsetConfig)
Path zero offset to axis zero
LinkCompensation
(StructPathArticulatedArm2DLinkCompensation
Config)
Compensation of link dependencies

PathObjectType
The structure elements of 'LinkCompensation' specify the parameters for compensation of link dependencies.
enableA1A2
Data type:
EnumYesNo
Changeable online:
System default:
NO
Specifies whether compensation of link dependencies should occur between A1 and A2.
factorA1A2
Data type:
LREAL
Changeable online:
System default:
1.0
When compensation is activated between A1 and A2, the product of A1 and factor A1A2 is added to
angle A2.
EnumYesNo
NO (91)
No
YES (173)
Yes

10-555
PathObjectType
StructPathArticulatedArmKinematicsConfig - PathObjectType
The structure elements of 'ArticulatedArmKinematics' specify the parameters for the articulated armspecific coordinate transformation.
distanceA1A2
Data type:
LREAL
Changeable online:
System default:
1.0 mm

distanceA2A3
Data type:
LREAL
Changeable online:
System default:
1.0 mm

on the path object!
distanceA3Endpoint
Data type:
LREAL
Changeable online:
System default:
1.0 mm
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
Data type:
LREAL
Changeable online:
System default:
0.0

offsetA2
Data type:
LREAL
Changeable online:
System default:
0.0
10-556

PathObjectType
offsetA3
Data type:
LREAL
Changeable online:
System default:
0.0

BasicOffset
LinkCompensation
(StructPathArticulatedArmLinkCompensationConfig)
Compensation of link dependencies

10-557
PathObjectType
StructPathArticulatedArmLinkCompensationConfig - PathObjectType
The structure elements of 'LinkCompensation' specify the parameters for compensation of link dependencies.
enableA2A3
Data type:
EnumYesNo
Changeable online:
System default:
NO
factorA2A3
Data type:
LREAL
Changeable online:
System default:
1.0
angle A3.
EnumYesNo
10-558
NO (91)
No
YES (173)
Yes

PathObjectType
StructPathCartesianKinematicsConfig - PathObjectType
The structure elements of 'CartesianKinematics' specify the parameters for the Cartesian coordinate
transformation.
cartesianKinematicsType
Data type:
EnumPathCartesianKinematicsType
Changeable online:
System default:
_2D
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
Data type:
Changeable online:
System default:
X_Y
Defines the programming plane for two path axes.

Only relevant for 'cartesianKinematicsType:=_2D'.
EnumPathCartesianKinematicsType
_2D (0)
2D programming in a plane
_3D (1)
3D programming in space
X_Y (0)
xy plane
Y_Z (1)
yz plane
Z_X (2)
zx plane

BasicOffset

10-559
PathObjectType
StructPathDecodingConfigInfo - PathObjectType
disablePathOperation
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
Data type:
DINT
Changeable online:
System default:
Specifies the maximum size of the sequential command buffer.

Data type:
DINT
Changeable online:
System default:
100
Specifies the maximum number of command IDs active simultaneously whose status can be requested 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
Data type:
EnumPathPositionIndication
Changeable online:
System default:
INCREMENT_BASED
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
NO (91)
No
YES (173)
Yes
EnumPathPositionIndication
10-560
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
Data type:
Changeable online:
System default:
X_Y

distanceD1
Data type:
LREAL
Changeable online:
System default:
0.0 mm
Defines the symmetric distance of the drive axes from the zero point of the kinematic structure.
distanceD2
Data type:
LREAL
Changeable online:
System default:
0.0 mm
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
Data type:
LREAL
Changeable online:
System default:
1.0 mm
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
Data type:
LREAL
Changeable online:
System default:
1.0 mm
Defines the length of segment 2 (lower arm).

path object!

10-561
PathObjectType
offsetA1
Data type:
LREAL
Changeable online:
System default:
0.0
Defines the angular offset on drive axis A1.

offsetA2
Data type:
LREAL
Changeable online:
System default:
0.0

X_Y (0)
xy plane
Y_Z (1)
yz plane
Z_X (2)
zx plane

BasicOffset
10-562

PathObjectType
StructPathDelta3DKinematicsConfig - PathObjectType
The structure elements of 'Delta3DKinematics' specify the parameters for the Delta3D coordinate
transformation.
angleArm1ToX
Data type:
LREAL
Changeable online:
System default:
0.0
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
Data type:
LREAL
Changeable online:
System default:
120.0
Defines the angular offset of arm M2-A2-A5 with respect to arm M1-A1-A4 for rotation around the positive z-axis.
The minimum and the maximum angular offset that can be set depend on the available angular resolution on the path object!
angleArm3ToArm1
Data type:
LREAL
Changeable online:
System default:
-120.0
Defines the angular offset of arm M3-A3-A6 with respect to arm M1-A1-A4 for rotation around the positive z-axis.
The minimum and the maximum angular offset that can be set depend on the available angular resolution on the path object!
distanceD1
Data type:
LREAL
Changeable online:
System default:
0.0 mm
Defines the symmetric distance of the drive axes from the zero point of the kinematic structure.
distanceD2
Data type:
LREAL
Changeable online:
System default:
0.0 mm
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.

10-563
PathObjectType
length1
Data type:
LREAL
Changeable online:
System default:
1.0 mm
Defines the length of segment 1 (upper arm).

path object!
length2
Data type:
LREAL
Changeable online:
System default:
1.0 mm
Defines the length of segment 2 (lower arm).

path object!
offsetA1
Data type:
LREAL
Changeable online:
System default:
0.0

offsetA2
Data type:
LREAL
Changeable online:
System default:
0.0

offsetA3
Data type:
LREAL
Changeable online:
System default:
0.0

BasicOffset
10-564

PathObjectType
StructPathInterpolationConfigInfo - PathObjectType
The structure elements of 'InterpolationConfig' specify the parameters for the path interpolation.
blendingAcceleration
Data type:
EnumPathObjectBlendingAcceleration
Changeable online:
System default:
REDUCTION_TO_ZERO
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
REDUCTION_TO_ZERO (0)
Blending with boundary condition a=0
WITHOUT_REDUCTION (1)
Blending without boundary condition a=0

10-565
PathObjectType
StructPathKinematicsConfig - PathObjectType
The structure elements of 'Kinematics' specify the parameters for coordinate transformation.
typeOfKinematics
Data type:
EnumPathKinematicsType
Changeable online:
No
System default:
CARTESIAN
Specifies the type of configured kinematics.

EnumPathKinematicsType
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
10-566
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
Data type:
LREAL
Changeable online:
System default:
0.0
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
Data type:
LREAL
Changeable online:
System default:
0.0
Specifies the rotation of the X axis of the base to the X axis of the path.
x
Data type:
LREAL
Changeable online:
System default:
0.0 mm
Defines the axis zero offset to the path zero in direction x.

y
Data type:
LREAL
Changeable online:
System default:
0.0 mm
Defines the axis zero offset to the path zero in direction y.

yaw
Data type:
LREAL
Changeable online:
System default:
0.0
Specifies the rotation of the Z axis of the base to the Z axis of the path.
z
Data type:
LREAL
Changeable online:
System default:
0.0 mm
Defines the axis zero offset to the path zero in direction z.

10-567
PathObjectType
StructPathPickerKinematicsConfig - PathObjectType
The structure elements of 'PickerKinematics' specify the parameters for the picker-specific coordinate
transformation.
config2D
Data type:
Changeable online:
System default:
X_Y

Only relevant for two interconnected axes.
radius1
Data type:
LREAL
Changeable online:
System default:
1.0 mm
Defines the disk radius on the first drive axis. This is in the direction of the negative 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!
radius2
Data type:
LREAL
Changeable online:
System default:
1.0 mm
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!
X_Y (0)
xy plane
Y_Z (1)
yz plane
Z_X (2)
zx plane

BasicOffset
10-568

PathObjectType
StructPathRotaryArmKinematicsConfig - PathObjectType
The structure elements of 'RotaryArmKinematics' specify the parameters for the swivel-arm-specific
coordinate transformation.
config2D
Data type:
Changeable online:
System default:
X_Y
Defines the programming level.

distanceA1Endpoint
Data type:
LREAL
Changeable online:
System default:
1.0 mm
Defines the distance between A1 and the end position.

offsetA1
Data type:
LREAL
Changeable online:
System default:
0.0

X_Y (0)
xy plane
Y_Z (1)
yz plane
Z_X (2)
zx plane

BasicOffset
LinkCompensationA2
(StructPathRotaryArmLinkCompensationA2)
Compensation of link dependencies on axis A2
LinkCompensationA4
(StructPathRotaryArmLinkCompensationA4)

10-569
PathObjectType
StructPathRotaryArmLinkCompensationA2 - PathObjectType
The structure elements of 'LinkCompensationA2' specify parameters for the compensation of link
dependencies.
enableA4A2
Data type:
EnumYesNo
Changeable online:
System default:
NO
factorA4A2
Data type:
LREAL
Changeable online:
System default:
10.0
linear axis A2. The factor A4A2 is specified as a leadscrew pitch (user unit of linear axis A2, e.g. millimeters, 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 between A1 and A4.
EnumYesNo
10-570
NO (91)
No
YES (173)
Yes

PathObjectType
StructPathRotaryArmLinkCompensationA4 - PathObjectType
dependencies.
enableA1A4
Data type:
EnumYesNo
Changeable online:
System default:
NO
factorA1A4
Data type:
LREAL
Changeable online:
System default:
1.0
When compensation is activated between A1 and A4, the product of A1 and factor A1A4 is subtracted
from angle A4.
EnumYesNo
NO (91)
No
YES (173)
Yes

10-571
PathObjectType
StructPathScaraKinematicsConfig - PathObjectType
The structure elements of 'ScaraKinematics' specify the parameters for the scara-specific coordinate
transformation.
distanceA1A2
Data type:
LREAL
Changeable online:
System default:
1.0 mm

on the path object!
distanceA2Endpoint
Data type:
LREAL
Changeable online:
System default:
1.0 mm
Defines the distance between A2 and the end position.

offsetA1
Data type:
LREAL
Changeable online:
System default:
0.0

offsetA2
Data type:
LREAL
Changeable online:
System default:
0.0

10-572
BasicOffset
LinkCompensationA2
(StructPathScaraLinkCompensationA2)
LinkCompensationA3
LinkCompensationA4

PathObjectType
StructPathScaraLinkCompensationA2 - PathObjectType
dependencies.
enableA1A2
Data type:
EnumYesNo
Changeable online:
System default:
NO
factorA1A2
Data type:
LREAL
Changeable online:
System default:
1.0
angle A2.
EnumYesNo
NO (91)
No
YES (173)
Yes

10-573
PathObjectType
dependencies.
enableA4A3
Data type:
EnumYesNo
Changeable online:
System default:
NO
factorA4A3
Data type:
LREAL
Changeable online:
System default:
10.0
linear axis A3. The factor A4A3 is specified as a leadscrew pitch (user unit of linear axis A3, e.g. millimeters, 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 between A1 and A4, as well as A2 and A4.
EnumYesNo
10-574
NO (91)
No
YES (173)
Yes

PathObjectType
dependencies.
enableA1A4
Data type:
EnumYesNo
Changeable online:
System default:
NO
enableA2A4
Data type:
EnumYesNo
Changeable online:
System default:
NO
factorA1A4
Data type:
LREAL
Changeable online:
System default:
1.0
from angle A4.
factorA2A4
Data type:
LREAL
Changeable online:
System default:
1.0
from angle A4. This case uses the value of A2, which results from the calculation of the compensation
between A1 and A2.
EnumYesNo
NO (91)
No
YES (173)
Yes

10-575
PathObjectType
StructPathSpecificKinematicsConfig - PathObjectType
The structure elements of 'SpecificKinematics' specify the type and the parameters for the user-specific coordinate transformation.
parameter
Data type:
ARRAY [1..32] OF LREAL
Changeable online:
System default:
[0..31] = 0.0
Defines the parameters for the transformation.

specTrafoID
Data type:
UDINT
Changeable online:
No
System default:
Identifies the user-specific coordinate transformation to be used.
10-576

11
PathAxis
Modulo (ModuloInfo)
AbsBackLash - PathAxis
Note
_type
Data type:
EnumBackLashType
Changeable online:
System default:
POSITIVE

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
length
Data type:
LREAL
Changeable online:
System default:
0.0 mm

11-577
PathAxis
startUpDifference
Data type:
EnumBackLashDiff
Changeable online:
System default:
DIFF_POSITIVE

velocity
Data type:
LREAL
Changeable online:
System default:
0.0 mm/s
EnumBackLashType
POSITIVE (0)
positive
NEGATIVE (1)
negative
EnumYesNo
NO (91)
No
YES (173)
Yes
EnumBackLashDiff
11-578
DIFF_POSITIVE (0)
positive
DIFF_NEGATIVE (1)
negative

PathAxis
AbsEncoder - PathAxis
Note
absBaudRate
Data type:
EnumAbsBaudrate
Changeable online:
No
System default:
Baudrate_3
absDataLength
Data type:
UDINT
Changeable online:
System default:
24
of revolutions.
absMessageFormat
Data type:
EnumAbsMsgFormat
Changeable online:
No
System default:
PINETREE

absMessageLength
Data type:
EnumAbsMsgLength
Changeable online:
No
System default:
LENGTH_25

11-579
PathAxis
absResolution
Data type:
UDINT
Changeable online:
System default:
4096
Data type:
UDINT
Changeable online:
No
System default:
Data type:
UDINT
Changeable online:
No
System default:
absState
Data type:
EnumAbsState
Changeable online:
No
System default:
GRAY_CODE
11-580

PathAxis
enableAbsMonitoring
Data type:
EnumYesNo
Changeable online:
System default:
YES
issued.
Note
positioning).
EnumAbsBaudrate
Baudrate_5 (16#01)
3 Mbaud
Baudrate_4 (16#02)
1.5 Mbaud
Baudrate_3 (16#04)
750 Kbaud
Baudrate_2 (16#08)
375 Kbaud
Baudrate_1 (16#10)
187.5 Kbaud
EnumAbsMsgFormat
RIGHT_MARGIN (0)
Right-justified
PINETREE (1)
Pine tree format
EnumAbsMsgLength
LENGTH_13 (13)
13 bits
LENGTH_21 (21)
21 bits
LENGTH_25 (25)
25 bits

11-581
PathAxis
EnumAbsState
BIN_CODE (16#00)
Binary
GRAY_CODE (16#01)
Gray Code
EnumYesNo
11-582
NO (91)
No
YES (173)
Yes

PathAxis
AbsHomingEncoder - PathAxis
Note
absShift
Data type:
LREAL
Changeable online:
System default:
0.0 mm

Data type:
Changeable online:
System default:
RELATIVE
ABSOLUTE (1)
Absolute
RELATIVE (115)
Relative

11-583
PathAxis
ActualAccelerationMonitoring - PathAxis
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

maximum
Data type:
LREAL
Changeable online:
System default:
0.0 m/min

EnumYesNo
11-584
NO (91)
No
YES (173)
Yes

PathAxis
ActualVelocityMonitoring - PathAxis
actual velocity.
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

maximum
Data type:
LREAL
Changeable online:
System default:
0.0 mm/s

EnumYesNo
NO (91)
No
YES (173)
Yes

11-585
PathAxis
AdaptDrive - PathAxis
Note
denFactor
Data type:
UDINT
Changeable online:
System default:

numFactor
Data type:
UDINT
Changeable online:
System default:
AdaptExtern - PathAxis
type.
Note
denFactor
Data type:
UDINT
Changeable online:
System default:

numFactor
Data type:
UDINT
Changeable online:
System default:
11-586

PathAxis
AdaptLoad - PathAxis
Note
denFactor
Data type:
UDINT
Changeable online:
System default:

numFactor
Data type:
UDINT
Changeable online:
System default:

11-587
PathAxis
AdditionalSensorDriverInfo - PathAxis
errorToleranceTime
Data type:
LREAL
Changeable online:
System default:
0.1 s
format
Data type:
Changeable online:
System default:
VALUE_LEFT_MARGIN
logAddress
Data type:
UDINT
Changeable online:
System default:
65535

maxValue
Data type:
DINT
Changeable online:
System default:
32511
minValue
Data type:
DINT
Changeable online:
System default:
-32512
11-588

PathAxis
resolution
Data type:
UDINT
Changeable online:
System default:
15

Right-justified
Left-justified

11-589
PathAxis
AdditionalSensorMain - PathAxis
Data type:
Changeable online:
No
System default:
STANDARD

interfaceActivation
Data type:
Changeable online:
No
System default:
STARTUP_ACTIVATED

startup.
STANDARD (0)
(1)
11-590
ConversionData
(ConversionData)
DriverInfo
Analog input module
Filter
(Filter)
Range
(Range)

PathAxis
AdditionalSensorNumber - PathAxis
additional encoder.
number
Data type:
UDINT
Changeable online:
System default:
AnalogConversionDataType - PathAxis
values read.
_type
Data type:
Changeable online:
No
System default:

factor
Data type:
LREAL
Changeable online:
System default:
1.0
offset
Data type:
LREAL
Changeable online:
System default:
0.0


Linear relationship
11-591
PathAxis
AnalogSensorType - PathAxis
ConversionData

DriverInfo
Driver data
LogAddress
PositionFilter
UpdateCounter
AssemblyBase - PathAxis
assemblyBase
Data type:
Changeable online:
System default:
ASSEMBLY_BASE_DRIVE

11-592
Drive side
Load side
External
Linear

PathAxis
ClampingMonitoring - PathAxis
Note
Data type:
LREAL
Changeable online:
System default:
20.0 mm

positionTolerance
Data type:
LREAL
Changeable online:
System default:
10.0 mm
recognitionMode
Data type:
EnumRecognitionMode
Changeable online:
System default:
DO_NOT_CLAMP

EnumRecognitionMode
DO_NOT_CLAMP (0)
No detection
ON (1)
By following error
(2)

11-593
PathAxis
ControllerDynamic - PathAxis
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

maxVeloTolerance
Data type:
LREAL
Changeable online:
System default:
2.0 %
EnumYesNo
11-594
NO (91)
No
YES (173)
Yes

PathAxis
ControllerStruct - PathAxis
Note
conType
Data type:
Changeable online:
No
System default:
PV

NODEF (0)
No significance
DIRECT (1)
Control only
PD (2)
PID controller
PV (3)
PV controller
PID (4)
PID controller
PID_ACTUAL (5)

PD_Controller
(PD_Controller)
PID controller
PID_Controller
(PID_ControllerPos)
PID controller
PV_Controller
(PV_Controller)
ControllerSwitchData - PathAxis

Digital inputs
11-595
PathAxis
ConversionData - PathAxis
values read.
Note
Online help
_type
Data type:
Changeable online:
No
System default:

factor
Data type:
LREAL
Changeable online:
System default:
1.0 Pa

invert
Data type:
EnumYesNo
Changeable online:
System default:
NO
offset
Data type:
LREAL
Changeable online:
System default:
0.0 Pa

Linear relationship
EnumYesNo
11-596
NO (91)
No
YES (173)
Yes

PathAxis
DataSetMain - PathAxis
Note

data record
ClampingMonitoring
Clamping monitoring
ControllerDynamic
(ControllerDynamic)
ControllerStruct
(ControllerStruct)
DynamicComp
(DynamicComp)
DynamicData
(DynamicData)
DynamicFollowing
(DynamicFollowing)
DynamicQFData
EncoderNumber
(EncoderNumber)
ForceControllerData
Gear
(Gear)
InvertQ
InvertSetPoint
ProcessModel
(ProcessModel)
Process model

11-597
PathAxis
DecodingConfig - PathAxis
Note
Data type:
Changeable online:
System default:

been reached.
Data type:
Changeable online:
System default:
NONE
Data type:
Changeable online:
System default:
IMMEDIATELY
the interpolator.
11-598

PathAxis
directionDynamic
Data type:
EnumYesNo
Changeable online:
System default:
NO

Data type:
EnumYesNo
Changeable online:
System default:
YES
Data type:
DINT
Changeable online:
System default:
Data type:
DINT
Changeable online:
System default:
100
Data type:
DINT
Changeable online:
System default:

11-599
PathAxis
Data type:
Changeable online:
System default:
COMMAND_DYNAMICS

Data type:
EnumYesNo
Changeable online:
System default:
NO
stopWithJerk
Data type:
EnumYesNo
Changeable online:
System default:
NO
Data type:
Changeable online:
System default:
TRANSFER_STANDSTILL
is reset.
11-600

PathAxis
NONE (0)
No cyclic resetting
POSITION_BASED (1)
IMMEDIATELY (0)
NEXT_IPO_CYCLE (1)
EnumYesNo
NO (91)
No
YES (173)
Yes
values

TRANSFER_MERGE (1)

merge mode
TRANSFER_RESET (2)

11-601
PathAxis
DigitalInputMain - PathAxis
it to the axis.
bitNumber
Data type:
UDINT
Changeable online:
No
System default:
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
11-602

PathAxis
DistributedMotionInfo - PathAxis
Data type:
EnumYesNo
Changeable online:
System default:
NO

Data type:
EnumYesNo
Changeable online:
System default:
YES

Data type:
EnumYesNo
Changeable online:
System default:
YES

Data type:
UDINT
Changeable online:
System default:

EnumYesNo
NO (91)
No
YES (173)
Yes

11-603
PathAxis
Drift - PathAxis
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
11-604
NO (91)
No
YES (173)
Yes

PathAxis
DriveData - PathAxis
Note
maxSpeed
Data type:
LREAL
Changeable online:
System default:
3000.0 1/min

maxTorque
Data type:
LREAL
Changeable online:
System default:
3.2 Nm

nominalSpeed
Data type:
LREAL
Changeable online:
System default:
3000.0 1/min

nominalTorque
Data type:
LREAL
Changeable online:
System default:
3.2 Nm

speedReference
Data type:
Changeable online:
System default:
MAX_VALUE

Data type:
Changeable online:
System default:
BASIC

11-605
PathAxis
torqueReference
Data type:
Changeable online:
System default:
MAX_VALUE

MAX_VALUE (0)
Maximum value
NOMINAL_VALUE (1)
Nominal value
11-606
STANDARD (0)
Resolution 1/100
BASIC (16)
Resolution 1/16384

PathAxis
DriverInfo - PathAxis
Note
Data type:
DINT
Changeable online:
No
System default:
lifeSignCheck
Data type:
EnumYesNo
Changeable online:
System default:
YES
logAddressIn
Data type:
UDINT
Changeable online:
No
System default:
65535

logAddressOut
Data type:
UDINT
Changeable online:
No
System default:
65535

11-607
PathAxis
telegramType
Data type:
Changeable online:
No
System default:

up.
up.
encoder) is set up.
EnumYesNo
NO (91)
No
YES (173)
Yes
11-608
NO_TELEGRAM (0)
No message frame

PathAxis
(101)
(102)
(103)

11-609
PathAxis
DynamicComp - PathAxis
Note
T1
Data type:
LREAL
Changeable online:
System default:
0.0 s

T2
Data type:
LREAL
Changeable online:
System default:
0.0 s

deadTime
Data type:
LREAL
Changeable online:
System default:
0.0 s

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
11-610
NO (91)
No
YES (173)
Yes

PathAxis
DynamicData - PathAxis
Note
Data type:
LREAL
Changeable online:
System default:
0.1 s

torqueTimeConstant
Data type:
LREAL
Changeable online:
System default:
0.00005 s
Not used.
Data type:
LREAL
Changeable online:
System default:
0.0005 s

Note

11-611
PathAxis
DynamicFollowing - PathAxis
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
YES

Data type:
LREAL
Changeable online:
System default:
100.0 mm

Data type:
LREAL
Changeable online:
System default:
10.0 mm
minVelocity
Data type:
LREAL
Changeable online:
System default:
10.0 mm/s
11-612

PathAxis
warningLimit
Data type:
LREAL
Changeable online:
System default:
100.0 %
EnumYesNo
NO (91)
No
YES (173)
Yes

11-613
PathAxis
EmergencyRampGenerator - PathAxis
generator.
maxDeceleration
Data type:
LREAL
Changeable online:
System default:
10000.0 m/s
11-614

PathAxis
EncoderMain - PathAxis
dataAdaption
Data type:
EnumYesNo
Changeable online:
System default:
NO

Data type:
Changeable online:
No
System default:
SIMULATION

C230, C240, etc.).
DP interface.
encoderMode
Data type:
EnumAxisEncoderMode
Changeable online:
No
System default:
RECTANGLE_TTL


11-615
PathAxis
encoderSystem
Data type:
Changeable online:
No
System default:
ROTATORY_SYSTEM

encoderType
Data type:
EnumAxisEncoderType
Changeable online:
No
System default:
SENSOR_INCREMENTAL

encoderValueType
Data type:
Changeable online:
No
System default:
POSITION
and outputs.
interfaceAllocation
Data type:
Changeable online:
No
System default:
EXCLUSIVE

EnumYesNo
11-616
NO (91)
No
YES (173)
Yes

PathAxis
SIMULATION (0)
Simulation
ONBOARD (1)
Onboard
DPMASTER (2)
DPMaster
DIRECT (4)
EnumAxisEncoderMode
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
PROFIDRIVE (11)
PROFIdrive profile
ROTATORY_SYSTEM (0)
LINEAR_SYSTEM (1)
EnumAxisEncoderType
Incremental encoder
SENSOR_ABSOLUTE (2)
Absolute encoder
REMENT (4)
POSITION (0)
VELOCITY (1)

from DP protocol
IST_B (4)


11-617
PathAxis
EXCLUSIVE (939)
Exclusive
VATED (940)
ED (941)
11-618
AbsBackLash
(AbsBackLash)

system
AbsEncoder
(AbsEncoder)
Absolute encoder
AbsHomingEncoder
(AbsHomingEncoder)
AdaptDrive
(AdaptDrive)
AdaptExtern
(AdaptExtern)
AdaptLoad
(AdaptLoad)
AnalogSensor
(AnalogSensorType)
AssemblyBase
(AssemblyBase)
DriverInfo
(DriverInfo)

encoder
Filter
(Filter)
Actual value filter
FrequencyLimit
(FrequencyLimit)
IncBackLash
(IncBackLash)
IncEncoder
(IncEncoder)
Incremental encoder
IncHomingEncoder
(IncHomingEncoder)
Interval counter
NistDriverConfig
Actual speed value
PathPerRevolution
(PathPerRevolution)
Path per revolution

PathAxis
PositionFilter
Position filter
Resolution
(Resolution)
Resolution
SensorControlConfig
SensorNist
(SensorNist)
Slippage
(Slippage)
Slippage
StepMotorMonitoring
Stepper motor

11-619
PathAxis
EncoderNumber - PathAxis
EncoderNumber
Data type:
UDINT
Changeable online:
System default:
ExecutionConfigInfo - PathAxis
Note
Online help
executionlevel
Data type:
Changeable online:
System default:
IPO
11-620
IPO (0)
IPO
IPO_2 (1)
IPO_2
SERVO (2)
Servo
IPO_FAST (3)
IPO_fast
SERVO_FAST (4)
Servo_fast

PathAxis
ExtrapolationPositionFilterType - PathAxis
T1
Data type:
LREAL
Changeable online:
System default:
0.01 s

T2
Data type:
LREAL
Changeable online:
System default:
0.01 s

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
EnumYesNo
NO (91)
No
YES (173)
Yes

11-621
PathAxis
Filter - PathAxis
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

timeConstant
Data type:
LREAL
Changeable online:
System default:
0.01 s

EnumYesNo
11-622
NO (91)
No
YES (173)
Yes

PathAxis
FineInterpolator - PathAxis
Note
_type
Data type:
Changeable online:
System default:
LINEAR_MODE

DIRECT_MODE (0)
No interpolation
LINEAR_MODE (1)
CUBIC_MODE (2)
QUADRATIC_MODE (3)

11-623
PathAxis
ForceControlHeldValueMonitoring - PathAxis
delayTimeToActivate
Data type:
LREAL
Changeable online:
System default:
0.0 s
tolerance
Data type:
LREAL
Changeable online:
System default:
20.0 Pa
ForceControlRunningInWindowMonitoring - PathAxis
maxDelayTime
Data type:
LREAL
Changeable online:
System default:
0.0 s
tolerance
Data type:
LREAL
Changeable online:
System default:
10.0 Pa

winTolTime
Data type:
LREAL
Changeable online:
System default:
1.0 s
11-624

PathAxis
ForceControllerData - PathAxis
Note
_type
Data type:
Changeable online:
System default:
PID

invertControlValue
Data type:
EnumYesNo
Changeable online:
System default:
NO

typeOfSensorData
Data type:
EnumSensorDataType
Changeable online:
System default:
UNI_DIRECTION

PID (1)
PID controller
PID_ACTUAL (2)
EnumYesNo
NO (91)
No
YES (173)
Yes

11-625
PathAxis
EnumSensorDataType
UNI_DIRECTION (1)
Unidirectional
BOTH_DIRECTION (2)
Bidirectional
11-626
FilterForceControl
OutputLimits
(OutputLimits)
PID_Controller

PathAxis
ForceControllerDifference - PathAxis
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
maxForceTolerance
Data type:
LREAL
Changeable online:
System default:
10.0 Pa

EnumYesNo
NO (91)
No
YES (173)
Yes
FrequencyLimit - PathAxis
Data type:
LREAL
Changeable online:
System default:
400000.0 Hz

11-627
PathAxis
Friction - PathAxis
amplitude
Data type:
LREAL
Changeable online:
System default:
5.0 mm/s

decayTime
Data type:
LREAL
Changeable online:
System default:
0.05 s

delayTimeStandStill
Data type:
LREAL
Changeable online:
System default:
0.01 s

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

maxVeloStandStill
Data type:
LREAL
Changeable online:
System default:
0.2 mm/s

EnumYesNo
11-628
NO (91)
No
YES (173)
Yes

PathAxis
Gear - PathAxis
denFactor
Data type:
UDINT
Changeable online:
System default:

numFactor
Data type:
UDINT
Changeable online:
System default:

11-629
PathAxis
GearingPosTolerance - PathAxis
The structure elements of 'GearingPosTolerance' specify the synchronization monitoring setting on
the slave axis.
Note
online help."
actualValueTolerance
Data type:
LREAL
Changeable online:
System default:
0.0 mm
Specifies the permissible actual value deviation. An alarm is output if the value is exceeded.
Data type:
LREAL
Changeable online:
System default:
10.0 mm
enableActualValue
Data type:
EnumYesNo
Changeable online:
System default:
NO
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
Data type:
Changeable online:
System default:
WITHOUT_JERK

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.
11-630

PathAxis
enableErrorReporting
Data type:
EnumErrorReporting
Changeable online:
System default:
NO_REPORTING
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
NO (91)
No
YES (173)
Yes
NO_ACTIVATE (0)
No
WITHOUT_JERK (1)
Without jerk
WITH_JERK (2)
With jerk
EnumErrorReporting
NO_REPORTING (0)
No
COMMAND_VALUE_TOLERANCE (1)
Setpoints
ACTUAL_VALUE_TOLERANCE (2)
Actual values
ALL_ERRORS_WITH_ABORT_SYNCHRONIZ
ATION (3)
All errors

11-631
PathAxis
HWEndPos - PathAxis
switches.
bitNumberNegative
Data type:
UDINT
Changeable online:
No
System default:
bitNumberPositive
Data type:
UDINT
Changeable online:
No
System default:
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

interfaceActivation
Data type:
Changeable online:
No
System default:
STARTUP_ACTIVATED

startup.
logAddressNegative
Data type:
UDINT
Changeable online:
No
System default:
65535
11-632

PathAxis
logAddressPositive
Data type:
UDINT
Changeable online:
No
System default:
65535

mode
Data type:
EnumMountSwitch
Changeable online:
System default:
END_MOUNTED_SWITCH
EnumYesNo
NO (91)
No
YES (173)
Yes
EnumMountSwitch

range always active

11-633
PathAxis
Homing - PathAxis
Note
beroDistance
Data type:
LREAL
Changeable online:
System default:
0.0 mm
mark.
direction
Data type:
EnumDirectionType
Changeable online:
System default:
POSITIVE

enableBeroDistance
Data type:
EnumYesNo
Changeable online:
System default:
NO
Data type:
EnumYesNo
Changeable online:
System default:
NO
11-634

PathAxis
EnumDirectionType
POSITIVE (0)
NEGATIVE (1)
EnumYesNo
NO (91)
No
YES (173)
Yes

ReverseCamNegative
ReverseCamPositive

11-635
PathAxis
IncBackLash - PathAxis
Note
_type
Data type:
EnumBackLashType
Changeable online:
System default:
POSITIVE

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
length
Data type:
LREAL
Changeable online:
System default:
0.0 mm

velocity
Data type:
LREAL
Changeable online:
System default:
0.0 mm/s

EnumBackLashType
POSITIVE (0)
positive
NEGATIVE (1)
negative
EnumYesNo
11-636
NO (91)
No
YES (173)
Yes

PathAxis
IncEncoder - PathAxis
Note
Data type:
EnumYesNo
Changeable online:
System default:
NO
marks.
incResolution
Data type:
UDINT
Changeable online:
System default:
2048
Data type:
UDINT
Changeable online:
System default:

EnumYesNo
NO (91)
No
YES (173)
Yes

11-637
PathAxis
IncHomingEncoder - PathAxis
Note
approachDirection
Data type:
Changeable online:
System default:
APPROACH_NEGATIVE
direction.
direction.
direction.
negative direction.
direction.
mark are evaluated.
bitNumberBero
Data type:
UDINT
Changeable online:
No
System default:
11-638

PathAxis
Data type:
EnumYesNo
Changeable online:
System default:
NO
is reached.
homingMode
Data type:
EnumAxisHomingMode
Changeable online:
System default:
MODE_NO_REFERENCE

logAddressBero
Data type:
UDINT
Changeable online:
No
System default:
65535

11-639
PathAxis
Data type:
Changeable online:
System default:

direction.
is expected.
is expected.
is expected.
mark is expected.
Data type:
UDINT
Changeable online:
No
System default:
passiveHomingMode
Data type:
Changeable online:
System default:
DEFAULT_PASSIVE

11-640

PathAxis
Data type:
UDINT
Changeable online:
No
System default:
65535
proceedShiftPos
Data type:
LREAL
Changeable online:
System default:
0.0 mm

referenceCamType
Data type:
Changeable online:
No
System default:
STANDARD

cam.
zeroMarkDistance
Data type:
LREAL
Changeable online:
System default:
0.0 mm
EnumYesNo
NO (91)
No
YES (173)
Yes

11-641
PathAxis
EnumAxisHomingMode
No reference mode
MODE_CAM_AND_ZM (1)
MODE_ZM (2)
MODE_CAM (3)
_ZM (4)
Next edge
ZM_PASSIVE (2)
CAM_PASSIVE (3)
DEFAULT_PASSIVE (4)

ASSIVE (5)
STANDARD (358)
Reference cam
(390)

11-642

PathAxis
IntervalCounterConversionDataType - PathAxis
interval counter.
module.
I/O area.
incResolution
Data type:
UDINT
Changeable online:
System default:
referenceTime
Data type:
LREAL
Changeable online:
System default:
0.0005 ms
DriverInfo


interval counter.)
11-643
PathAxis
InversCountDirection - PathAxis
value.
Data type:
EnumYesNo
Changeable online:
System default:
NO
EnumYesNo
NO (91)
No
YES (173)
Yes
InvertSetPoint - PathAxis
invSetPoint
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
11-644
NO (91)
No
YES (173)
Yes

PathAxis
InvertSetPointHydraulicType - PathAxis
invert
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
NO (91)
No
YES (173)
Yes
LeadScrewInfo - PathAxis
efficiency
Data type:
LREAL
Changeable online:
System default:
1.0

pitchVal
Data type:
LREAL
Changeable online:
System default:
10.0 mm/rot

11-645
PathAxis
LinearMotorDriveData - PathAxis
Note
Data type:
Changeable online:
System default:
BASIC

forceReference
Data type:
Changeable online:
System default:
MAX_VALUE

maxForce
Data type:
LREAL
Changeable online:
System default:
1000.0 N

maxSpeed
Data type:
LREAL
Changeable online:
No
System default:
3000.0 1/min

nominalForce
Data type:
LREAL
Changeable online:
System default:
1000.0 N

nominalSpeed
Data type:
LREAL
Changeable online:
No
System default:
3000.0 1/min
11-646

PathAxis
speedReference
Data type:
Changeable online:
System default:
MAX_VALUE

STANDARD (0)
Resolution 1/100
BASIC (16)
Resolution 1/16384
MAX_VALUE (0)
Maximum value
NOMINAL_VALUE (1)
Nominal value

11-647
PathAxis
LinearStepMotorDriveDataType - PathAxis
maxFrequency
Data type:
LREAL
Changeable online:
No
System default:
50000.0 Hz

stepMotorResolution
Data type:
UDINT
Changeable online:
System default:
1000
11-648

PathAxis
MaxAcceleration - PathAxis
Note
Data type:
EnumYesNo
Changeable online:
System default:
NO
limited.
maximum
Data type:
LREAL
Changeable online:
System default:
10000.0 mm/s

EnumYesNo
NO (91)
No
YES (173)
Yes

11-649
PathAxis
MaxForceCommandData - PathAxis
Note
maximum
Data type:
LREAL
Changeable online:
System default:
1000.0

maximumDerived
Data type:
LREAL
Changeable online:
System default:
10000.0
MaxJerk - PathAxis
Note
Online help
maximum
Data type:
LREAL
Changeable online:
System default:
200000.0 mm/s
11-650

PathAxis
MaxVelocity - PathAxis
Note
maximum
Data type:
LREAL
Changeable online:
System default:
500.0 mm/s

11-651
PathAxis
ModuloInfo - PathAxis
length
Data type:
LREAL
Changeable online:
System default:
360.0

startValue
Data type:
LREAL
Changeable online:
System default:
0.0

state
Data type:
EnumActiveInactive
Changeable online:
System default:
INACTIVE

EnumActiveInactive
11-652
ACTIVE (4)
Active
INACTIVE (61)
Inactive

PathAxis
NeutralBand - PathAxis
centreValue
Data type:
LREAL
Changeable online:
System default:
0.0

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

range
Data type:
LREAL
Changeable online:
System default:
0.0

EnumYesNo
NO (91)
No
YES (173)
Yes

11-653
PathAxis
NumberOfAdditionalSensors - PathAxis
Note
number
Data type:
UDINT
Changeable online:
No
System default:

11-654
AdditionalSensor_1
Encoder 1
AdditionalSensor_2
Encoder 2
AdditionalSensor_3
Encoder 3
AdditionalSensor_4
Encoder 4
AdditionalSensor_5
Encoder 5
AdditionalSensor_6
Encoder 6
AdditionalSensor_7
Encoder 7
AdditionalSensor_8
Encoder 8

PathAxis
NumberOfDataSets - PathAxis
Note
changeMode
Data type:
EnumChangeMode
Changeable online:
System default:
IN_POSITION

initDataSet
Data type:
UDINT
Changeable online:
System default:

numberOfDataSets
Data type:
UDINT
Changeable online:
No
System default:

Data type:
LREAL
Changeable online:
System default:
0.0 s
EnumChangeMode
NEVER (0)
No switchover
IN_POSITION (1)
IN_STANDSTILL (3)
IMMEDIATELY (7)

11-655
PathAxis
11-656
DataSet_1
(DataSetMain)
Data record 1
DataSet_10
(DataSetMain)
Data record 10
DataSet_11
(DataSetMain)
Data record 11
DataSet_12
(DataSetMain)
Data record 12
DataSet_13
(DataSetMain)
Data record 13
DataSet_14
(DataSetMain)
Data record 14
DataSet_15
(DataSetMain)
Data record 15
DataSet_16
(DataSetMain)
Data record 16
DataSet_2
(DataSetMain)
Data record 2
DataSet_3
(DataSetMain)
Data record 3
DataSet_4
(DataSetMain)
Data record 4
DataSet_5
(DataSetMain)
Data record 5
DataSet_6
(DataSetMain)
Data record 6
DataSet_7
(DataSetMain)
Data record 7
DataSet_8
(DataSetMain)
Data record 8
DataSet_9
(DataSetMain)
Data record 9

PathAxis
NumberOfDigitalInputs - PathAxis
number
Data type:
UDINT
Changeable online:
No
System default:

DigitalInput_1
(DigitalInputMain)
Digital input 1
DigitalInput_2
(DigitalInputMain)
Digital input 2
DigitalInput_3
(DigitalInputMain)
Digital input 3
DigitalInput_4
(DigitalInputMain)
Digital input 4
DigitalInput_5
(DigitalInputMain)
Digital input 5
DigitalInput_6
(DigitalInputMain)
Digital input 6
DigitalInput_7
(DigitalInputMain)
Digital input 7
DigitalInput_8
(DigitalInputMain)
Digital input 8

11-657
PathAxis
NumberOfEncoders - PathAxis
Note
dscEncoderNumber
Data type:
UDINT
Changeable online:
No
System default:

numberOfEncoders
Data type:
UDINT
Changeable online:
No
System default:

11-658
Encoder_1
(EncoderMain)
Encoder 1
Encoder_2
(EncoderMain)
Encoder 2
Encoder_3
(EncoderMain)
Encoder 3
Encoder_4
(EncoderMain)
Encoder 4
Encoder_5
(EncoderMain)
Encoder 5
Encoder_6
(EncoderMain)
Encoder 6
Encoder_7
(EncoderMain)
Encoder 7
Encoder_8
(EncoderMain)
Encoder 8

PathAxis
OutputLimits - PathAxis
Note
_max
Data type:
LREAL
Changeable online:
System default:
500.0

_min
Data type:
LREAL
Changeable online:
System default:
-500.0

11-659
PathAxis
PD_Controller - PathAxis
decayTime
Data type:
LREAL
Changeable online:
System default:
0.0 s

kd
Data type:
LREAL
Changeable online:
System default:
0.0

kp
Data type:
LREAL
Changeable online:
System default:
10.0 1/s
11-660

PathAxis
PID_ControllerForce - PathAxis
decayTime
Data type:
LREAL
Changeable online:
System default:
1.0 s

enableAntiWindup
Data type:
EnumYesNo
Changeable online:
System default:
YES

Data type:
LREAL
Changeable online:
System default:
0.0 s

kd
Data type:
LREAL
Changeable online:
System default:
0.0

ki
Data type:
LREAL
Changeable online:
System default:
0.0

kp
Data type:
LREAL
Changeable online:
System default:
1.0 1/s

11-661
PathAxis
kpc
Data type:
LREAL
Changeable online:
System default:
100.0 %

preCon
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
11-662
NO (91)
No
YES (173)
Yes

PathAxis
PID_ControllerPos - PathAxis
balanceFilterMode
Data type:
Changeable online:
System default:
MODE_1

decayTime
Data type:
LREAL
Changeable online:
System default:
1.0 s

enableAntiWindup
Data type:
EnumYesNo
Changeable online:
System default:
YES

kd
Data type:
LREAL
Changeable online:
System default:
0.0

ki
Data type:
LREAL
Changeable online:
System default:
0.0 1/s

kp
Data type:
LREAL
Changeable online:
System default:
1.0 1/s

11-663
PathAxis
kpc
Data type:
LREAL
Changeable online:
System default:
100.0 %

preCon
Data type:
EnumYesNo
Changeable online:
System default:
NO

OFF (0)
MODE_1 (1)
MODE_2 (2)
EnumYesNo
11-664
NO (91)
No
YES (173)
Yes

PathAxis
PT2PositionFilterType - PathAxis
T1
Data type:
LREAL
Changeable online:
System default:
0.01 s

T2
Data type:
LREAL
Changeable online:
System default:
0.01 s

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
NO (91)
No
YES (173)
Yes

11-665
PathAxis
PV_Controller - PathAxis
Note
balanceFilterMode
Data type:
Changeable online:
System default:
MODE_1

enableDSC
Data type:
EnumYesNo
Changeable online:
System default:
NO

kpc
Data type:
LREAL
Changeable online:
System default:
100.0 %

kv
Data type:
LREAL
Changeable online:
System default:
10.0 1/s
11-666

PathAxis
preCon
Data type:
EnumYesNo
Changeable online:
System default:
NO

OFF (0)
MODE_1 (1)
MODE_2 (2)
EnumYesNo
NO (91)
No
YES (173)
Yes

11-667
PathAxis
PathAxisPosTolerance - PathAxis
The setting of the setpoint differential monitoring on the path axis is specified with the structure elements for 'PathAxisPosTolerance'.
Note
in online help."
Data type:
LREAL
Changeable online:
System default:
10.0 mm
enableCommandValue
Data type:
Changeable online:
System default:
WITHOUT_JERK

NO_ACTIVATE (0)
No
WITHOUT_JERK (1)
Without jerk
WITH_JERK (2)
With jerk
PathPerRevolution - PathAxis
assembly base.
length
Data type:
LREAL
Changeable online:
System default:
100.0 mm
11-668

PathAxis
PathSyncAxisPosTolerance - PathAxis
Note
in online help."
Data type:
LREAL
Changeable online:
System default:
10.0 mm
enableCommandValue
Data type:
Changeable online:
System default:
WITHOUT_JERK

NO_ACTIVATE (0)
No
WITHOUT_JERK (1)
Without jerk
WITH_JERK (2)
With jerk

11-669
PathAxis
PositionFilterType - PathAxis
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

timeConstant
Data type:
LREAL
Changeable online:
System default:
0.01 s

EnumYesNo
11-670
NO (91)
No
YES (173)
Yes

PathAxis
PositionMonitoring - PathAxis
Note
posWinTolDelayTime
Data type:
LREAL
Changeable online:
System default:
0.1 s
posWinTolTime
Data type:
LREAL
Changeable online:
System default:
1.0 s
tolerance window.
tolerance
Data type:
LREAL
Changeable online:
System default:
1.0 mm

11-671
PathAxis
ProcessModel - PathAxis
Note
T1
Data type:
LREAL
Changeable online:
System default:
0.003 s

T2
Data type:
LREAL
Changeable online:
System default:
0.0001 s

ks
Data type:
LREAL
Changeable online:
System default:
0.00000095367431640625
Range - PathAxis
_max
Data type:
LREAL
Changeable online:
System default:
10000.0

_min
Data type:
LREAL
Changeable online:
System default:
-10000.0
11-672

PathAxis
Resolution - PathAxis
Note
distance
Data type:
LREAL
Changeable online:
No
System default:
0.001 mm

Note
multiplierCyclic
Data type:
UDINT
Changeable online:
No
System default:
RestartConditionInfo - PathAxis
Data type:
Changeable online:
System default:
AXIS_DISABLED

NO_CONSTRAINTS (0)
STANDSTILL (1)
AXIS_DISABLED (2)

11-673
PathAxis
RestartInfo - PathAxis
just by command.
Data type:
Changeable online:
No
System default:
LAST_VALUE
Data type:
Changeable online:
System default:

DEFAULT_VALUE (2)
STOP_DEVICE (3)
LAST_VALUE (338)
11-674

PathAxis
ReverseCamNegative - PathAxis
cam.
_type
Data type:
Changeable online:
No
System default:
NONE

bitNumber
Data type:
UDINT
Changeable online:
No
System default:
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
NONE (93)
No reversing cam
SPECIFIC (387)

11-675
PathAxis
ReverseCamPositive - PathAxis
_type
Data type:
Changeable online:
No
System default:
NONE

bitNumber
Data type:
UDINT
Changeable online:
No
System default:
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
11-676
NONE (93)
No reversing cam
SPECIFIC (387)

PathAxis
SensorControlConfig - PathAxis
Note
Data type:
EnumYesNo
Changeable online:
System default:
NO
EnumYesNo
NO (91)
No
YES (173)
Yes
SensorNist - PathAxis
area.
Note
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
referenceValue
Data type:
LREAL
Changeable online:
System default:
3000.0

11-677
PathAxis
SensorSetActualValue - PathAxis
system variable.
Note
maxFailures
Data type:
UDINT
Changeable online:
System default:
updateCycle
Data type:
EnumAxisUpdateCycle
Changeable online:
System default:
IPO

EnumAxisUpdateCycle
11-678
IPO (0)
IPO
IPO_2 (1)
IPO_2
SERVO (2)
Servo
IPO_FAST (3)
IPO_fast
SERVO_FAST (4)
Servo_fast

PathAxis
SetPointDriverInfo - PathAxis
Note
actorType
Data type:
Changeable online:
No
System default:
NO_TYPE

interfaceAllocation
Data type:
Changeable online:
No
System default:
EXCLUSIVE

lifeSignCheck
Data type:
EnumYesNo
Changeable online:
System default:
YES

logAddressIn
Data type:
UDINT
Changeable online:
No
System default:
65535

11-679
PathAxis
logAddressOut
Data type:
UDINT
Changeable online:
No
System default:
65535

maxSetPointVoltage
Data type:
LREAL
Changeable online:
System default:
10.0 V
mode
Data type:
EnumAxisDriverMode
Changeable online:
No
System default:
SIMULATION

.
motorType
Data type:
EnumAxisMotorType
Changeable online:
No
System default:
STANDARD_MOTORTYPE

Data type:
UDINT
Changeable online:
No
System default:
Not used
11-680

PathAxis
telegramType
Data type:
Changeable online:
No
System default:

up.
up.
encoder) is set up.
for DriveAxis.
V4.2.
NO_TYPE (0)
No type
ANALOG (1)
Analog
STEPMOTOR (2)
Step mode
EXCLUSIVE (939)
VATED (940)
ED (941)
EnumYesNo
NO (91)
No
YES (173)
Yes

11-681
PathAxis
EnumAxisDriverMode
SIMULATION (0)
Simulation
ONBOARD (1)
Onboard
DPMASTER (2)
DP Master
EnumAxisMotorType
Standard motor
Linear motor
NO_TELEGRAM (0)
No message frame
(101)
(102)
(103)
11-682
DriveData
(DriveData)
InvertSetPoint
(InvertSetPoint)
StepMotorDriveData

PathAxis
SimulationInfo - PathAxis
simulationMode
Data type:
EnumYesNo
Changeable online:
No
System default:
NO

EnumYesNo
NO (91)
No
YES (173)
Yes
Slippage - PathAxis
Not functional.
slippageLimit
Data type:
UDINT
Changeable online:
System default:
1000 mm

11-683
PathAxis
SmoothingFilter - PathAxis
'timeConstant':
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

mode
Data type:
EnumAxisFilterMode
Changeable online:
System default:
DEFAULT_MODE

timeConstant
Data type:
LREAL
Changeable online:
System default:
0.01 s

EnumYesNo
NO (91)
No
YES (173)
Yes
EnumAxisFilterMode
11-684
DEFAULT_MODE (0)
No filter
AVERAGING (1)
Form mean value
PT1 (2)
PT1 filter

PathAxis
StandStillMonitoring - PathAxis
Note
delayTimeToActivate
Data type:
LREAL
Changeable online:
System default:
0.0 s
message.
stillStandTolerance
Data type:
LREAL
Changeable online:
System default:
1.0 mm

11-685
PathAxis
StandStillSignal - PathAxis
Note
delayTimeToActivate
Data type:
LREAL
Changeable online:
System default:
0.01 s

filterDegree
Data type:
UINT
Changeable online:
System default:

filterFrequency
Data type:
LREAL
Changeable online:
System default:
0.0 Hz

maxVeloStandStill
Data type:
LREAL
Changeable online:
System default:
50.0 mm/min
11-686

PathAxis
StateDriveExternalZeroMark - PathAxis
available
Data type:
EnumYesNo
Changeable online:
No
System default:
NO
bitNumber
Data type:
UDINT
Changeable online:
No
System default:
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
EnumYesNo
NO (91)
No
YES (173)
Yes

11-687
PathAxis
StepMotorDriveDataType - PathAxis
maxFrequency
Data type:
LREAL
Changeable online:
No
System default:
50000.0 Hz

stepMotorResolution
Data type:
UDINT
Changeable online:
System default:
1000
11-688

PathAxis
StepMotorMonitoringType - PathAxis
Note
beroCycleDistance
Data type:
UDINT
Changeable online:
System default:
2048

beroCycleTolerance
Data type:
UDINT
Changeable online:
System default:
2048

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
NO (91)
No
YES (173)
Yes

11-689
PathAxis
StructAxisActualValueUpdateCounter - PathAxis
value update.
bitNumber
Data type:
UDINT
Changeable online:
No
System default:

enableCounter
Data type:
EnumYesNo
Changeable online:
System default:
NO

logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535

maxFailure
Data type:
UDINT
Changeable online:
System default:

quantityOfBits
Data type:
UDINT
Changeable online:
System default:
11-690

PathAxis
updateCycle
Data type:
UDINT
Changeable online:
System default:

EnumYesNo
NO (91)
No
YES (173)
Yes

11-691
PathAxis
StructAxisAdditionalOffset - PathAxis
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

Data type:
LREAL
Changeable online:
System default:
1.0 mm/s

Data type:
LREAL
Changeable online:
System default:
1.0 mm/s
Data type:
LREAL
Changeable online:
System default:
1.0 mm/s
Data type:
LREAL
Changeable online:
System default:
1.0 mm/s
11-692

PathAxis
Data type:
LREAL
Changeable online:
System default:
1.0 mm/s
EnumYesNo
NO (91)
No
YES (173)
Yes

11-693
PathAxis
StructAxisAnalogSensorErrorStateMonitoring - PathAxis
error bit.
bitNumber
Data type:
UDINT
Changeable online:
System default:

bitSemantics
Data type:
EnumTrueFalse
Changeable online:
System default:
_TRUE

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

logAddress
Data type:
UDINT
Changeable online:
System default:
65535

EnumTrueFalse
_TRUE (405)
true
_FALSE (406)
false
EnumYesNo
11-694
NO (91)
No
YES (173)
Yes

PathAxis
StructAxisAnalogSensorReadyStateMonitoring - PathAxis
ready bit.
bitNumber
Data type:
UDINT
Changeable online:
System default:

bitSemantics
Data type:
EnumTrueFalse
Changeable online:
System default:
_TRUE

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

logAddress
Data type:
UDINT
Changeable online:
System default:
65535

EnumTrueFalse
_TRUE (405)
true
_FALSE (406)
false
EnumYesNo
NO (91)
No
YES (173)
Yes

11-695
PathAxis
StructAxisDriveControlConfig - PathAxis
dataAdaption
Data type:
EnumYesNo
Changeable online:
System default:
NO
Data type:
Changeable online:
System default:
COMPATIBILITY_MODE
block.
releaseDisableMode
Data type:
UDINT
Changeable online:
System default:
127
reset.
Bit0 - ON
EnumYesNo
11-696
NO (91)
No
YES (173)
Yes

PathAxis
YES (173)


pulsesEnabled

11-697
PathAxis
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - PathAxis
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
11-698

PathAxis
StructAxisFilterForceControlConfig - PathAxis
T1
Data type:
LREAL
Changeable online:
System default:
1.0 s

T2
Data type:
LREAL
Changeable online:
System default:
1.0 s

_type
Data type:
Changeable online:
System default:
PT2

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

PT2 (909)
PT2
EnumYesNo
NO (91)
No
YES (173)
Yes

11-699
PathAxis
StructAxisInvertFOutput - PathAxis
invSetPoint
Data type:
EnumYesNo
Changeable online:
System default:
NO

unchanged.
EnumYesNo
NO (91)
No
YES (173)
Yes
StructAxisInvertQOutput - PathAxis
invSetPoint
Data type:
EnumYesNo
Changeable online:
System default:
NO

unchanged.
EnumYesNo
11-700
NO (91)
No
YES (173)
Yes

PathAxis
StructAxisNistDriverConfig - PathAxis
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535

11-701
PathAxis
StructAxisOperatingDataInInfo - PathAxis
enableActivePower
Data type:
EnumYesNo
Changeable online:
No
System default:
NO

enableActualCurrent
Data type:
EnumYesNo
Changeable online:
No
System default:
NO

Data type:
EnumYesNo
Changeable online:
No
System default:
NO

Data type:
EnumYesNo
Changeable online:
No
System default:
NO

11-702

PathAxis
Data type:
EnumYesNo
Changeable online:
No
System default:
NO

logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
EnumYesNo
NO (91)
No
YES (173)
Yes

11-703
PathAxis
StructAxisPulsesEnabledConfig - PathAxis
bitNumber
Data type:
UDINT
Changeable online:
System default:
13

pzdNumber
Data type:
UDINT
Changeable online:
System default:
StructAxisServoMonitoringConfig - PathAxis
Data type:
EnumYesNo
Changeable online:
System default:
NO
EnumYesNo
11-704
NO (91)
No
YES (173)
Yes

PathAxis
StructAxisSetpointFilter - PathAxis
branch.
T1
Data type:
LREAL
Changeable online:
System default:
0.0 s

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
NO (91)
No
YES (173)
Yes

11-705
PathAxis
StructAxisSlidingFriction - PathAxis
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

factorForceControl
Data type:
LREAL
Changeable online:
System default:
0.01
factorMotionControl
Data type:
LREAL
Changeable online:
System default:
0.01
Data type:
LREAL
Changeable online:
System default:
0.0
EnumYesNo
11-706
NO (91)
No
YES (173)
Yes

PathAxis
StructAxisSpeedLimitation - PathAxis
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

maxSpeed
Data type:
LREAL
Changeable online:
System default:
0.0 1/min

minSpeed
Data type:
LREAL
Changeable online:
System default:
0.0 1/min

EnumYesNo
NO (91)
No
YES (173)
Yes

11-707
PathAxis
StructAxisSwLimitConfig - PathAxis
Data type:
Changeable online:
System default:

Data type:
EnumYesNo
Changeable online:
System default:
YES
relieveWindow
Data type:
LREAL
Changeable online:
System default:
0.0
(0)


control
EnumYesNo
11-708
NO (91)
No
YES (173)
Yes

PathAxis
StructAxisSystemDeadTimeData - PathAxis
dead times.
additionalTime
Data type:
LREAL
Changeable online:
System default:
0.0 s

11-709
PathAxis
StructAxisTechnologicalData - PathAxis
Data type:
EnumYesNo
Changeable online:
No
System default:
NO
enable
Data type:
EnumYesNo
Changeable online:
No
System default:
NO

EnumYesNo
NO (91)
No
YES (173)
Yes
11-710

OperatingDataInInfo

PathAxis
StructAxisTechnologicalDataInInfo - PathAxis
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
the drive.
StructAxisTechnologicalDataOutInfo - PathAxis
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
the drive.

11-711
PathAxis
StructCommandValueQuantization - PathAxis
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

mode
Data type:
Changeable online:
No
System default:
OLUTION

value
Data type:
LREAL
Changeable online:
System default:
1.0e-12 mm

EnumYesNo
NO (91)
No
YES (173)
Yes
11-712
DIRECT (40)
OLUTION (936)

PathAxis
StructControllerOutput - PathAxis
outputType
Data type:
Changeable online:
No
System default:
DIRECT_OUTPUT

DIRECT_OUTPUT (1)
Analog interface
DRIVE_INTERFACE (2)

EnableBit
(StructEnableBit)
Enable bit
InvertF
InvertFOutput
(InvertSetPoint)

11-713
PathAxis
StructDirectOutputDriverInfo - PathAxis
axis.
format
Data type:
Changeable online:
System default:
VALUE_LEFT_MARGIN

logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535

maxOutputVoltage
Data type:
LREAL
Changeable online:
System default:
10.0 V
Not used
resolution
Data type:
UDINT
Changeable online:
System default:
15

11-714
Right-justified
Left-justified

PathAxis
StructDriveInterfaceDriverInfo - PathAxis
axis.
actorType
Data type:
Changeable online:
No
System default:
NO_TYPE

lifeSignCheck
Data type:
EnumYesNo
Changeable online:
No
System default:
YES

logAddressIn
Data type:
UDINT
Changeable online:
No
System default:
65535

logAddressOut
Data type:
UDINT
Changeable online:
No
System default:
65535

11-715
PathAxis
maxOutputVoltage
Data type:
LREAL
Changeable online:
No
System default:
10.0 V
mode
Data type:
EnumAxisDriverMode
Changeable online:
No
System default:
SIMULATION

Data type:
DINT
Changeable online:
No
System default:
Reserved
telegramType
Data type:
Changeable online:
No
System default:

up.
up.
encoder) is set up.
11-716

PathAxis
NO_TYPE (0)
No type
ANALOG (1)
Analog
STEPMOTOR (2)
Step mode
EnumYesNo
NO (91)
No
YES (173)
Yes
EnumAxisDriverMode
SIMULATION (0)
Simulation
ONBOARD (1)
Onboard
DPMASTER (2)
DP Master
NO_TELEGRAM (0)
No message frame
(101)
(102)
(103)

11-717
PathAxis
StructDriverInfoDirectIncremental - PathAxis
logAddress
Data type:
UDINT
Changeable online:
System default:
65535

resolution
Data type:
UDINT
Changeable online:
System default:
16
11-718

PathAxis
StructEnableBit - PathAxis
bitNumberOnDevice
Data type:
UDINT
Changeable online:
No
System default:
enable
Data type:
EnumYesNo
Changeable online:
No
System default:
NO

logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535

EnumYesNo
NO (91)
No
YES (173)
Yes

11-719
PathAxis
StructExtrapolation - PathAxis
Data type:
Changeable online:
System default:
DIFFERENTIATION
extrapolationTime
Data type:
LREAL
Changeable online:
System default:
0.01 s

TRANSFER (409)
11-720
Filter
ToleranceRange
Tolerance range

PathAxis
StructExtrapolationFilter - PathAxis
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

mode
Data type:
EnumAxisFilterMode
Changeable online:
System default:
DEFAULT_MODE

timeConstant
Data type:
LREAL
Changeable online:
System default:
0.01 s

EnumYesNo
NO (91)
No
YES (173)
Yes
EnumAxisFilterMode
DEFAULT_MODE (0)
No filter
AVERAGING (1)
Form mean value
PT1 (2)
PT1 filter

11-721
PathAxis
StructLogAddressIoBitType - PathAxis
bitNumber
Data type:
UDINT
Changeable online:
System default:

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

logAddress
Data type:
UDINT
Changeable online:
System default:
65535

EnumYesNo
11-722
NO (91)
No
YES (173)
Yes

PathAxis
StructPaxDynamicQFData - PathAxis
Data type:
LREAL
Changeable online:
System default:
0.1 s

qOutputTimeConstant
Data type:
LREAL
Changeable online:
System default:
0.00005 s

11-723
PathAxis
StructPositionDifferenceMeasurement - PathAxis
invert
Data type:
EnumYesNo
Changeable online:
System default:
NO

numberEncoderA
Data type:
UDINT
Changeable online:
System default:

numberEncoderB
Data type:
UDINT
Changeable online:
System default:

offset
Data type:
LREAL
Changeable online:
System default:
0.0

EnumYesNo
NO (91)
No
YES (173)
Yes
11-724
Filter
(Filter)
Range
(Range)

PathAxis
StructPressureDifferenceMeasurement - PathAxis
areaA
Data type:
LREAL
Changeable online:
System default:
1.0

areaB
Data type:
LREAL
Changeable online:
System default:
1.0

factor
Data type:
LREAL
Changeable online:
System default:
1.0

invert
Data type:
EnumYesNo
Changeable online:
System default:
NO

numberSensorA
Data type:
UDINT
Changeable online:
System default:

11-725
PathAxis
numberSensorB
Data type:
UDINT
Changeable online:
System default:

EnumYesNo
NO (91)
No
YES (173)
Yes
11-726
Filter
(Filter)
Range
(Range)

PathAxis
StructSensorDriverInfo - PathAxis
errorToleranceTime
Data type:
LREAL
Changeable online:
System default:
0.1 s
format
Data type:
Changeable online:
System default:
VALUE_LEFT_MARGIN
logAddress
Data type:
UDINT
Changeable online:
System default:
65535

maxValue
Data type:
DINT
Changeable online:
System default:
32511
minValue
Data type:
DINT
Changeable online:
System default:
-32512

11-727
PathAxis
resolution
Data type:
UDINT
Changeable online:
System default:
15

11-728
Right-justified
Left-justified

PathAxis
StructToleranceRange - PathAxis
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

value
Data type:
LREAL
Changeable online:
System default:
0.0 mm
EnumYesNo
NO (91)
No
YES (173)
Yes

11-729
PathAxis
TypeOfAxisInfo - PathAxis
typeOfAxis
Data type:
Changeable online:
No
System default:
REAL_AXIS

REAL_AXIS (0)
Real electric axis
VIRTUAL_AXIS (1)
Virtual axis
REAL_QFAXIS (3)
_CONTROL (4)
CE_CONTROL (5)

(Q-valve)
_CONTROL_ONLY (6)

11-730
AdditionalOffset

Quantization filter
DecodingConfig
(DecodingConfig)
Command processing
DistributedMotion
Drift
(Drift)
Drift compensation

PathAxis
DriveControlConfig
Extrapolation
FOutput
FineInterpolator
(FineInterpolator)
Fine interpolator
Friction
(Friction)
GearingPosTolerance
(GearingPosTolerance)
Monitoring of synchronous operation
HWEndPos
(HWEndPos)
Homing
(Homing)
Homing
MaxAcceleration
(MaxAcceleration)
MaxForceCommandData
MaxJerk
(MaxJerk)
Maximum jerk
MaxVelocity
(MaxVelocity)
Maximum velocity
NeutralBand
(NeutralBand)
NumberOfDataSets
(NumberOfDataSets)
NumberOfEncoders
(NumberOfEncoders)
Configured encoder
PathAxisPosTolerance
(PathAxisPosTolerance)
Setpoint difference monitoring

axis
PositionMonitoring
Position monitoring
QOutput
ServoMonitoring

11-731
PathAxis
11-732
SetPointDriverInfo
Drive interface
SetpointFilter
SlidingFriction
SmoothingFilter
(SmoothingFilter)
SpeedLimitation
StandStillSignal
(StandStillSignal)
Standstill signal
SwLimit
SystemDeadTimeData
TechnologicalData

PathAxis
VelocityPositionProfile - PathAxis
Note
Data type:
LREAL
Changeable online:
System default:
0.0 mm

11-733
PathAxis
11-734

Part III
TP Cam_ext

III-735
III-736

Contents
Part III
12
TP Cam_ext
AdditionObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - AdditionObjectType . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - AdditionObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - AdditionObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAdderDecodingConfigType - AdditionObjectType . . . . . . . . . . . .
StructBaseConfigType - AdditionObjectType . . . . . . . . . . . . . . . . . . . .
StructMotionInMainType - AdditionObjectType. . . . . . . . . . . . . . . . . . .
StructMotionInType - AdditionObjectType. . . . . . . . . . . . . . . . . . . . . . .
StructMotionOutType - AdditionObjectType . . . . . . . . . . . . . . . . . . . . .
.
.
.
.
.
.
.
.
12-741
12-741
12-742
12-743
12-744
12-744
12-745
12-745
12-746
13
ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13-747
DecodingConfigInfo - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . 13-747
ExecutionConfigInfo - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . 13-748
Filter - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-749
PT2PositionFilterType - ControllerObjectType . . . . . . . . . . . . . . . . . . . . 13-750
RestartInfo - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-751
SmoothingFilter - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . 13-752
StructCompactControllerControllerType - ControllerObjectType . . . . . . 13-753
StructCompactControllerPreControl - ControllerObjectType. . . . . . . . . . 13-753
StructControlObjectControlDeviationThreshold - ControllerObjectType . 13-754
StructControllerObjectControlDeviationMonitoring - ControllerObjectType 13-754
StructControllerObjectInputInterface - ControllerObjectType . . . . . . . . . 13-755
StructControllerObjectOutputDerivativeLimitingConfig ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-756
StructControllerObjectOutputInterface - ControllerObjectType . . . . . . . . 13-757
StructControllerObjectOutputLimitConfig - ControllerObjectType . . . . . . 13-758
StructControllerObjectPIDContollerDConfig - ControllerObjectType . . . 13-758
StructControllerObjectPIDContollerIConfig - ControllerObjectType . . . . 13-759
StructControllerObjectPIDContollerIConfigILimit - ControllerObjectType . 13-759
StructControllerObjectPIDContollerLimitAntiWindup ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-760
StructControllerObjectPIDControllerConfig - ControllerObjectType . . . . 13-760
14
FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructDINTInMainType - FormulaObjectType . . . . . . . . . . . . . . . . . . . .
StructDINTInType - FormulaObjectType. . . . . . . . . . . . . . . . . . . . . . . .
StructDINTOutMainType - FormulaObjectType . . . . . . . . . . . . . . . . . .
StructDINTOutType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . .

.
.
.
.
.
.
.
14-761
14-761
14-762
14-763
14-764
14-764
14-765
14-765
Contents-737
Contents
15
16
StructFormulaObjectMotionOutConfig - FormulaObjectType . . . . . . . .
StructLREALInMainType - FormulaObjectType . . . . . . . . . . . . . . . . . .
StructLREALInType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . .
StructLREALOutMainType - FormulaObjectType . . . . . . . . . . . . . . . . .
StructLREALOutType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . .
StructMotionInMainType - FormulaObjectType. . . . . . . . . . . . . . . . . . .
StructMotionInType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . .
StructMotionOutMainType - FormulaObjectType . . . . . . . . . . . . . . . . .
.
.
.
.
.
.
.
.
14-766
14-766
14-767
14-767
14-768
14-768
14-769
14-769
FixedGearType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - FixedGearType. . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - FixedGearType . . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - FixedGearType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - FixedGearType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructBaseConfigType - FixedGearType . . . . . . . . . . . . . . . . . . . . . . .
StructMotionInMainType - FixedGearType . . . . . . . . . . . . . . . . . . . . . .
StructMotionInType - FixedGearType . . . . . . . . . . . . . . . . . . . . . . . . . .
StructMotionOutType - FixedGearType . . . . . . . . . . . . . . . . . . . . . . . .
.
.
.
.
.
.
.
.
15-771
15-771
15-772
15-773
15-774
15-775
15-775
15-776
15-776
SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsEncoder - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorDriverInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - SensorType. . . . . . . . . . . . . . . . . . . . . .
AnalogSensorType - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionData - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionDataAdaptType - SensorType. . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriverInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Filter - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncEncoder - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - SensorType . . . . . . . . . . . . . . .
InversCountDirection - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . .
LeadScrewInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathPerRevolution - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PositionFilterType - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolution - SensorType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . .
Slippage - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - SensorType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisActualValueUpdateCounter - SensorType . . . . . . . . . . . . . .
StructAxisAnalogSensorErrorStateMonitoring - SensorType . . . . . . . .
StructAxisAnalogSensorReadyStateMonitoring - SensorType . . . . . . .
StructAxisDriveControlConfig - SensorType . . . . . . . . . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - SensorType . . .
StructAxisNistDriverConfig - SensorType . . . . . . . . . . . . . . . . . . . . . . .
StructAxisOperatingDataInInfo - SensorType . . . . . . . . . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - SensorType . . . . . . . . . . . . . . . . . . .
StructAxisSpeedLimitation - SensorType . . . . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalData - SensorType . . . . . . . . . . . . . . . . . . . . .
.
.
.
.
.
.
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.
.
.
.
.
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.
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.
.
.
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.
.
.
.
.
16-777
16-777
16-781
16-783
16-784
16-785
16-786
16-786
16-787
16-790
16-791
16-791
16-792
16-793
16-794
16-794
16-795
16-795
16-796
16-797
16-798
16-799
16-799
16-800
16-801
16-803
16-804
16-805
16-807
16-807
16-808
16-810
16-811
16-812
Contents-738

Contents
StructAxisTechnologicalDataInInfo - SensorType. . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataOutInfo - SensorType . . . . . . . . . . . . . . .
StructDriverInfoDirectIncremental - SensorType. . . . . . . . . . . . . . . . . .
StructExtrapolation - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolationFilter - SensorType . . . . . . . . . . . . . . . . . . . . . . . . .
StructInSensorMain - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructInputObjectRange - SensorType . . . . . . . . . . . . . . . . . . . . . . . . .
StructLogAddressIoBitType - SensorType . . . . . . . . . . . . . . . . . . . . . .
StructSensorDriverInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . .
StructSensorExtrapolation - SensorType . . . . . . . . . . . . . . . . . . . . . . .
StructSensorGeneralParameter - SensorType . . . . . . . . . . . . . . . . . . .
StructToleranceRange - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . .

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16-813
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16-815
16-816
16-816
16-817
16-818
16-820
16-820
16-821
Contents-739
Contents
Contents-740

12
AdditionObjectType
BaseConfig (StructBaseConfigType)
DecodingConfig (StructAdderDecodingConfigType)
MotionIn (StructMotionInMainType)
MotionOut (StructMotionOutType)
ExecutionConfigInfo - AdditionObjectType
Note
Online help
executionlevel
Data type:
Changeable online:
System default:
IPO
IPO (0)
IPO
IPO_2 (1)
IPO_2
SERVO (2)
Servo
IPO_FAST (3)
IPO_fast
SERVO_FAST (4)
Servo_fast

12-741
AdditionObjectType
ModuloInfo - AdditionObjectType
configurationMode
Data type:
EnumSystemDirect
Changeable online:
System default:
SYSTEM
Specifies the active modulo configuration

With SYSTEM, the modulo configuration of the interface interconnected with the output vector is
accepted.
With DIRECT, the configured modulo parameters are active.
length
Data type:
LREAL
Changeable online:
System default:
360.0

startValue
Data type:
LREAL
Changeable online:
System default:
0.0

state
Data type:
EnumActiveInactive
Changeable online:
System default:
INACTIVE

EnumSystemDirect
SYSTEM (0)
System selection
DIRECT (1)
Selection by configuration
EnumActiveInactive
12-742
ACTIVE (4)
Active
INACTIVE (61)
Inactive

AdditionObjectType
RestartInfo - AdditionObjectType
just by command.
Data type:
Changeable online:
No
System default:
LAST_VALUE
Data type:
Changeable online:
System default:

DEFAULT_VALUE (2)
STOP_DEVICE (3)
LAST_VALUE (338)

12-743
AdditionObjectType
StructAdderDecodingConfigType - AdditionObjectType
Data type:
DINT
Changeable online:
System default:
10
StructBaseConfigType - AdditionObjectType
The structure element for 'BaseConfig' specifies a common adding base for the input vectors.
motionBase
Data type:
EnumMotionBaseType
Changeable online:
System default:
POSITION
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
12-744
POSITION (0)
Position
VELOCITY (1)
Velocity

AdditionObjectType
StructMotionInMainType - AdditionObjectType
The structure elements of 'MotionIn' specify the input vectors.
MotionIn1
(StructMotionInType)
Input vector 1
MotionIn2
Input vector 2
MotionIn3
Input vector 3
MotionIn4
Input vector 4
StructMotionInType - AdditionObjectType
The structure elements for 'MotionIn(n)' specify the input vector (n).
behaviorByInvalidInterface
Data type:
EnumLastValidInterfaceValueDefaultValue
Changeable online:
System default:
DEFAULT_VALUE
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
Data type:
EnumYesNo
Changeable online:
System default:
NO
Signal inverting at input interface

With YES, the input signal is inverted.
With NO, the input signal is not inverted.
LAST_VALID_INTERFACE_VALUE (1)
Last valid value
DEFAULT_VALUE (2)
Replacement value
EnumYesNo
NO (91)
No
YES (173)
Yes

12-745
AdditionObjectType
StructMotionOutType - AdditionObjectType
The structure elements of 'MotionOut' specify the output vector.
Modulo
(ModuloInfo)
12-746
Modulo configuration

13
ControllerObjectType
ActualValueIn (StructControllerObjectInputInterface)
ControlDeviationMonitoring (StructControllerObjectControlDeviationMonitoring)
ControlDeviationThreshold (StructControlObjectControlDeviationThreshold)
ControllerType (StructCompactControllerControllerType)
OutputDerivativeLimiting (StructControllerObjectOutputDerivativeLimitingConfig)
OutputLimit (StructControllerObjectOutputLimitConfig)
PIDController (StructControllerObjectPIDControllerConfig)
PreControl (StructCompactControllerPreControl)
PreControlValueIn (StructControllerObjectInputInterface)
SetPointIn (StructControllerObjectInputInterface)
ValueOut (StructControllerObjectOutputInterface)
DecodingConfigInfo - ControllerObjectType
Note
online help."
Data type:
DINT
Changeable online:
System default:
10

13-747
ExecutionConfigInfo - ControllerObjectType
Note
Online help
executionlevel
Data type:
Changeable online:
System default:
IPO
13-748
IPO (0)
IPO
IPO_2 (1)
IPO_2
SERVO (2)
Servo
IPO_FAST (3)
IPO_fast
SERVO_FAST (4)
Servo_fast

Filter - ControllerObjectType
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

timeConstant
Data type:
LREAL
Changeable online:
System default:
0.01 s

EnumYesNo
NO (91)
No
YES (173)
Yes

13-749
PT2PositionFilterType - ControllerObjectType
T1
Data type:
LREAL
Changeable online:
System default:
0.01 s

T2
Data type:
LREAL
Changeable online:
System default:
0.01 s

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

EnumYesNo
13-750
NO (91)
No
YES (173)
Yes

RestartInfo - ControllerObjectType
just by command.
Data type:
Changeable online:
No
System default:
LAST_VALUE
Data type:
Changeable online:
System default:

DEFAULT_VALUE (2)
STOP_DEVICE (3)
LAST_VALUE (338)

13-751
SmoothingFilter - ControllerObjectType
'timeConstant':
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

mode
Data type:
EnumAxisFilterMode
Changeable online:
System default:
DEFAULT_MODE

timeConstant
Data type:
LREAL
Changeable online:
System default:
0.01 s

EnumYesNo
NO (91)
No
YES (173)
Yes
EnumAxisFilterMode
13-752
DEFAULT_MODE (0)
No filter
AVERAGING (1)
Form mean value
PT1 (2)
PT1 filter

StructCompactControllerControllerType - ControllerObjectType
Controller type
controllerType
Data type:
EnumCompactControllerControllerType
Changeable online:
No
System default:
PID_CONTROLLER
The "Controller type" parameter sets the acting controller type.

EnumCompactControllerControllerType
P_CONTROLLER (900)
P-controller
PID_CONTROLLER (901)
PID controller
StructCompactControllerPreControl - ControllerObjectType
The structure elements of 'PreControl' specify the precontrol.
addupMode
Data type:
EnumControllerObjectPrecontrolAddupMode
Changeable online:
System default:
BEHIND_ANTIWINDUP_LIMITATION
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
Data type:
LREAL
Changeable online:
System default:
1.0
tbd
EnumControllerObjectPrecontrolAddupMode
BEFORE_ANTIWINDUP_LIMITATION (907)
With effect on antiwindup
BEHIND_ANTIWINDUP_LIMITATION (908)
Without effect on antiwindup

13-753
StructControlObjectControlDeviationThreshold - ControllerObjectType
The response threshold of the controller is set with the structure elements for 'ControlDeviationThreshold'.
A control deviation is not calculated within the response threshold.
value
Data type:
LREAL
Changeable online:
System default:
0.1
Response threshold of the controller
StructControllerObjectControlDeviationMonitoring - ControllerObjectType
Monitoring of the permitted system deviation
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
The "enable" parameter activates the monitoring of the system deviation.

maxDeviation
Data type:
LREAL
Changeable online:
System default:
0.0
The "maxDeviation" parameter specifies the maximum permitted system deviation in the positive and
the
negative direction.
EnumYesNo
13-754
NO (91)
No
YES (173)
Yes

StructControllerObjectInputInterface - ControllerObjectType
Structure for setting the corresponding input interface.
_type
Data type:
EnumControllerObjectInputType
Changeable online:
System default:
MOTION_INTERFACE
Setting whether the interconnection with component selection is made to the input side on the LREAL
interface or to the MOTION interface.
Data type:
Changeable online:
System default:
DEFAULT_VALUE
LREAL_INTERFACE (926)
LREAL interface
MOTION_INTERFACE (927)
Motion interface
Last valid value
DEFAULT_VALUE (2)
Replacement value

13-755
StructControllerObjectOutputDerivativeLimitingConfig - ControllerObjectType
The structure elements of 'OutputDerivativeLimiting' are used to set the increase limit at the output.
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO
Activates the increase limiter

maxValue
Data type:
LREAL
Changeable online:
System default:
1.0
The "maxValue" parameter specifies the value of the maximum actuating signal increase in the positive
and negative direction.
EnumYesNo
13-756
NO (91)
No
YES (173)
Yes

StructControllerObjectOutputInterface - ControllerObjectType
Structure for setting the output interface.
_type
Data type:
Changeable online:
System default:
MOTION_INTERFACE
Setting whether the interconnection with component selection is made to the input side on the LREAL
interface or to the MOTION interface.
outputValueErrorBehaviorMode
Data type:
EnumControllerObjectErrorBehaviorMode
Changeable online:
System default:
DEFAULT_VALUE
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.
LREAL_INTERFACE (926)
LREAL interface
MOTION_INTERFACE (927)
Motion interface
EnumControllerObjectErrorBehaviorMode
DEFAULT_VALUE (2)
Default
LAST_VALUE (338)
Last valid value
ZERO_VALUE (339)
Zero

13-757
StructControllerObjectOutputLimitConfig - ControllerObjectType
With the structure elements of 'OutputLimit', the actuating signal limitation is set without
effect to the AntiWindup mechanism.
_max
Data type:
LREAL
Changeable online:
System default:
10000.0

_min
Data type:
LREAL
Changeable online:
System default:
-10000.0
StructControllerObjectPIDContollerDConfig - ControllerObjectType
Weighting factor for the actual value for the D-calculation
factorActualValue
Data type:
LREAL
Changeable online:
System default:
0.0
The "factorActualValue" parameter specifies the weighting of the actual value for the controller deviation during
D calculation.
0: The D-component is calculated from the controller deviation
1: The D-component is calculated from the actual value
13-758

StructControllerObjectPIDContollerIConfig - ControllerObjectType
With the structure elements for 'IConfig' ... .
factorFeedBack
Data type:
LREAL
Changeable online:
System default:
0.0
The "factorFeedBack" parameter can be used to feedback the I-component to the system deviation.
ILimit
(StructControllerObjectPIDContollerIConfigILimit)
Limitation of the I-component in the actuating

signal
StructControllerObjectPIDContollerIConfigILimit - ControllerObjectType
Limitation of the I-component in the actuating signal is set with the structure elements of 'ILimit'.
_max
Data type:
LREAL
Changeable online:
System default:
10000.0

_min
Data type:
LREAL
Changeable online:
System default:
-10000.0

13-759
StructControllerObjectPIDContollerLimitAntiWindup - ControllerObjectType
With the structure elements of 'LimitAntiWindup', the actuating signal limitation is set with
effect to the AntiWindup mechanism.
_max
Data type:
LREAL
Changeable online:
System default:
10000.0

_min
Data type:
LREAL
Changeable online:
System default:
-10000.0
StructControllerObjectPIDControllerConfig - ControllerObjectType
The structure elements of 'PIDController' are used to set the PID controller.
13-760
DConfig
(StructControllerObjectPIDContollerDConfig)
Weighting factor of the actual value for D-calculation
IConfig
(StructControllerObjectPIDContollerIConfig)
Behavior of the I-component in the controller
LimitAntiWindup
(StructControllerObjectPIDContollerLimitAntiWindup)
Actuating signal limitation with integrator stop

14
FormulaObjectType
DINTIn (StructDINTInMainType)
DINTOut (StructDINTOutMainType)
LREALIn (StructLREALInMainType)
LREALOut (StructLREALOutMainType)
MotionIn (StructMotionInMainType)
MotionOut (StructMotionOutMainType)
DecodingConfigInfo - FormulaObjectType
Note
online help."
Data type:
DINT
Changeable online:
System default:
10

14-761
FormulaObjectType
ExecutionConfigInfo - FormulaObjectType
Note
Online help
executionlevel
Data type:
Changeable online:
System default:
IPO
14-762
IPO (0)
IPO
IPO_2 (1)
IPO_2
SERVO (2)
Servo
IPO_FAST (3)
IPO_fast
SERVO_FAST (4)
Servo_fast

FormulaObjectType
RestartInfo - FormulaObjectType
just by command.
Data type:
Changeable online:
No
System default:
LAST_VALUE
Data type:
Changeable online:
System default:

DEFAULT_VALUE (2)
STOP_DEVICE (3)
LAST_VALUE (338)

14-763
FormulaObjectType
StructDINTInMainType - FormulaObjectType
The structure elements of 'DINTIn' specify the DINT inputs.
DINTIn1
(StructDINTInType)
DINT input 1
DINTIn2
(StructDINTInType)
DINT input 2
DINTIn3
(StructDINTInType)
DINT input 3
DINTIn4
(StructDINTInType)
DINT input 4
StructDINTInType - FormulaObjectType
The structure elements for 'DINTIn(n)' specify the DINT input (n).
Data type:
Changeable online:
System default:
DEFAULT_VALUE
14-764
Last valid value
DEFAULT_VALUE (2)
Replacement value

FormulaObjectType
StructDINTOutMainType - FormulaObjectType
The DINT outputs are specified with the structure elements for 'DINTOut'.
DINTOut1
(StructDINTOutType)
DINT output 1
DINTOut2
(StructDINTOutType)
DINT output 2
DINTOut3
(StructDINTOutType)
DINT output 3
DINTOut4
(StructDINTOutType)
DINT output 4
StructDINTOutType - FormulaObjectType
The DINT output (n) is specified with the structure elements for 'DINTOut(n)'.
errorBehaviorMode
Data type:
EnumFormulaObjectErrorBehaviorMode
Changeable online:
System default:
LAST_VALUE
Specifies how the output value is to be initialized with an active but invalid interconnection.
With DEFAULT_VALUE, the output value is initialized with the values from the 'dintout(n)default' system variable.
DEFAULT_VALUE (2)
Default value
LAST_VALUE (338)
Last valid value
ZERO_VALUE (339)
Zero

14-765
FormulaObjectType
StructFormulaObjectMotionOutConfig - FormulaObjectType
The output vector (n) is specified with the structure elements for 'MotionOut(n)'.
errorBehaviorMode
Data type:
Changeable online:
System default:
LAST_VALUE
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.
DEFAULT_VALUE (2)
Default value
LAST_VALUE (338)
Last valid value
ZERO_VALUE (339)
Zero
StructLREALInMainType - FormulaObjectType
The structure elements of 'LREALIn' specify the LREAL inputs.
14-766
LREALIn1
(StructLREALInType)
LREAL input 1
LREALIn2
(StructLREALInType)
LREAL input 2
LREALIn3
(StructLREALInType)
LREAL input 3
LREALIn4
(StructLREALInType)
LREAL input 4

FormulaObjectType
StructLREALInType - FormulaObjectType
The structure elements for 'LREALIn(n)' specify the LREAL input (n).
Data type:
Changeable online:
System default:
DEFAULT_VALUE
Last valid value
DEFAULT_VALUE (2)
Replacement value
StructLREALOutMainType - FormulaObjectType
The LREAL outputs are specified with the structure elements for 'LREALOut'.
LREALOut1
(StructLREALOutType)
LREAL output 1
LREALOut2
LREAL output 2
LREALOut3
LREAL output 3
LREALOut4
LREAL output 4

14-767
FormulaObjectType
StructLREALOutType - FormulaObjectType
The LREAL output (n) is specified with the structure elements for 'LREALOut(n)'.
errorBehaviorMode
Data type:
Changeable online:
System default:
LAST_VALUE
With DEFAULT_VALUE, the output value is initialized with the values from the 'lrealout(n)default' system variable.
DEFAULT_VALUE (2)
Default value
LAST_VALUE (338)
Last valid value
ZERO_VALUE (339)
Zero
StructMotionInMainType - FormulaObjectType
14-768
MotionIn1
Input vector 1
MotionIn2
Input vector 2
MotionIn3
Input vector 3

FormulaObjectType
StructMotionInType - FormulaObjectType
Data type:
Changeable online:
System default:
DEFAULT_VALUE
Last valid value
DEFAULT_VALUE (2)
Replacement value
StructMotionOutMainType - FormulaObjectType
The output vectors are specified with the structure elements for 'MotionOut'.
MotionOut1
(StructFormulaObjectMotionOutConfig)
Output vector 1
MotionOut2
Output vector 2
MotionOut3
Output vector 3

14-769
FormulaObjectType
14-770

15
FixedGearType
BaseConfig (StructBaseConfigType)
MotionIn (StructMotionInType)
MotionOut (StructMotionOutType)
DecodingConfigInfo - FixedGearType
Note
online help."
Data type:
DINT
Changeable online:
System default:
10

15-771
FixedGearType
ExecutionConfigInfo - FixedGearType
Note
Online help
executionlevel
Data type:
Changeable online:
System default:
IPO
15-772
IPO (0)
IPO
IPO_2 (1)
IPO_2
SERVO (2)
Servo
IPO_FAST (3)
IPO_fast
SERVO_FAST (4)
Servo_fast

FixedGearType
ModuloInfo - FixedGearType
configurationMode
Data type:
EnumSystemDirect
Changeable online:
System default:
SYSTEM
Specifies the active modulo configuration

With SYSTEM, the modulo configuration of the interface interconnected with the output vector is
accepted.
With DIRECT, the configured modulo parameters are active.
length
Data type:
LREAL
Changeable online:
System default:
360.0

startValue
Data type:
LREAL
Changeable online:
System default:
0.0

state
Data type:
EnumActiveInactive
Changeable online:
System default:
INACTIVE

EnumSystemDirect
SYSTEM (0)
System selection
DIRECT (1)
Selection by configuration
EnumActiveInactive
ACTIVE (4)
Active
INACTIVE (61)
Inactive

15-773
FixedGearType
RestartInfo - FixedGearType
just by command.
Data type:
Changeable online:
No
System default:
LAST_VALUE
Data type:
Changeable online:
System default:

DEFAULT_VALUE (2)
STOP_DEVICE (3)
LAST_VALUE (338)
15-774

FixedGearType
StructBaseConfigType - FixedGearType
The structure element of 'BaseConfig' specifies the reference component of the motion vector.
motionBase
Data type:
EnumMotionBaseType
Changeable online:
System default:
POSITION
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 realized.
With VELOCITY, only a velocity-oriented synchronous operation can be realized.
EnumMotionBaseType
POSITION (0)
Position
VELOCITY (1)
Velocity
StructMotionInMainType - FixedGearType
MotionIn1
Input vector 1
MotionIn2
Input vector 2
MotionIn3
Input vector 3

15-775
FixedGearType
StructMotionInType - FixedGearType
Data type:
Changeable online:
System default:
DEFAULT_VALUE
Last valid value
DEFAULT_VALUE (2)
Replacement value
StructMotionOutType - FixedGearType
The structure elements of 'MotionOut' specify the output vector.
errorBehaviorMode
Data type:
EnumFixedGearErrorBehaviorMode
Changeable online:
System default:
LAST_VALUE
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' system variable.
EnumFixedGearErrorBehaviorMode
DEFAULT_VALUE (2)
Default value
LAST_VALUE (338)
Last valid value
ZERO_VALUE (339)
Zero

Modulo
(ModuloInfo)
15-776
Modulo configuration

16
SensorType
Extrapolation (StructSensorExtrapolation)
Sensor (StructInSensorMain)
ValueOut (StructSensorGeneralParameter)
AbsEncoder - SensorType
Note
absBaudRate
Data type:
EnumAbsBaudrate
Changeable online:
No
System default:
Baudrate_3
absDataLength
Data type:
UDINT
Changeable online:
System default:
24
of revolutions.

16-777
SensorType
absMessageFormat
Data type:
EnumAbsMsgFormat
Changeable online:
No
System default:
PINETREE

absMessageLength
Data type:
EnumAbsMsgLength
Changeable online:
No
System default:
LENGTH_25
absResolution
Data type:
UDINT
Changeable online:
System default:
4096
Data type:
UDINT
Changeable online:
No
System default:
Data type:
UDINT
Changeable online:
No
System default:
16-778

SensorType
absState
Data type:
EnumAbsState
Changeable online:
No
System default:
GRAY_CODE
enableAbsMonitoring
Data type:
EnumYesNo
Changeable online:
System default:
YES
issued.
Note
positioning).
EnumAbsBaudrate
Baudrate_5 (16#01)
3 Mbaud
Baudrate_4 (16#02)
1.5 Mbaud
Baudrate_3 (16#04)
750 Kbaud
Baudrate_2 (16#08)
375 Kbaud
Baudrate_1 (16#10)
187.5 Kbaud
EnumAbsMsgFormat
RIGHT_MARGIN (0)
Right-justified
PINETREE (1)
Pine tree format

16-779
SensorType
EnumAbsMsgLength
LENGTH_13 (13)
13 bits
LENGTH_21 (21)
21 bits
LENGTH_25 (25)
25 bits
EnumAbsState
BIN_CODE (16#00)
Binary
GRAY_CODE (16#01)
Gray Code
EnumYesNo
16-780
NO (91)
No
YES (173)
Yes

SensorType
AdditionalSensorDriverInfo - SensorType
errorToleranceTime
Data type:
LREAL
Changeable online:
System default:
0.1 s
format
Data type:
Changeable online:
System default:
VALUE_LEFT_MARGIN
logAddress
Data type:
UDINT
Changeable online:
System default:
65535

maxValue
Data type:
DINT
Changeable online:
System default:
32511
minValue
Data type:
DINT
Changeable online:
System default:
-32512

16-781
SensorType
resolution
Data type:
UDINT
Changeable online:
System default:
15

16-782
Right-justified
Left-justified

SensorType
AnalogConversionDataType - SensorType
values read.
_type
Data type:
Changeable online:
No
System default:

factor
Data type:
LREAL
Changeable online:
System default:
1.0
offset
Data type:
LREAL
Changeable online:
System default:
0.0


Linear relationship
16-783
SensorType
AnalogSensorType - SensorType
16-784
ConversionData

DriverInfo
Driver data
LogAddress
PositionFilter
UpdateCounter

SensorType
ConversionData - SensorType
values read.
Note
Online help
_type
Data type:
Changeable online:
No
System default:

factor
Data type:
LREAL
Changeable online:
System default:
1.0

invert
Data type:
EnumYesNo
Changeable online:
System default:
NO
offset
Data type:
LREAL
Changeable online:
System default:
0.0

Linear relationship
EnumYesNo
NO (91)
No
YES (173)
Yes

16-785
SensorType
ConversionDataAdaptType - SensorType
The structure elements for 'ConversionDataAdapt' are used to form a quotient with which the digitized
measured value is multiplied.
denFactor
Data type:
UDINT
Changeable online:
System default:
Specifies the denominator of the weighting factor.

numFactor
Data type:
UDINT
Changeable online:
System default:
Specifies the numerator of the weighting factor.
DecodingConfigInfo - SensorType
Note
online help."
Data type:
DINT
Changeable online:
System default:
10
16-786

SensorType
DriverInfo - SensorType
Note
Data type:
DINT
Changeable online:
No
System default:
lifeSignCheck
Data type:
EnumYesNo
Changeable online:
System default:
YES
logAddressIn
Data type:
UDINT
Changeable online:
No
System default:
65535

logAddressOut
Data type:
UDINT
Changeable online:
No
System default:
65535

16-787
SensorType
telegramType
Data type:
Changeable online:
No
System default:

up.
up.
encoder) is set up.
EnumYesNo
NO (91)
No
YES (173)
Yes
16-788
NO_TELEGRAM (0)
No message frame

SensorType
(101)
(102)
(103)

16-789
SensorType
ExecutionConfigInfo - SensorType
Note
Online help
executionlevel
Data type:
Changeable online:
System default:
IPO
16-790
IPO (0)
IPO
IPO_2 (1)
IPO_2
SERVO (2)
Servo
IPO_FAST (3)
IPO_fast
SERVO_FAST (4)
Servo_fast

SensorType
Filter - SensorType
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

timeConstant
Data type:
LREAL
Changeable online:
System default:
0.01 s

EnumYesNo
NO (91)
No
YES (173)
Yes
FrequencyLimit - SensorType
Data type:
LREAL
Changeable online:
System default:
400000.0 Hz

16-791
SensorType
IncEncoder - SensorType
Note
Data type:
EnumYesNo
Changeable online:
System default:
NO
marks.
incResolution
Data type:
UDINT
Changeable online:
System default:
2048
Data type:
UDINT
Changeable online:
System default:

EnumYesNo
16-792
NO (91)
No
YES (173)
Yes

SensorType
IntervalCounterConversionDataType - SensorType
interval counter.
module.
I/O area.
incResolution
Data type:
UDINT
Changeable online:
System default:
referenceTime
Data type:
LREAL
Changeable online:
System default:
0.0005
DriverInfo


interval counter.)
16-793
SensorType
InversCountDirection - SensorType
value.
Data type:
EnumYesNo
Changeable online:
System default:
NO
EnumYesNo
NO (91)
No
YES (173)
Yes
LeadScrewInfo - SensorType
efficiency
Data type:
LREAL
Changeable online:
System default:
1.0

pitchVal
Data type:
LREAL
Changeable online:
System default:
10.0 mm/rot
16-794

SensorType
ModuloInfo - SensorType
length
Data type:
LREAL
Changeable online:
System default:
360.0

startValue
Data type:
LREAL
Changeable online:
System default:
0.0

state
Data type:
EnumActiveInactive
Changeable online:
System default:
INACTIVE

EnumActiveInactive
ACTIVE (4)
Active
INACTIVE (61)
Inactive
PathPerRevolution - SensorType
assembly base.
length
Data type:
LREAL
Changeable online:
System default:
100.0 mm

16-795
SensorType
PositionFilterType - SensorType
Note
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

timeConstant
Data type:
LREAL
Changeable online:
System default:
0.01 s

EnumYesNo
16-796
NO (91)
No
YES (173)
Yes

SensorType
Resolution - SensorType
Note
distance
Data type:
LREAL
Changeable online:
No
System default:
0.001 mm

Note
multiplierCyclic
Data type:
UDINT
Changeable online:
No
System default:

16-797
SensorType
RestartInfo - SensorType
just by command.
Data type:
Changeable online:
No
System default:
LAST_VALUE
Data type:
Changeable online:
System default:

DEFAULT_VALUE (2)
STOP_DEVICE (3)
LAST_VALUE (338)
16-798

SensorType
SensorControlConfig - SensorType
Note
Data type:
EnumYesNo
Changeable online:
System default:
NO
EnumYesNo
NO (91)
No
YES (173)
Yes
Slippage - SensorType
Not functional.
slippageLimit
Data type:
UDINT
Changeable online:
System default:
1000 mm

16-799
SensorType
StandStillSignal - SensorType
Note
delayTimeToActivate
Data type:
LREAL
Changeable online:
System default:
0.01 s

filterDegree
Data type:
UINT
Changeable online:
System default:

filterFrequency
Data type:
LREAL
Changeable online:
System default:
0.0 Hz

maxVeloStandStill
Data type:
LREAL
Changeable online:
System default:
50.0 mm/min
16-800

SensorType
StructAxisActualValueUpdateCounter - SensorType
value update.
bitNumber
Data type:
UDINT
Changeable online:
No
System default:

enableCounter
Data type:
EnumYesNo
Changeable online:
System default:
NO

logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535

maxFailure
Data type:
UDINT
Changeable online:
System default:

quantityOfBits
Data type:
UDINT
Changeable online:
System default:

16-801
SensorType
updateCycle
Data type:
UDINT
Changeable online:
System default:

EnumYesNo
16-802
NO (91)
No
YES (173)
Yes

SensorType
StructAxisAnalogSensorErrorStateMonitoring - SensorType
error bit.
bitNumber
Data type:
UDINT
Changeable online:
System default:

bitSemantics
Data type:
EnumTrueFalse
Changeable online:
System default:
_TRUE

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

logAddress
Data type:
UDINT
Changeable online:
System default:
65535

EnumTrueFalse
_TRUE (405)
true
_FALSE (406)
false
EnumYesNo
NO (91)
No
YES (173)
Yes

16-803
SensorType
StructAxisAnalogSensorReadyStateMonitoring - SensorType
ready bit.
bitNumber
Data type:
UDINT
Changeable online:
System default:

bitSemantics
Data type:
EnumTrueFalse
Changeable online:
System default:
_TRUE

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

logAddress
Data type:
UDINT
Changeable online:
System default:
65535

EnumTrueFalse
_TRUE (405)
true
_FALSE (406)
false
EnumYesNo
16-804
NO (91)
No
YES (173)
Yes

SensorType
StructAxisDriveControlConfig - SensorType
dataAdaption
Data type:
EnumYesNo
Changeable online:
System default:
NO
Data type:
Changeable online:
System default:
COMPATIBILITY_MODE
block.
releaseDisableMode
Data type:
UDINT
Changeable online:
System default:
127
reset.
Bit0 - ON
EnumYesNo
NO (91)
No
YES (173)
Yes

16-805
SensorType
YES (173)


pulsesEnabled
16-806

SensorType
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - SensorType
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
StructAxisNistDriverConfig - SensorType
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535

16-807
SensorType
StructAxisOperatingDataInInfo - SensorType
enableActivePower
Data type:
EnumYesNo
Changeable online:
No
System default:
NO

enableActualCurrent
Data type:
EnumYesNo
Changeable online:
No
System default:
NO

Data type:
EnumYesNo
Changeable online:
No
System default:
NO

Data type:
EnumYesNo
Changeable online:
No
System default:
NO

Data type:
EnumYesNo
Changeable online:
No
System default:
NO

16-808

SensorType
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
EnumYesNo
NO (91)
No
YES (173)
Yes

16-809
SensorType
StructAxisPulsesEnabledConfig - SensorType
bitNumber
Data type:
UDINT
Changeable online:
System default:
13

pzdNumber
Data type:
UDINT
Changeable online:
System default:
16-810

SensorType
StructAxisSpeedLimitation - SensorType
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

maxSpeed
Data type:
LREAL
Changeable online:
System default:
0.0 1/min

minSpeed
Data type:
LREAL
Changeable online:
System default:
0.0 1/min

EnumYesNo
NO (91)
No
YES (173)
Yes

16-811
SensorType
StructAxisTechnologicalData - SensorType
Data type:
EnumYesNo
Changeable online:
No
System default:
NO
enable
Data type:
EnumYesNo
Changeable online:
No
System default:
NO

EnumYesNo
NO (91)
No
YES (173)
Yes


OperatingDataInInfo
StructAxisTechnologicalDataInInfo - SensorType
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
the drive.
16-812

SensorType
StructAxisTechnologicalDataOutInfo - SensorType
logAddress
Data type:
UDINT
Changeable online:
No
System default:
65535
the drive.
StructDriverInfoDirectIncremental - SensorType
logAddress
Data type:
UDINT
Changeable online:
System default:
65535

resolution
Data type:
UDINT
Changeable online:
System default:
16

16-813
SensorType
StructExtrapolation - SensorType
Data type:
Changeable online:
System default:
DIFFERENTIATION
extrapolationTime
Data type:
LREAL
Changeable online:
System default:
0.01 s

TRANSFER (409)
16-814
Filter
ToleranceRange
Tolerance range

SensorType
StructExtrapolationFilter - SensorType
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

mode
Data type:
EnumAxisFilterMode
Changeable online:
System default:
DEFAULT_MODE

timeConstant
Data type:
LREAL
Changeable online:
System default:
0.01 s

EnumYesNo
NO (91)
No
YES (173)
Yes
EnumAxisFilterMode
DEFAULT_MODE (0)
No filter
AVERAGING (1)
Form mean value
PT1 (2)
PT1 filter

16-815
SensorType
StructInSensorMain - SensorType
The 'Sensor' structure element is used to configure an encoder.
AbsEncoder
(AbsEncoder)
Absolute encoder
AnalogSensorDriverInfo
Analog input module
ConversionData
(ConversionData)
ConversionDataAdapt
(ConversionDataAdaptType)
Gear ratio
DriverInfo
(DriverInfo)
Input module
Filter
(Filter)
FrequencyLimit
(FrequencyLimit)
IncEncoder
(IncEncoder)
Incremental encoder
Interval counter
Range
(StructInputObjectRange)
SensorControlConfig
StructInputObjectRange - SensorType
_max
Data type:
LREAL
Changeable online:
System default:
10000.0

_min
Data type:
LREAL
Changeable online:
System default:
-10000.0
16-816

SensorType
StructLogAddressIoBitType - SensorType
bitNumber
Data type:
UDINT
Changeable online:
System default:

enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

logAddress
Data type:
UDINT
Changeable online:
System default:
65535

EnumYesNo
NO (91)
No
YES (173)
Yes

16-817
SensorType
StructSensorDriverInfo - SensorType
errorToleranceTime
Data type:
LREAL
Changeable online:
System default:
0.1 s
format
Data type:
Changeable online:
System default:
VALUE_LEFT_MARGIN
logAddress
Data type:
UDINT
Changeable online:
System default:
65535

maxValue
Data type:
DINT
Changeable online:
System default:
32511
minValue
Data type:
DINT
Changeable online:
System default:
-32512
16-818

SensorType
resolution
Data type:
UDINT
Changeable online:
System default:
15

Right-justified
Left-justified

16-819
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
Data type:
EnumYesNo
Changeable online:
System default:
NO
Activates the extrapolation of the input value

factor
Data type:
LREAL
Changeable online:
System default:
1.0
Factor for the extrapolation of the input value

EnumYesNo
NO (91)
No
YES (173)
Yes
StructSensorGeneralParameter - SensorType
The substitute value strategy for technological alarm is selected with the structure elements for ValueOut.
outputValueErrorBehaviorMode
Data type:
EnumSensorValueBehaviorMode
Changeable online:
System default:
DEFAULT_VALUE
With DEFAULT_VALUE, the output values are initialized with the values from the 'outputdefault' and
"outputderivativedefault' system variables.
EnumSensorValueBehaviorMode
16-820
DEFAULT_VALUE (2)
Replacement value
LAST_VALUE (338)
Last value
ZERO_VALUE (339)
Substitute value zero

SensorType
StructToleranceRange - SensorType
enable
Data type:
EnumYesNo
Changeable online:
System default:
NO

value
Data type:
LREAL
Changeable online:
System default:
0.0 mm
EnumYesNo
NO (91)
No
YES (173)
Yes

16-821
SensorType
16-822

Part IV
TP TControl

IV-823
IV-824

Contents
Part IV
17
TP TControl
TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgActualIdentificationType TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgAnalogDevice - TemperatureControllerType . . . . .
StructTControllerCfgBinaryDevice - TemperatureControllerType . . . . . .
StructTControllerCfgConfigUpdate - TemperatureControllerType . . . . .
StructTControllerCfgControlRangeParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgControlledSystemParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgController - TemperatureControllerType. . . . . . . . .
StructTControllerCfgCycleParameter - TemperatureControllerType . . .
StructTControllerCfgDPIDController - TemperatureControllerType . . . .
StructTControllerCfgDPIDParameter - TemperatureControllerType. . . .
StructTControllerCfgDataConversionOutput TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgExecutionParameter - TemperatureControllerType .
StructTControllerCfgGeneralParameter - TemperatureControllerType. .
StructTControllerCfgHTempController - TemperatureControllerType. . .
StructTControllerCfgIdentificationMinimumStepSize TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgIdentificationModifiedTangentMethod TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgIdentificationOutputValue TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgIdentificationStandardType TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgIdentificationStaticCondition TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgIdentificationTransitionMode TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgInput - TemperatureControllerType . . . . . . . . . . . .
StructTControllerCfgInputAnalog - TemperatureControllerType . . . . . . .
StructTControllerCfgInputDisplayValueParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgInputFilterParameter - TemperatureControllerType .
StructTControllerCfgInputGradientCheckParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgInputLimitCheckParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgInputSingleLimitCheckParameter -

17-827
17-827
17-828
17-828
17-829
17-829
17-830
17-830
17-831
17-831
17-832
17-834
17-835
17-837
17-838
17-838
17-839
17-839
17-840
17-841
17-841
17-842
17-842
17-843
17-843
17-844
17-844
Contents-825
Contents
TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgLimits - TemperatureControllerType. . . . . . . . . . . .
StructTControllerCfgLimitsControllerParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgLimitsGeneralParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgLimitsProcessParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgOutput - TemperatureControllerType . . . . . . . . . . .
StructTControllerCfgOutputAnalog - TemperatureControllerType . . . . .
StructTControllerCfgOutputPwm - TemperatureControllerType . . . . . . .
StructTControllerCfgOutputSingleOutput - TemperatureControllerType .
StructTControllerCfgParameterMatlab - TemperatureControllerType. . .
StructTControllerCfgParameterNetwork1 - TemperatureControllerType .
StructTControllerCfgParameterPT4Tt - TemperatureControllerType . . .
StructTControllerCfgProcessMode - TemperatureControllerType . . . . .
StructTControllerCfgPwmParameter - TemperatureControllerType . . . .
StructTControllerCfgSetpointHandling - TemperatureControllerType. . .
StructTControllerCfgSetpointSmoothing - TemperatureControllerType .
StructTControllerCfgSimulation - TemperatureControllerType . . . . . . . .
StructTControllerCfgSimulationControlledSystemParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgSimulationParameter - TemperatureControllerType.
StructTControllerCfgSimulationSystemNetwork1 TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgSimulationSystemPT4Tt TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerConversionConverterRange TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerConversionLinear - TemperatureControllerType . . . . .
StructTControllerConversionTemperatureRange TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerConversionVector - TemperatureControllerType . . . . .
StructTControllerDataConversionConfig - TemperatureControllerType .
StructTcontrollerCfgIdentification - TemperatureControllerType. . . . . . .
Contents-826
17-845
17-846
17-847
17-849
17-850
17-852
17-852
17-853
17-853
17-854
17-855
17-857
17-858
17-860
17-861
17-861
17-862
17-863
17-864
17-865
17-866
17-867
17-868
17-869
17-870
17-870
17-871
17-872
17-872

17
TemperatureControllerType
@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
Data type:
EnumTControllerIdentificationType
Changeable online:
System default:
MODIFIED_TANGENTMETHOD

EnumTControllerIdentificationType
NONE (93)
No type selected
MODIFIED_TANGENTMETHOD (605)
Modified tangent method
STANDARD_TANGENTMETHOD (606)
Standard tangent method

17-827
StructTControllerCfgAnalogDevice - TemperatureControllerType
Analog input device parameter
logicAddress
Data type:
UDINT
Changeable online:
No
System default:
0xffff
Logical address of assigned input
StructTControllerCfgBinaryDevice - TemperatureControllerType
Binary I/O device parameter
channel
Data type:
EnumTControllerBinaryIObits
Changeable online:
No
System default:
CHANNEL_0
Bit selection on assigned output

logicAddress
Data type:
UDINT
Changeable online:
No
System default:
0xffff
Logical address of assigned output

EnumTControllerBinaryIObits
Bit assignment of I/O channels
17-828
CHANNEL_0 (800)
Channel 0
CHANNEL_1 (801)
Channel 1
CHANNEL_2 (802)
Channel 2
CHANNEL_3 (803)
Channel 3
CHANNEL_4 (804)
Channel 4
CHANNEL_5 (805)
Channel 5
CHANNEL_6 (806)
Channel 6
CHANNEL_7 (807)
Channel 7

StructTControllerCfgConfigUpdate - TemperatureControllerType
Update of the configuration data
configUpdateParameter
Data type:
EnumTControllerConfigUpdate
Changeable online:
System default:
BY_COMMAND
Update parameters of the configuration data

EnumTControllerConfigUpdate
AUTOMATICALLY (607)
Automatic
BY_COMMAND (608)
Only by command
StructTControllerCfgControlRangeParameter - TemperatureControllerType
Range parameters
lowerControlRange
Data type:
LREAL
Changeable online:
System default:
200.0 K
Lower control range

upperControlRange
Data type:
LREAL
Changeable online:
System default:
200.0 K
Upper control range

17-829
StructTControllerCfgControlledSystemParameter - TemperatureControllerType
Controlled-system parameter
delayTime
Data type:
LREAL
Changeable online:
No
System default:
100.0 s
Controlled-system delay time

maxGradient
Data type:
LREAL
Changeable online:
No
System default:
0.01 K/s
Maximum temperature gradient of the controlled system

symmetry
Data type:
LREAL
Changeable online:
No
System default:
1.0
Controlled-system symmetry
StructTControllerCfgController - TemperatureControllerType
Controller configuration
controllerType
Data type:
EnumTControllerControllerType
Changeable online:
No
System default:
STANDARD_TYPE
Current controller type

EnumTControllerControllerType
List of possible controllers
ADVANCED_TYPE (770)
Advanced controller for plastics
STANDARD_TYPE (771)
DPIDT1 standard controller
17-830
advanced
(StructTControllerCfgHTempController)
Advanced controller
standard
(StructTControllerCfgDPIDController)
Standard controller

StructTControllerCfgCycleParameter - TemperatureControllerType
Cycle parameter
controllerCycleTime
Data type:
LREAL
Changeable online:
System default:
1.0 s
Controller cycle
StructTControllerCfgDPIDController - TemperatureControllerType
Configuration of DPIDT1 controller
DPIDParameter
(StructTControllerCfgDPIDParameter)
1. controller parameter set
DPIDParameterSecondary
cycleParameter
(StructTControllerCfgCycleParameter)
1. cycle parameter set
cycleParameterSecondary
lowerPlausibilityParameter
(StructTControllerCfgPlausibilityParameter)
1. lower control loop plausibility
lowerPlausibilityParameterSecondary
upperPlausibilityParameter
1. upper control loop plausibility
upperPlausibilityParameterSecondary

17-831
StructTControllerCfgDPIDParameter - TemperatureControllerType
DPID controller parameter
derivativeActionTime
Data type:
LREAL
Changeable online:
System default:
0.0 s
Controller derivative-action time (derivative component, Tv)

derivativeActionTime2
Data type:
LREAL
Changeable online:
System default:
0.0 s
Second order controller derivative-action time (D2 component, Tv2)

gain
Data type:
LREAL
Changeable online:
System default:
1.0 %/K
Controller gain (proportional component, Kr)

integrationMode
Data type:
EnumTControllerIntegrationMode
Changeable online:
System default:
ACTIVE
Activates or deactivates the integral component of the controller

integrationTime
Data type:
LREAL
Changeable online:
System default:
86400.0 s
Controller integral-action time (integral component, Tn)
17-832

integratorResetValue
Data type:
LREAL
Changeable online:
System default:
0.0 %
Start value of integrator

EnumTControllerIntegrationMode
ACTIVE (4)
Active
INACTIVE (61)
Inactive

17-833
StructTControllerCfgDataConversionOutput - TemperatureControllerType
Output normalization
factor
Data type:
LREAL
Changeable online:
No
System default:
1.0
Input normalization: Factor

offset
Data type:
LREAL
Changeable online:
No
System default:
0.0 %
Input normalization: Offset
17-834

StructTControllerCfgExecutionParameter - TemperatureControllerType
Execution parameter
Data type:
EnumTControllerInvalidSysvarAccess
Changeable online:
No
System default:
LAST_VALUE
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
Data type:
EnumTControllerExecutionLevel
Changeable online:
No
System default:
FAST
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)
Data type:
EnumTControllerRestartActivationSetting
Changeable online:
No
System default:
Activation mode for TO restart:

RESTART_NONE : TO restart impossible
RESTART_BY_COMMAND: TO restart possible using a command
RESTART_BY_SYSVAR_AND_COMMAND: technology object restart possible by system variable
and command
restartCondition
Data type:
EnumTControllerRestartCondition
Changeable online:
No
System default:
NO_CONSTRAINTS
Activation condition for TO restart:

NO_CONSTRAINTS : Restart independent of TO state
INACTIVE: Restart if controller is OFF (operatingMode)
EnumTControllerInvalidSysvarAccess
DEFAULT_VALUE (2)
STOP_DEVICE (3)
LAST_VALUE (338)

17-835
EnumTControllerExecutionLevel
SLOW (750)
Slow temperature controller task

(Control2,Input2)
FAST (751)
Fast temperature controller task

(Control1,Input1)
EnumTControllerRestartActivationSetting
Activation modes for TO restart.
RESTART_NONE (760)
Restart not permissible
Restart by command
(762)
Restart by system variable and command
EnumTControllerRestartCondition
17-836
INACTIVE (61)
Restart when controller off (operatingMode)
NO_CONSTRAINTS (96)

StructTControllerCfgGeneralParameter - TemperatureControllerType
generalParameters:
Default values for controller mode, setpoint, and manual output value
manualOutputValue
Data type:
LREAL
Changeable online:
System default:
0.0 %
Manual manipulated variable value

operatingMode
Data type:
EnumTControllerOperatingMode
Changeable online:
System default:
INACTIVE
Default control operating mode

setpoint
Data type:
LREAL
Changeable online:
System default:
60.0 C
Default setpoint
EnumTControllerOperatingMode
Controller mode
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 parameters

17-837
StructTControllerCfgHTempController - TemperatureControllerType
Configuration of an advanced controller
DPIDParameter
DPIDParameterSecondary
controlRangeParameter
(StructTControllerCfgControlRangeParameter)
Parameters of the control range
cycleParameter
cycleParameterSecondary
lowerPlausibilityParameter
lowerPlausibilityParameterSecondary
processModeParameter
(StructTControllerCfgProcessMode)
Adaptation parameters
upperPlausibilityParameter
upperPlausibilityParameterSecondary
StructTControllerCfgIdentificationMinimumStepSize - TemperatureControllerType
Minimum step size
minimumStepSize
Data type:
LREAL
Changeable online:
System default:
60.0 K
Minimum step size
17-838

StructTControllerCfgIdentificationModifiedTangentMethod - TemperatureControllerType
Parameter for controlled-system identification based on modified tangent method.
availablity
Data type:
EnumTControllerIdentificationAvailableType
Changeable online:
No
System default:
AVAILABLE
Identification type is available and can be started.

AVAILABLE (609)
Available
NON_AVAILABLE (610)
Not available

@secondaryParameter
(StructTControllerCfgIdentificationSecondaryParameter)
Determine secondary parameters
minimumStepSize
(StructTControllerCfgIdentificationMinimumStepSize)
Minimum step size
startCondition
(StructTControllerCfgIdentificationStaticCondition)
Start condition
transitionMode
(StructTControllerCfgIdentificationTransitionMode)
Identification phase transition
StructTControllerCfgIdentificationOutputValue - TemperatureControllerType
Output signal during controlled-system identification.
outputValue
Data type:
LREAL
Changeable online:
System default:
5.0 %
Output signal during controlled-system identification.

17-839
StructTControllerCfgIdentificationStandardType - TemperatureControllerType
Parameter for standard self-tuning
availablity
Data type:
Changeable online:
No
System default:
AVAILABLE
Only available self-tuning types can be started during runtime.

AVAILABLE (609)
Available
NON_AVAILABLE (610)
Not available
17-840
endCondition
End condition
outputValue
(StructTControllerCfgIdentificationOutputValue)
Step actuating signal
startCondition
Start condition
transitionMode
(StructTControllerCfgIdentificationTransitionMode)
Transition condition

StructTControllerCfgIdentificationStaticCondition - TemperatureControllerType
Condition for a static state (idle system)
permissableTemperatureChange
Data type:
LREAL
Changeable online:
System default:
0.2 C
Tolerated temperature change during waiting time.

waitingTime
Data type:
LREAL
Changeable online:
System default:
30.0 s
Waiting time, during which the actual value must remain stable.
StructTControllerCfgIdentificationTransitionMode - TemperatureControllerType
Determines the type of transition between selected identification stages.
transitionMode
Data type:
EnumTControllerIdentificationTransitionMode
Changeable online:
System default:
BY_COMMAND
Determines whether the transition occurs automatically or has to be initiated.

EnumTControllerIdentificationTransitionMode
Determines the type of transition between selected identification stages.
AUTOMATICALLY (607)
Automatic
BY_COMMAND (608)
Forced transition with an ST command

17-841
StructTControllerCfgInput - TemperatureControllerType
Input configuration
inputType
Data type:
EnumTControllerInputType
Changeable online:
No
System default:
ANALOG_TEMPERATURE
EnumTControllerInputType
ANALOG_TEMPERATURE (670)
Analog temperature measurement

@conversion
(StructTControllerDataConversionConfig)
@conversionConverterRange
(StructTControllerConversionConverterRange)
@conversionTemperatureRange
(StructTControllerConversionTemperatureRange)
analog
(StructTControllerCfgInputAnalog)
device
(StructTControllerCfgAnalogDevice)
StructTControllerCfgInputAnalog - TemperatureControllerType
Configuration of analog input channel
relationControllerCycleToInputCycle
Ratio of input cycle to controller cycle
Data type:
UDINT
Changeable online:
No
System default:

displayValueParameter
(StructTControllerCfgInputDisplayValueParameter)
filterParameter
(StructTControllerCfgInputFilterParameter)
gradientCheckParameter
(StructTControllerCfgInputGradientCheckParameter)
limitCheckParameter
(StructTControllerCfgInputLimitCheckParameter)
17-842

StructTControllerCfgInputDisplayValueParameter - TemperatureControllerType
Initial values of extreme value calculation
initMaxDisplayValue
Data type:
LREAL
Changeable online:
System default:
0.0 C
Input display filter: Start value for maximum display value

initMinDisplayValue
Data type:
LREAL
Changeable online:
System default:
0.0 C
Input display filter: Start value for minimum display value
StructTControllerCfgInputFilterParameter - TemperatureControllerType
Input filter
controlTimeConstant
Data type:
LREAL
Changeable online:
System default:
0.0 s
Input filter: Filter time constant control value

displayTimeConstant
Data type:
LREAL
Changeable online:
System default:
0.0 s
Input display filter: Filter time constant

17-843
StructTControllerCfgInputGradientCheckParameter - TemperatureControllerType
Input value gradient check parameter
checkMode
Data type:
EnumTControllerInputGradientCheckMode
Changeable online:
System default:
INACTIVE
Check mode
maxNegativeGradient
Data type:
LREAL
Changeable online:
System default:
0.1 K/s
Maximum negative input value change

maxPositiveGradient
Data type:
LREAL
Changeable online:
System default:
0.1 K/s
Maximum positive input value change

numberOfTolerancedViolations
Data type:
UDINT
Changeable online:
System default:
Number of violations tolerated

EnumTControllerInputGradientCheckMode
ACTIVE (4)
Active
INACTIVE (61)
Not active
StructTControllerCfgInputLimitCheckParameter - TemperatureControllerType
Input-value-check parameter
innerLimitCheck
(StructTControllerCfgInputSingleLimitCheckParameter)
outerLimitCheck
(StructTControllerCfgInputSingleLimitCheckParameter)
17-844

StructTControllerCfgInputSingleLimitCheckParameter - TemperatureControllerType
Input-value-check parameter
lowerLimitMode
Data type:
EnumTControllerInputLimitCheckMode
Changeable online:
System default:
INACTIVE
Lower limit mode

lowerLimitValue
Data type:
LREAL
Changeable online:
System default:
0.0 C
Lower limit value

upperLimitMode
Data type:
Changeable online:
System default:
INACTIVE
Upper limit mode

upperLimitValue
Data type:
LREAL
Changeable online:
System default:
0.0 C
Upper limit value

ABSOLUTE (1)
Active, check relative (to setpoint)
INACTIVE (61)
Inactive
RELATIVE (115)
Active, check absolute

17-845
StructTControllerCfgLimits - TemperatureControllerType
Limit values
17-846
controller
(StructTControllerCfgLimitsControllerParameter)
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
Data type:
LREAL
Changeable online:
No
System default:
600.0 s
Maximum controller cycle

maxDerivativeActionTime
Data type:
LREAL
Changeable online:
No
System default:
100.0 s
Maximum value for the controller derivative-action time (D component)

maxDerivativeActionTime2
Data type:
LREAL
Changeable online:
No
System default:
100.0 s
Maximum value for the controller derivative-action time of the 2nd order (D2 component)
maxGain
Data type:
LREAL
Changeable online:
No
System default:
1000.0 %/K
Maximum value for the controller gain (P component)

maxIntegrationTime
Data type:
LREAL
Changeable online:
No
System default:
86400.0 s
Maximum value for the controller integral-action time (I component)

minControllerCycle
Data type:
LREAL
Changeable online:
No
System default:
0.2 s
Minimum controller cycle

17-847
minDerivativeActionTime
Data type:
LREAL
Changeable online:
No
System default:
0.0 s
Minimum value for the controller derivative-action time (D component)

minDerivativeActionTime2
Data type:
LREAL
Changeable online:
No
System default:
0.0 s
Minimum value for the controller derivative-action time of the 2nd order (D2 component)
minGain
Data type:
LREAL
Changeable online:
No
System default:
0.0 %/K
Minimum value for the controller gain (P component)

minIntegrationTime
Data type:
LREAL
Changeable online:
No
System default:
0.001 s
Minimum value for the controller integral-action time (I component)
17-848

StructTControllerCfgLimitsGeneralParameter - TemperatureControllerType
General limits for temperature controller
maxTemperature
Data type:
LREAL
Changeable online:
No
System default:
10000.0 C
Maximum value for a temperature

maxTime
Data type:
LREAL
Changeable online:
No
System default:
3153600000.0 s
Maximum value for a controller time

minTemperature
Data type:
LREAL
Changeable online:
No
System default:
-273.15 C
Minimum value for a temperature

minTime
Data type:
LREAL
Changeable online:
No
System default:
0.0 s
Minimum value for a controller time

17-849
StructTControllerCfgLimitsProcessParameter - TemperatureControllerType
Controlled-system limits
maxDelayTime
Data type:
LREAL
Changeable online:
No
System default:
7200.0 s
Maximum value for the delay time of the controlled system

maxGradient
Data type:
LREAL
Changeable online:
No
System default:
10.0 K/s
Maximum value for a temperature change

maxProcGain
Data type:
LREAL
Changeable online:
No
System default:
10000.0 K/%
Maximum value for the controlled-system gain

maxRiseTime
Data type:
LREAL
Changeable online:
No
System default:
86400.0 s
Maximum value for the rise time of the controlled system

minDelayTime
Data type:
LREAL
Changeable online:
No
System default:
0.0 s
Minimum value for the delay time of the controlled system

minGradient
Data type:
LREAL
Changeable online:
No
System default:
0.0 K/s
Minimum value for a temperature change
17-850

minProcGain
Data type:
LREAL
Changeable online:
No
System default:
0.0 K/%
Minimum value for the controlled-system gain

minRiseTime
Data type:
LREAL
Changeable online:
No
System default:
180.0 s
Minimum value for the rise time of the controlled system

17-851
StructTControllerCfgOutput - TemperatureControllerType
Output configuration
out
(StructTControllerCfgOutputSingleOutput)
Parameters of the 1st output
outSecondary
(StructTControllerCfgOutputSingleOutput)
Parameters of the 2nd output
StructTControllerCfgOutputAnalog - TemperatureControllerType
Analog output parameter
device
(StructTControllerCfgAnalogDevice)
17-852
Parameters of an analog output

StructTControllerCfgOutputPwm - TemperatureControllerType
PWM output parameter
PWMParameter
(StructTControllerCfgPwmParameter)
PWM parameters
binaryDevice
(StructTControllerCfgBinaryDevice)
Parameters of the digital output
StructTControllerCfgOutputSingleOutput - TemperatureControllerType
Controller output parameter
outputType
Data type:
EnumTControllerOutputType
Changeable online:
No
System default:
PWM
Output type
EnumTControllerOutputType
Possible output types
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

17-853
StructTControllerCfgParameterMatlab - TemperatureControllerType
Configuration for Matlab access
portNumber
17-854
Data type:
UDINT
Changeable online:
System default:
7000

StructTControllerCfgParameterNetwork1 - TemperatureControllerType
Type 1 thermal network controlled-system parameters
C1
Data type:
LREAL
Changeable online:
No
System default:
0.0
Factor that describes the heat storage capability of the first subsystem.
C2
Data type:
LREAL
Changeable online:
No
System default:
0.0
Factor that describes the heat storage capability of the second subsystem.
Ih
Data type:
LREAL
Changeable online:
No
System default:
0.0
Factor that describes the impressed heat flow

R1
Data type:
LREAL
Changeable online:
No
System default:
0.0
Factor that describes the heat loss in the first subsystem.

R12
Data type:
LREAL
Changeable online:
No
System default:
0.0
Factor that describes heat transfer between the first and the second subsystem.
R2
Data type:
LREAL
Changeable online:
No
System default:
0.0
Factor that describes the heat loss in the second subsystem.

17-855
RK
Data type:
LREAL
Changeable online:
No
System default:
0.0
Factor that describes the heat loss caused by active cooling in the second subsystem.
UK
Data type:
LREAL
Changeable online:
No
System default:
0.0 C
Factor that describes the coolant temperature.
17-856

StructTControllerCfgParameterPT4Tt - TemperatureControllerType
PT4 element with dead time controlled-system parameter
exponentialGain
Data type:
LREAL
Changeable online:
No
System default:
1.0
Data type:
LREAL
Changeable online:
No
System default:
1.0 K/%
Data type:
LREAL
Changeable online:
No
System default:
0.0 s
Data type:
LREAL
Changeable online:
No
System default:
0.0 s
Data type:
LREAL
Changeable online:
No
System default:
0.0 s
Data type:
LREAL
Changeable online:
No
System default:
0.0 s
linearGain
timeConstant1
timeConstant2
timeConstant3
timeConstant4

17-857
Gradient check parameters
checkMode
Data type:
EnumTControllerPlausibilityCheckMode
Changeable online:
System default:
INACTIVE
Activates or deactivates the gradient check

delayTime
Data type:
LREAL
Changeable online:
System default:
600.0 s
Delay time
lowerLimitOutputValue
Data type:
LREAL
Changeable online:
System default:
100.0 %
Lower output value limit for gradient check

lowerLimitTemperatureValue
Data type:
LREAL
Changeable online:
System default:
-273.15 C
Lower temperature limit for gradient check

minimalTemperatureGradient
Data type:
LREAL
Changeable online:
System default:
0.0 K/s
Minimum permissible temperature gradient
17-858

upperLimitTemperatureValue
Data type:
LREAL
Changeable online:
System default:
10000.0 C
Upper temperature limit for gradient check

EnumTControllerPlausibilityCheckMode
ACTIVE (4)
Active
INACTIVE (61)
Inactive

17-859
StructTControllerCfgProcessMode - TemperatureControllerType
Controller adaptation parameter for heating controller
mode
Data type:
EnumTControllerProcessMode
Changeable online:
System default:
INACTIVE
Process adaptation mode

EnumTControllerProcessMode
Information 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.
17-860
INACTIVE (61)
Deactivated
CONTINUOUS (621)
Continuous process
DISCONTINUOUS (622)
Discontinuous process

StructTControllerCfgPwmParameter - TemperatureControllerType
PWM output parameter
lowerOperatingThreshold
Data type:
LREAL
Changeable online:
System default:
0.0 %
Lower threshold value: Influences effective manipulated variable

if (manipulated variable < lowerOperatingThreshold)
effective manipulated variable = 0%
else
effective manipulated variable = manipulated variable
numberOfOutputCycles
Data type:
UDINT
Changeable online:
System default:
Number of PWM blocks within a PWM cycle, clocked actuating signal output
upperOperatingThreshold
Data type:
LREAL
Changeable online:
System default:
100.0 %
Upper threshold: Influences effective manipulated variable

if (manipulated variable > upperOperatingThreshold)
effective manipulated variable = 100%
else
effective manipulated variable = manipulated variable
StructTControllerCfgSetpointHandling - TemperatureControllerType
Processing the setpoint
smoothingParameter
(StructTControllerCfgSetpointSmoothing)
Parameters for the setpoint smoothing
startupProfileParameter
(StructTControllerCfgSetpointStartupProfile)
Parameters for startup profile

17-861
StructTControllerCfgSetpointSmoothing - TemperatureControllerType
Parameters for the setpoint smoothing
mode
Data type:
EnumTControllerSetpointSmoothingMode
Changeable online:
System default:
INACTIVE
Setpoint smoothing mode

negativeGradient
Data type:
LREAL
Changeable online:
System default:
1.0 K/s
Cooling gradient
positiveGradient
Data type:
LREAL
Changeable online:
System default:
1.0 K/s
Heating gradient
startCondition
Data type:
EnumTControllerSetpointSmoothingStartCondition
Changeable online:
System default:
ACTUALVALUE_START
Setpoint smoothing type

threshold
Data type:
LREAL
Changeable online:
System default:
1.0 K
Effective separation of the smoothing

EnumTControllerSetpointSmoothingMode
ACTIVE (4)
Active
INACTIVE (61)
Inactive
EnumTControllerSetpointSmoothingStartCondition
17-862
ACTUALVALUE_START (830)
Ramp start after the actual value
SETPOINT_START (831)
Ramp start after the current setpoint

Parameters for startup profile
initialTime
Data type:
LREAL
Changeable online:
System default:
100.0 s
Starting time
mode
Data type:
EnumTControllerSetpointStartupProfileMode
Changeable online:
System default:
INACTIVE
Startup profile mode

outputValue
Data type:
LREAL
Changeable online:
System default:
100.0 %
Startup actuator value

setpoint
Data type:
LREAL
Changeable online:
System default:
60.0 C
Startup setpoint
temperature
Data type:
LREAL
Changeable online:
System default:
60.0 C
Startup temperature
EnumTControllerSetpointStartupProfileMode
ACTIVE (4)
Active
INACTIVE (61)
Inactive

17-863
StructTControllerCfgSimulation - TemperatureControllerType
Configuration of simulation internal to technology object
mode
Data type:
EnumTControllerSimulationMode
Changeable online:
No
System default:
INACTIVE
Simulation ON/OFF
EnumTControllerSimulationMode
Simulation mode
INACTIVE (61)
Simulation off
17-864
parameter
(StructTControllerCfgSimulationParameter)
PT2 simulation model parameters
parameterMatlab
(StructTControllerCfgParameterMatlab)
Matlab access parameters
parameterNetwork1
(StructTControllerCfgSimulationSystemNetwork
1)
Network model type 1 parameters
parameterPT4Tt
(StructTControllerCfgSimulationSystemPT4Tt)
PT4 model with dead time parameters

StructTControllerCfgSimulationControlledSystemParameter - TemperatureControllerType
Simulation controlled-system parameters (PT2 element)
exponentialGain
Data type:
LREAL
Changeable online:
System default:
0.0
Data type:
LREAL
Changeable online:
System default:
0.0 K/%
Data type:
LREAL
Changeable online:
System default:
0.0 s
Data type:
LREAL
Changeable online:
System default:
0.0 s
linearGain
timeConstant1
timeConstant2

17-865
StructTControllerCfgSimulationParameter - TemperatureControllerType
Simulation parameter
noiseLevel
Data type:
LREAL
Changeable online:
No
System default:
0.0 K
Noise in temperature signal

quantification
Data type:
LREAL
Changeable online:
No
System default:
0.0 K
Quantization of the measurement signal

17-866
controlledSystemParameter
(StructTControllerCfgSimulationControlledSystemParameter)
1. PT2 simulation model
controlledSystemParameterSecondary
(StructTControllerCfgSimulationControlledSystemParameter)
2. PT2 simulation model

StructTControllerCfgSimulationSystemNetwork1 - TemperatureControllerType
Simulation system network type 1 parameters
noiseLevel
Data type:
LREAL
Changeable online:
System default:
0.0 K

quantification
Data type:
LREAL
Changeable online:
System default:
0.0 K

systemParameter
(StructTControllerCfgParameterNetwork1)

Simulation model for all controlled system types
17-867
StructTControllerCfgSimulationSystemPT4Tt - TemperatureControllerType
Simulation system network type 1 parameters
noiseLevel
Data type:
LREAL
Changeable online:
No
System default:
0.0 K

quantification
Data type:
LREAL
Changeable online:
No
System default:
0.0 K

17-868
systemParameter
(StructTControllerCfgParameterPT4Tt)
1. PT4 simulation model with dead time
systemParameterSecondary
(StructTControllerCfgParameterPT4Tt)
2. PT4 simulation model with dead time

StructTControllerConversionConverterRange - TemperatureControllerType
AD converter range
maxNominalRange
Data type:
INT
Changeable online:
System default:
27648
AD converter range: Linear range upper limit

minNominalRange
Data type:
INT
Changeable online:
System default:
AD converter range: Linear range lower limit

overflowRange
Data type:
INT
Changeable online:
System default:
32767
AD converter range: "Overload range upper limit"

underflowRange
Data type:
INT
Changeable online:
System default:
-32768
AD converter range: Overload range lower limit

17-869
StructTControllerConversionLinear - TemperatureControllerType
Linear input normalization
factor
Data type:
LREAL
Changeable online:
No
System default:
1.0
Input normalization: Factor

offset
Data type:
LREAL
Changeable online:
No
System default:
0.0 C
Input normalization: Offset
StructTControllerConversionTemperatureRange - TemperatureControllerType
Range adaptation
maxTemperatureRange
Data type:
LREAL
Changeable online:
System default:
0.0 C
Input: Adaptation of the temperature range to the AD converter range

minTemperatureRange
Data type:
LREAL
Changeable online:
System default:
0.0 C
Range adaptation: Lower limit of the temperature measurement range
17-870

StructTControllerConversionVector - TemperatureControllerType
Input normalization vector
denFactor1
Data type:
LREAL
Changeable online:
No
System default:
1.0
Input normalization: 1. Nominal factor

denFactor2
Data type:
LREAL
Changeable online:
No
System default:
2.0
Input normalization: 2. Nominal factor

numFactor1
Data type:
LREAL
Changeable online:
No
System default:
1.0
Input normalization: 1. Counter factor

numFactor2
Data type:
LREAL
Changeable online:
No
System default:
1.0
Input normalization: 2. Counter factor

17-871
StructTControllerDataConversionConfig - TemperatureControllerType
Input normalization
_type
Data type:
EnumTControllerDataConversionType
Changeable online:
No
System default:
LINEAR
EnumTControllerDataConversionType
LINEAR (72)
Rise and offset
VECTOR (952)
Vector

conversionLinear
(StructTControllerConversionLinear)
conversionVector
(StructTControllerConversionVector)
StructTcontrollerCfgIdentification - TemperatureControllerType
Configuration of controlled-system identification
17-872
actualIdentificationType
(StructTControllerCfgActualIdentificationType)
Current identification type
modifiedTangentMethod
(StructTControllerCfgIdentificationModifiedTangentMethod)
Modified step response
standardTangentMethod
(StructTControllerCfgIdentificationStandardType)
Standard method (step response)


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StructPressureDifferenceMeasurement - DriveAxis . . . . . . . . . . . . . . . . . 1-138

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SIMOTION Technology Packages Configuration Data

SIMOTION Technology Packages Configuration Data

SIMOTION Technology Packages Configuration Data

SIMOTION Technology Packages Configuration Data

SIMOTION Technology Packages Configuration Data

SIMOTION Technology Packages Configuration Data

SIMOTION Technology Packages Configuration Data

SIMOTION Technology Packages Configuration Data

SIMOTION Technology Packages Configuration Data

TypeOfAxisInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . 2-203

SIMOTION Technology Packages Configuration Data

SIMOTION Technology Packages Configuration Data

SIMOTION Technology Packages Configuration Data

SIMOTION Technology Packages Configuration Data

SIMOTION Technology Packages Configuration Data

SIMOTION Technology Packages Configuration Data

SIMOTION Technology Packages Configuration Data

Yes, active after restart

SIMOTION Technology Packages Configuration Data

Specifies a message frame format for the absolute encoder.

Yes, active after restart

SIMOTION Technology Packages Configuration Data

Yes, active immediately

Pine tree format

SIMOTION Technology Packages Configuration Data

SIMOTION Technology Packages Configuration Data

Yes, active immediately

Specifies the monitoring mode for the maximum actual velocity.

Yes, active immediately

Specifies the maximum permissible actual velocity.

SIMOTION Technology Packages Configuration Data

Yes, active after restart

Specifies the denominator of the gear ratio for a measuring gear.

Yes, active after restart

Specifies the numerator of the gear ratio for a measuring gear.

Yes, active after restart

Specifies the denominator of the gear ratio for a measuring gear.

Yes, active after restart

Specifies the numerator of the gear ratio for a measuring gear.

SIMOTION Technology Packages Configuration Data

Yes, active after restart

Specifies the denominator of the gear ratio for a measuring gear.