Appendix

1

Standard

2

Interpreter

3

FIFO

4

Kinematic transformation

0

NOT DEFINED

1

reserved

2

DIN 66025 (Siemens 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)

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 use the max. velocity VelocityDiff.

4

LENGTHREDUCTION_LIMITEDMOTION

The max. available path is reduced and is limited by the Length parameter. The system tries to use the max. velocity 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

(Absolute)

12

FOX50 Encoder

(Absolute)

14

AX2000 (Lightbus)

(Incremental)

15

Provi-Drive MC (Simodrive 611U)

(Incremental)

16

Universal encoder (variable bit mask)

(Incremental)

17

NC back plane

(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

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

Direct adoption of the position increments without further logic (default configuration, i.e. compatible with the previous state)

1

With underflow and overflow offset logic (direct adoption, or underflow or overflow offset)

0

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

1

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

2

Latch event: Hardware sync pulse (zero track)

3

Latch event: External hardware latch with rising edge (measuring sensor or, respectively, measurement on the fly with rising edge)

4

Latch event: External hardware latch with falling edge (measuring sensor or, respectively, measurement on the fly with falling edge)

5

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

6

Latch event: Hardware latch event defined in the drive with rising edge (e.g. for SoftDrive) (NEW)

7

Latch event: Hardware latch event defined in the drive with falling edge (e.g. for SoftDrive) (NEW)

20

Application defined Homing sequence (PLC code): Application defined Homing request is signaled to the PLC with the ApplicationRequest-Bit (NEW)

AX2xxx-B200

(Lightbus)

—

√

√

√

√

√

(only resolver)

AX2xxx-B510

(CANopen)

—

√

—

—

—

√

(only resolver)

(see "Reference mask" parameter)

AX2xxx-B1x0

(EtherCAT)

—

√

√

√

√

√

(only resolver)

(fixed 20-bit)

AX2xxx-B900

(Ethernet)

—

√

√

√

√

√

(only resolver)

Sercos

—

√

√

√
(AX5xxx specific implemented)

√

√

(see "Reference mask" parameter)

Profi Drive

—

√

√

√

√

√

KL5101
IP5109

—

√

√

√

√

√

KL5111

—

√

√

—

—

√

KL5151

—

√

√

√

√

√

(not useful)

IP5209

—

√

√

—

—

√

(not useful)

CANopen

(e.g. Lenze)

—

√

—

√

(Input In1)

√

(Input In2)

√

(only resolver) (fixed 16-bit)

others

Types

—

—

—

—

—

—

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 back plane

(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

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 characteristics)

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 of n reference points ("local spline") (NC_INTERPOLATIONTYPE_SLIDINGSPLINE)(from TC V2.11 B1514)

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

fRawMasterPeriod;

7.

master period/cycle (raw value, not scaled)

fRawSlaveStroke;

8.

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

fMasterOffset;

9.

total master offset

fSlaveOffset;

10.

total slave offset

fMasterScaling;

11.

total master scaling

fSlaveScaling;

12.

total slave scaling

fActualMasterAxisPos;

13.

actual master axis setpos (absolute)

fActualSlaveAxisPos;

14.

actual slave axis setpos (absolute)

fActualMasterCamPos;

15.

actual master cam setpos

fActualSlaveCamPos;

16.

actual master cam setpos

fMasterVeloNom;

1.

master nominal velocity (normed: => 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 maximum dynamic momentum (NOT SUPPORTED YET!)

fSlaveVeloMean;

30.

slave mean absolute velocity

fSlaveAccEff;

31.

slave effective acceleration

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 parameterisable initial value