Appendix

1

Standard

2

Interpreter

3

FIFO

4

Kinematic transformation

0

NOT DEFINED

1

NC Interpreter DIN 66025 (GST)

2

NC Interpreter DIN 66025 (Classic Dialect)

0x0

Default (deactivates the other modes)

0x1

Single block mode in the NC core (Block execution task/SAF)

0x1000

reserved

0x2000

reserved

0x4000

Single block mode in the interpreter

0

Loader log off

1

Source only

2

Source & Compiled

0

Trace off

1

Trace line numbers

2

Trace Source

0

NOT DEFINED

1

PTP-Group + x Slave

2

1D-Group + x Slave

3

2D-Group + x Slave

4

3D-Group + x Slave

5

High/low speed + x Slave

6

Low cost stepper motor (dig. IO) + x Slave

7

Table Group + x Slave

9

Encoder Group + x Slave

11

FIFO Group + x Slave

12

Kinematic Transformation Group + x Slave

0

NOT DEFINED

1

Continuous axis (Servo)

2

Discrete axis (high/low speed)

3

Continuous axis (stepper motor)

5

Encoder axis

6

Continuous axis (with operation mode switch for position/pressure control)

7

Time Base Generator

100

0

NOT DEFINED

1

2-phase excitation (4 cycles)

2

1-2-phase excitation (6 cycles)

3

Power section

1

Reduced

Old variant, replaced by "(3) Reduced (iterated)"

2

Original

Old variant, replaced by "(4) Original (iterated)"

3

Reduced (iterated)

Default value: the override value is related to the velocity which is internally reduced in a special case. This results in a directly proportional velocity (=> linear relationship) for the entire override range from 0 to 100%.

4

Original (iterated)

The override value is always referred to the velocity programmed by the user. If this velocity cannot be driven, however, then a maximum override value results from which no higher velocity can be reached (=> limitation).

0

NOT DEFINED

1

Absolute start

2

Relative start

3

Continuous start positive

4

Continuous start negative

5

Modulo start (OLD)

261

Modulo start on the shortest distance

517

Modulo start in positive direction (with modulo tolerance window)

773

Modulo start in negative direction (with modulo tolerance window)

4096

Stop and lock (axis locked for motion commands)

8192

Halt (without motion lock)

0

ABORTING (default) (instantaneous, aborts current movement and deletes any buffered commands)

1

BUFFERED

(stored in command buffer to be executed after an active movement)

18

BLENDING LOW

(buffered, no stop, runs through intermediate target position at the lowest velocity of two commands)

19

BLENDING PREVIOUS

(buffered, no stop, runs through intermediate target position at the velocity of the active command)

20

BLENDING NEXT

(buffered, no stop, runs through intermediate target position at the velocity of the buffered command)

21

BLENDING HIGH

(buffered, no stop, runs through intermediate target position at the highest velocity of two commands)

0

NOT DEFINED

1

Absolute position

2

Relative position

3

Continuous position positive

4

Continuous position negative

5

Modulo position

0

NOT DEFINED

1

Position (instantaneous)

2

Velocity (instantaneous)

3

Position and velocity (instantaneous)

9

Position (switching position)

10

Velocity (switching position)

11

Position and velocity (switching position)

0

NOT DEFINED

1

Absolute position

2

Relative position

5

Modulo position

0

NOT DEFINED

1

VELOREDUCTION_ADDITIVEMOTION

The max. velocity VelocityDiff is reduced. The path over which the compensation trip is effective consists of length + distance.

2

VELOREDUCTION_LIMITEDMOTION

The max. velocity VelocityDiff is reduced. The path over which the compensation trip is effective is defined by the Length parameter.

3

LENGTHREDUCTION_ADDITIVEMOTION

The max. available path is reduced and consists of length + distance. The system tries to utilize the max. veloc. VelocityDiff.

4

LENGTHREDUCTION_LIMITEDMOTION

The max. available path is reduced and is limited by the Length parameter. The system tries to utilize the max. veloc. VelocityDiff.

0

NOT DEFINED

1

Linear

2

Flying saw (velocity, jerk restricted profile)

3

Flying saw (position and velocity, jerk restricted profile)

5

Synchronization generator (velocity, jerk restricted profile)

6

Synchronization generator (position and velocity, jerk restricted profile)

10

Tabular

11

Multi-tabular

13

'Motion Function' (MF)

15

Linear with cyclic gearing factor change (ramp filter for acceleration limits)

100

Specific

0

Stop, E-stop or P-stop (default)

(STOP)

1

Oriented stop (O-stop)

(ORIENTEDSTOP)

2

Reduce any acceleration to 0 (force-free) and continue to endless target position

(ENDLESS)

3

Continue to endless target position at new requested velocity

(ENDLESS_NEWVELO)

4

New end position

(NEWPOS)

5

New end position and new requested velocity

(NEWPOSANDVELO)

6

Logical decoupling and stopping of axis immediately without velocity ramp

(INSTANTANEOUSSTOP)

0

NOT DEFINED

1

P-controller (standard)

(Position)

2

PP-controller (with ka)

(Position)

3

PID-controller (with ka)

(Position)

5

P-controller

(Velocity)

6

PI controller

(Velocity)

7

High/low speed controller

(Position)

8

Stepper motor controller

(Position)

9

SERCOS controller

(Position in the drive)

10

RESERVED

11

RESERVED

12

RESERVED

13

RESERVED

14

TCom Controller (Soft Drive)

(Position in the drive)

0

No observer active (default)

1

"Luenberger" observer (classic observer design)

0

NOT DEFINED

1

Simulation Encoder

(Incremental)

2

M3000 Encoder (Multi/Single-Turn)

(Absolute)

3

M31x0 / M2000 Encoder

(Incremental)

4

MDP 511 Encoder: EL7041, EL7342, EL5101, EL5151, EL2521, EL5021, IP5101

(Incremental)

5

MDP 500/501 Enc.: EL5001, IP5009, KL5001 (SSI)

(Absolute)

6

MDP 510 Encoder: KL5051, KL2502-30K Encoder (BiSSI)

(Incremental)

7

KL30xx Encoder (Analog)

(Absolute)

8

SERCOS and EtherCAT SoE (Position)

(Incremental)

9

SERCOS and EtherCAT SoE (Position and velocity)

(Incremental)

10

Binary encoder (0/1)

(Incremental)

11

M2510 Encoder

(Absolut)

12

FOX50 Encoder

(Absolute)

14

AX2000 (Lightbus)

(Incremental)

15

Provi-Drive MC (Simodrive 611U)

(Incremental)

16

Universal encoder (variable bit mask)

(Incremental)

17

NC rear panel

(Incremental)

18

Special CANopen type (e.g. Lenze Drive 9300)

(Incremental)

19

MDP 513 (DS402): CANopen and EtherCAT CoE (AX2xx-B1x0/B510, EL7201)

(Incremental)

20

AX2xx-B900 (Ethernet)

(Incremental)

21

KL5151 Encoder

(Incremental)

24

IP5209 Encoder

(Incremental)

25

KL2531/KL2541 Encoder (Stepper Motor)

(Incremental)

26

KL2532/KL2542 Encoder (DC motor), KL2535/KL2545 (PWM current terminal)

(Incremental)

27

Time base encoder (Time Base Generator)

(Incremental)

28

TCom Encoder (Soft Drive)

(Incremental)

0

NOT DEFINED

1

Determination of position

2

Determination of position and velocity

3

Determination of position, velocity and acceleration

0

Evaluation in positive and negative counting direction (default configuration, i.e. compatible with the previous state)

1

Evaluation only in positive counting direction

2

Evaluation only in negative counting direction

3

Evaluation neither in positive nor in negative counting direction (evaluation blocked)

0: positive and negative

√

√

—

1: only positive

√

√

—

2: only negative

√

√

—

3: blocked

√

√

—

0

NOT DEFINED (default configuration, i.e. compatible with the previous state)

1

UNSIGNED: unsigned interpretation of the encoder actual increments

2

SIGNED: signed interpretation of the encoder actual increments

0

INC: Incremental absolute dimension system with underflow and overflow offset (default, i.e. compatible with the previous state)

1

ABS: Absolute dimension system without underflow and overflow offset (no underflow or overflow of the encoder allowed)

2

ABS MODULO: Conditionally absolute dimension system, since it has underflow and overflow offset (absolute value that modulo (endless) continues)

0

Default

NOT DEFINED (default assignment, i.e. compatible with the previous status)

1

Homing Sensor Only (PLC cam or digital input)

Latch event: shutdown of the PLC cam (negative edge)

2

Hardware Sync (feedback reference pulse)

Latch event: hardware sync pulse (zero track)

3

Hardware Latch 1 (pos. Edge)

Latch event: external hardware latch with positive edge (measuring probe or, respectively, measurement on the fly with positive edge)

4

Hardware Latch 1 (neg. Edge)

Latch event: external hardware latch with negative edge (measuring probe or, respectively, measurement on the fly with negative edge)

5

Software Sync

Latch event: synthetically emulated software sync pulse (software zero track); PREREQUISITE: absolute per motor revolution, e.g. resolver!

6

Hardware Latch 1 (pos. Edge), Drive defined

Latch event: hardware latch event defined in the drive with positive edge (e.g. for SoftDrive)

7

Hardware Latch 1 (neg. edge), Drive defined

Latch event: hardware latch event defined in the drive with negative edge (e.g. for SoftDrive)

20

Application (PLC code)

User-specific implementation of referencing (PLC code): user request is signaled to the PLC by means of the ApplicationRequest bit

AX2xxx-B200 (Lightbus)

—

√

√

√

√

√ (resolver only)

AX2xxx-B510 (CANopen)

—

√

—

—

—

√
(resolver only)
(see "Reference mask" parameter)

AX2xxx-B1x0 (EtherCAT)

—

√

√

√

√

√
(resolver only)
(fixed 20-bit)

AX2xxx-B900 (Ethernet)

—

√

√

√

√

√ (resolver only)

Sercos

—

√

√

√
(AX5xxx specific implemented)

√

√ (see "Reference mask" parameter)

Profi Drive

—

√

√

√

√

√

KL5101
IP5109

—

√

√

√

√

√

KL5111

—

√

√

—

—

√

KL5151

—

√

√

√

√

√ (not meaningful)

IP5209

—

√

√

—

—

√ (not meaningful)

CANopen (e.g. Lenze)

—

√

—

√ (input E1)

√ (input E2)

√ (resolver only)
(fixed 16-bit)

other types

—

—

—

—

—

—

0

Default: PLC cam (MC_Home)

Referencing cam is provided by the PLC. Input bCalibrationCam of the MC_Home function block.

1

Digital Input 1 (Active High), device dependent mapping

Drive->Inputs->nState8.bit0
or E1 of MDP703/733 device
e.g. 7031,7041,7201,7411

2

Digital Input 2 (Active High), device dependent mapping

Drive->Inputs->nState8.bit1
or E2 of MDP703/733 device
e.g. L7031,7041,7201,7411

3

Digital Input 3 (Active High)

Drive->Inputs->nState8.bit2

4

Digital Input 4 (Active High)

Drive->Inputs->nState8.bit3

5

Digital Input 5 (Active High)

Drive->Inputs->nState8.bit4

6

Digital Input 6 (Active High)

Drive->Inputs->nState8.bit5

7

Digital Input 7 (Active High)

Drive->Inputs->nState8.bit6

8

Digital Input 8 (Active High)

Drive->Inputs->nState8.bit7

9

Digital Input 1 (Active Low), device dependent mapping

Drive->Inputs->nState8.bit2

10

Digital Input 2 (Active Low), device dependent mapping

Drive->Inputs->nState8.bit0
or E1 of MDP703/733 device
e.g. L7031,7041,7201,7411

11

Digital Input 3 (Active Low)

Drive->Inputs->nState8.bit1
or E2 of MDP703/733 device
e.g. L7031,7041,7201,7411

12

Digital Input 4 (Active Low)

Drive->Inputs->nState8.bit2

13

Digital Input 5 (Active Low)

Drive->Inputs->nState8.bit3

14

Digital Input 6 (Active Low)

Drive->Inputs->nState8.bit4

15

Digital Input 7 (Active Low)

Drive->Inputs->nState8.bit5

16

Digital Input 8 (Active Low)

Drive->Inputs->nState8.bit6

0

NOT DEFINED

1

Analog Servo Drive: M2400 DAC 1

(Analog)

2

Analog Servo Drive: M2400 DAC 2

(Analog)

3

Analog Servo Drive: M2400 DAC 3

(Analog)

4

Analog Servo Drive: M2400 DAC 4

(Analog)

5

MDP 252 Drive: Analog Servo Drive: KL4xxx, KL2502-30K

(Analog)

6

MDP 252 Drive: Analog Servo Drive (non-linear): KL4xxx, KL2502-30K

(Analog)

7

High/low speed drive

(Digital)

8

Stepper motor drive

(Digital)

9

SERCOS-Drive

(Digital)

10

MDP 510 Drive: KL5051 (BiSSI-Interface)

(Digital)

11

AX2000 (Lightbus)

(Digital)

12

Provi-Drive MC (Simodrive 611U)

(Digital)

13

Universal Drive

(Analog)

14

NC rear panel

(Analog)

15

Special CANopen type (e.g. Lenze Drive 9300)

(Digital)

16

MDP 742 (DS402): CANopen and EtherCAT CoE (AX2xx-B1x0/B510)

(Digital)

17

AX2xx-B900 Drive (Ethernet)

(Digital)

20

KL2531/KL2541 Encoder (Stepper Motor)

(Digital)

21

KL2532/KL2542 Encoder (DC motor), KL2535/KL2545 Encoder (PWM current terminal)

(Digital)

22

TCom Drive (Soft Drive)

(Digital)

23

MDP 733 Drive: Profile MDP 733 (EL7332, EL7342, EP7342)

(Digital)

24

MDP 703 Drive: Profile MDP 703 (EL7031, EL7041, EP7041)

(Digital)

0

NOT DEFINED

1

Output value in percent

2

Output as velocity, e.g. m/min

0

DEFAULT Mode
(reactivates the NC default operation mode if mode is known)

1 (standard type)

torque control

2 (standard type)

velocity control with feedback 1

3 (standard type)

velocity control with feedback 2

4 (standard type)

position control with feedback 1 (lag less)

5 (standard type)

position control with feedback 2 (lag less)

6 (CANopen/CoE specific)

torque control with commutation angle

17 (oversampling type)

torque control using dynamic container

18 (oversampling type)

velocity control with feedback 1 using dynamic container

19 (oversampling type)

velocity control with feedback 2 using dynamic container

20 (oversampling type)

position control with feedback 1 (lag less) using dynamic container

21 (oversampling type)

position control with feedback 2 (lag less) using dynamic container

38 (CANopen/CoE specific)

IO drive controlled homing mode (for third party devices)

100 (Sercos/SoE specific)

Sercos/SoE primary operation mode 0 (s. S-0-0032)

101 (Sercos/SoE specific)

Sercos/SoE secondary operation mode 1 (s. S-0-0033)

102 (Sercos/SoE specific)

Sercos/SoE secondary operation mode 2 (s. S-0-0034)

103 (Sercos/SoE specific)

Sercos/SoE secondary operation mode 3 (s. S-0-0035)

104 (Sercos/SoE specific)

Sercos/SoE secondary operation mode 4 (s. S-0-0284)

105 (Sercos/SoE specific)

Sercos/SoE secondary operation mode 5 (s. S-0-0285)

106 (Sercos/SoE specific)

Sercos/SoE secondary operation mode 6 (s. S-0-0286)

107 (Sercos/SoE specific)

Sercos/SoE secondary operation mode 7 (s. S-0-0287)

Internal setpoint generation

0

Setpoint generator not active (INACTIVE)

1

Setpoint generator active (RUNNING)

2

Velocity override is zero (OVERRIDE_ZERO)

3

Constant velocity (PHASE_VELOCONST)

4

Acceleration phase (PHASE_ACCPOS)

5

Deceleration phase (PHASE_ACCNEG)

External setpoint generation:

41

External setpoint generation active (EXTSETGEN_MODE1)

42

Internal and external setpoint generation active (EXTSETGEN_MODE2)

0

Slave generator not active (INACTIVE)

11

Slave is in a movement pre-phase (PRE-PHASE)

12

Slave is synchronizing (SYNCHRONIZING)

13

Slave is synchronized and moves synchronously (SYNCHRON)

1

(n*m) Cam plate tables (Camming)

10

(n*m) Characteristic curves tables (Characteristics) (e.g. hydraulic valve characteristic curves)

Only non-cyclic table sub-types (1, 3) are supported!

16

(n*m) "Motion Function" tables (MF)

Only non-equidistant table sub-types (3, 4) are supported!

1

(n*m) Table with equidistant master positions and no cyclic continuation of the master profile (equidistant linear)

2

(n*m) Table with equidistant master positions and cyclic continuation of the master profile (equidistant cyclic)

3

(n*m) Table with non-equidistant, but strictly monotonously increasing master positions and a non-cyclic continuation of the master profile (monotonously linear)

4

(n*m) Table with non-equidistant, but strictly monotonously increasing master positions and a cyclic continuation of the master profile (monotonously cyclic)

0

Linear interpolation (NC_INTERPOLATIONTYPE_LINEAR) (Standard)

1

4-point interpolation (NC_INTERPOLATIONTYPE_4POINT) (for equidistant table types only)

2

Cubic spline interpolation of all reference points ("global spline") (NC_INTERPOLATIONTYPE_SPLINE

3

Sliding cubic spline interpolation via n interpolation points ("local spline") (NC_INTERPOLATIONTYPE_SLIDINGSPLINE)

0

(default)

1

Additive – addition of a further table

2

Exchange – replacement of an existing table with a new table

3

Remove – removal of an existing table

nTableID;

1.

cam table ID

nTableMainType;

2.

e.g. CAMMING, CHARACTERISTIC, MOTIONFUNCTION

nTableSubType;

3.

e.g. EQUIDIST_LINEAR, EQUIDIST_CYCLE, NONEQUIDIST_LINEAR, NONEQUIDIST_CYCLE

nInterpolationType;

4.

e.g. LINEAR, 4POINT, SPLINE

nNumberOfRows;

5.

number of rows/elements

nNumberOfColumns;

6.

number of columns

fMasterCamStartPos

7.

master camming start position (first point in tabular)

fSlaveCamStartPos

8.

slave camming start position (first point in tabular)

fRawMasterPeriod;

9.

master period/cycle (raw value, not scaled)

fRawSlaveStroke;

10.

slave difference per master period/cycle (raw value, not scaled)

fMasterAxisCouplingPos

11.

total absolute master offset of cam origin when slave has been coupled

fSlaveAxisCouplingPos

12.

total absolute slave offset of cam origin when slave has been coupled

nMasterAbsolute

13.

master absolute position (0/1)

nSlaveAbsolute

14.

slave absolute position (0/1)

fMasterOffset;

15.

total master offset

fSlaveOffset;

16.

total slave offset

fMasterScaling;

17.

total master scaling

fSlaveScaling;

18.

total slave scaling

fSumOfSlaveStrokes

19.

sum of the slave srokes up to “fActualMasterAxisPos”

fSumOfSuperpositionDistance

20.

sum of superposition distance (position compensation offset)

fActualMasterAxisPos;

21.

actual master axis setpos (absolute)

fActualSlaveAxisPos;

22.

actual slave axis setpos (absolute)

fActualMasterCamPos;

23.

actual master cam setpos

fActualSlaveCamPos;

24.

actual master cam setpos

nSlaveStateDWord

25.

slave state DWORD (s. AxisRef)

. . .

. . .

. . .

fMasterVeloNom;

1.

master nominal velocity (standardized: => 1.0)

fMasterPosStart;

2.

master start position

fSlavePosStart;

3.

slave start position

fSlaveVeloStart;

4.

slave start velocity

fSlaveAccStart;

5.

slave start acceleration

fSlaveJerkStart;

6.

slave start jerk

fMasterPosEnd;

7.

master end position

fSlavePosEnd;

8.

slave end position

fSlaveVeloEnd;

9.

slave end velocity

fSlaveAccEnd;

10.

slave end acceleration

fSlaveJerkEnd;

11.

slave end jerk

fMPosAtSPosMin;

12.

master pos. at slave min. position

fSlavePosMin;

13.

slave minimum position

fMPosAtSVeloMin;

14.

master pos. at slave min. velocity

fSlaveVeloMin;

15.

slave minimum velocity

fMPosAtSAccMin;

16.

master pos. at slave min. acceleration

fSlaveAccMin;

17.

slave minimum acceleration

fSVeloAtSAccMin;

18.

slave velocity at slave min. acceleration

fSlaveJerkMin;

19.

slave minimum jerk

fSlaveDynMomMin;

20.

slave minimum dynamic momentum (NOT SUPPORTED YET!)

fMPosAtSPosMax;

21.

master pos. at slave max. position

fSlavePosMax;

22.

slave maximum position

fMPosAtSVeloMax;

23.

master pos. at slave max. velocity

fSlaveVeloMax;

24.

slave maximum velocity

fMPosAtSAccMax;

25.

master pos. at slave max. acceleration

fSlaveAccMax;

26.

slave maximum acceleration

fSVeloAtSAccMax;

27.

slave velocity at slave max. acceleration

fSlaveJerkMax;

28.

slave maximum jerk

fSlaveDynMomMax;

29.

slave minimum dynamic momentum (NOT SUPPORTED YET!)

fSlaveVeloMean;

30.

slave mean absolute velocity

fSlaveAccEff;

31.

slave effective acceleration

nCamTableID;

32.

Cam table ID

nNumberOfRows;

33.

Number of rows/entries e.g. number of points

nNumberOfColums;

34.

Number of columns (typically1 or 2)

nCamTableType;

35.

cam table type (10=EQUIDIST, 11=NONEQUIDIST, 22=MOTIONFUNC, 23=CHARACTERISTIC)

nPeriodic;

36.

linear or cyclic/periodic

nReserved

37.

reserved

0

NOT DEFINED

1

Simple switching (similar to an axis reset)

(STANDARD)

2

Switching/synchronization by means of I/D-part of the controller to an internal initial value (jerk-free/smooth)

3

Switching/synchronization by means of I/D-part of the controller to a parameterizable initial value