"Index offset" specification for group parameter (Index group 0x3000 + ID)
Index-Offset (Hex) | Access | Group type | Data type | Phys. unit | Definition range | Description | Remarks |
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0x00000001 | Read | every | UINT32 | 1 |
| Group ID |
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0x00000002 | Read | every | UINT8[30+1] | 1 |
| Group name |
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0x00000003 | Read | every | UINT32 | 1 | ENUM |
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0x00000004 | Read | every | UINT32 | µs |
| SAF cycle time group |
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0x00000005 | Read | every | UINT32 | µs |
| SVB cycle time group |
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0x00000006 | Read/Write | every | UINT16 | 1 | 0/1 | Single block operation mode? |
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0x0000000B | Read | every | UINT32 | 1 |
| Size of the SVB table (max. number of SVB entries |
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0x0000000C | Read | every | UINT32 | 1 |
| Size of the SAF table (max. number of SAF entries |
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0x00000010 | Read/Write | every | UINT32 | 1 | [1,2...32] Default: 1 | Internal SAF cycle time divisor (divides the internal SAF cycle time by this factor) | e.g. for DXD group |
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0x00000021 | Read | Channel: every | UINT32 | 1 |
| Channel ID |
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0x00000022 | Read | Channel: every | UINT8[30+1] | 1 |
| Channel name |
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0x00000023 | Read | Channel: every | UINT32 | 1 | ENUM |
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0x00000024 | Read | Channel: every | UINT32 | 1 | >0 | Number in the Channel |
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0x00000500 | Read/Write | DXD group | INT32 | ENUM | [0, 1] | Cornering velocity reduction method 0: Coulomb-Scattering 1: Cosinus law 2: VeloJump |
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0x00000501 | Read/Write | DXD group | REAL64 | 1 | [0.0...1.0] | Velocity reduction factor C0 transition (continuous, but neither once nor twice continuously differentiable) |
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0x00000502 | Read/Write | DXD group | REAL64 | 1 | [0.0...1.0] | Velocity reduction factor C1 transition (continuous and continuously differentiable once) |
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0x00000503 | Read/Write | DXD group | REAL64 | degree | [0.0...180.0] | Critical angle at segment transition "Low" (must be strictly less than or equal to the velocity reduction angle C0) |
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0x00000504 | Read/Write | DXD group | REAL64 | degree | [0.0...180.0] | Critical angle at segment transition "High" (must be strictly less than or equal to the velocity reduction angle C0) |
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0x00000505 | Read/Write | DXD group | REAL64 | mm/s | ≥ 0 | Minimum velocity, which must not be undershot at segment transitions, despite possible velocity reduction. | Attention: Parameter is not saved in the solution and is not transferred as NC boot parameter! |
0x00000506 | Read/Write | DXD group | REAL64 | e.g. mm | [0.0...1000.0] | Radius of the tolerance sphere for blending | Not implemented! |
0x00000507 | Read/Write | DXD group | REAL64 | 1 |
| Velocity reduction factor C2 transition |
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0x00000508 | Read/Write | DXD group | UINT16 | 1 | 0/1 | Enables calculation of the total remaining path length | NEW from TC3.1 B4020.40 |
0x00000509 | Read/Write | DXD group | UINT16 | 1 | 0/1 Default: 1 | General activation of the software limit position monitoring for the main axes (X, Y, Z) |
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0x0000050A | Read/Write | DXD group | UINT32 | 1 | 0/1 | NCI Overridetype 1: related to original external (programmed) velocity 2: Relative to the internally reduced velocity (0 ... >100%) |
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0x0000050C | Read | DXD group | UINT32 | 1 | [128 ... 1024] Default: 128 | User-defined maximum number of the NCI SAF tables entries | NEW from TC3.1 B4014 boot parameters |
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0x00000510 | Read/Write | DXD group | REAL64 | 1 | ≥ 0 | For reduction method VeloJump Reductionfactor for C0 transitions: X axis | Not implemented! |
0x00000511 | Read/Write | DXD group | REAL64 | 1 | ≥ 0 | For reduction method VeloJump Reductionfactor for C0 transitions: Y axis | Not implemented! |
0x00000512 | Read/Write | DXD group | REAL64 | 1 | ≥ 0 | For reduction method VeloJump Reductionfactor for C0 transitions: Z axis | Not implemented! |
0x00000513 | Read/Write | DXD group | LREAL64 | 1 | ]0.0..1.0[ | Blending for auxiliary axes: If the effective path velo is smaller than the programmed one multiplied with this factor, then an accurate stop is inserted and the tolerance ball is deleted | Not yet released |
0x00000514 | Read/Write | DXD group | UINT32 | 1 | [1 … 20] Default: 1 | Maximum number of transferred jobs per NC cycle (from SVB to SAF) | NEW from TC3.1 B4020.40 |
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0x00000604 | Read/Write | Encoder group | REAL64 | e.g. mm/s | [0.0...1000.0] | Velocity window resp. standstill window | Base Unit / s |
0x00000605 | Read/Write | Encoder group | REAL64 | s | [0.0...60.0] | Filter time for standstill window in seconds |
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0x00000606 | Read/Write | Encoder group | REAL64 | s | [0.0...60.0] | Dead time compensation master/slave coupling ("angle pre-control") |
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0x00000701 | Read | FIFO group | UINT32 | 1 | [1...16] | FIFO dimension (m = number of axes) Note: The FIFO dimension was increased to 16. | (n x m) FIFO boot data |
0x00000702 | Read | FIFO group | UINT32 | 1 | [1...10000] | FIFO size (length) (n = number of FIFO entries) | (n x m) FIFO boot data |
0x00000703 | Read | FIFO group | UINT32 | 1 | [0, 1, 4] | Interpolation type for FIFO setpoint generator 0: INTERPOLATIONTYPE_LINEAR (default) 1: INTERPOLATIONTYPE_4POINT 4: INTERPOLATIONTYPE_CUBICSPLINE (with 6 points) | NEW from TC3.1 B4020 |
0x00000704 | Read/Write | FIFO group | UINT32 | 1 | [1, 2] | Override type for FIFO setpoint generator Type 1: OVERRIDETYPE_INSTANTANEOUS (default) Type 2: OVERRIDETYPE_PT2 |
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0x00000705 | Read/Write | FIFO group | REAL64 | s | > 0.0 | P-T2 time for override change (T1=T2=T0) |
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0x00000706 | Read/Write | FIFO group | REAL64 | s | ≥ 0.0 | Time delta for two sequenced FIFO entries (FIFO entry timebase) |
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0x00000801 | ReadWrite | Kinematic group | Write |
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| Calculation of the kinematic forward transformation for the positions (ACS -> MCS) |
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{ |
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REAL64[8] | e.g. degree | ±∞ | ACS (Axis Coordinate System) axis positions, max. dimension: 8 | ||||
UINT32 | 1 | ≥ 0 | Reserve | ||||
UINT32 | 1 | ≥ 0 | Reserve | ||||
} |
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Read |
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{ |
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REAL64[8] | e.g. mm | ±∞ | MCS (Machine Coordinate System) axis positions, max. dimension: 8 | ||||
UINT32 | 1 | ≥ 0 | Reserve | ||||
UINT32 | 1 | ≥ 0 | Reserve | ||||
} |
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0x00000802 | ReadWrite | Kinematic group | Write |
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| Calculation of the kinematic inverse transformation for the positions (MCS -> ACS) |
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{ |
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REAL64[8] | e.g. mm | ±∞ | MCS (Machine Coordinate System) axis positions, max. dimension: 8 | ||||
UINT32 | 1 | ≥ 0 | Reserve | ||||
UINT32 | 1 | ≥ 0 | Reserve | ||||
} |
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Read |
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{ |
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REAL64[8] | e.g. degree | ±∞ | ACS (Axis Coordinate System) axis positions, max. dimension: 8 | ||||
UINT32 | 1 | ≥ 0 | Reserve | ||||
UINT32 | 1 | ≥ 0 | Reserve | ||||
} |
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