Discrete Axis (two speed)

v > 50

Rapid traverse

0 < v ≤ 50

Slow traverse

v ≤ 0

Error

Override > 50%

Rapid traverse

0% < Override ≤ 50%

Slow traverse

Override = 0%

Stationary (tolerance window: <0.01% )

1

UINT32

0-3

-

-

nOutData1

Drive output data 1 (NC->I/O)

2

UINT32

4-7

-

-

nOutData2

Drive output data 2 (NC->I/O)

3

UINT8

8

-

-

nControlByte

Control byte

0

0/1

bMinusHigh

Direction: negative velocity: fast

1

0/1

bMinusLow

Direction: negative velocity: slow

2

0/1

bPlusLow

Direction: positive velocity: slow

3

0/1

bPlusHigh

Direction: positive velocity: fast

4

0/1

-

RESERVE

5

0/1

-

RESERVE

6

0/1

bBreakInv

Inverse braking bit (0 ≡ ACTIVE, 1 ≡ PASSIVE)

7

0/1

bBreak

Braking bit (0 ≡ PASSIVE, 1 ≡ ACTIVE)

4

UINT8

9

-

-

nExtControlByte

Extended control byte

0

0/1

bDirectionMinus

Direction: negative

1

0/1

bDirectionPlus

Direction: positive

2

0/1

bVeloLow

Velocity: slow

3

0/1

bVeloHigh

Velocity: high

4

0/1

-

RESERVE

5

0/1

-

RESERVE

6

0/1

bBreakInv

Inverse braking bit (0 ≡ ACTIVE, 1 ≡ PASSIVE)

7

0/1

bBreak

Braking bit (0 ≡ PASSIVE, 1 ≡ ACTIVE)

5

UINT16

10-11

-

-

nReserved

Reserved bytes

Creep distance positive direction

The creep distance in the positive direction gives the distance to the target position, below which the velocity changes from rapid to creep velocity, if the direction of travel is positive.
If a looping distance is selected then this distance is based on the movement reversal point.

This distance is denoted by Δp₁ in positioning example 1

Creep distance negative direction

The creep distance in the negative direction gives the distance to the target position, below which the velocity changes from rapid to creep velocity, if the direction of travel is negative.

If a looping distance is selected then this distance is based on the movement reversal point.

Braking distance positive direction

The braking distance in the positive direction gives the distance to the target position, below which the creep velocity is switched off, if the direction of travel is positive.

This distance is denoted by Δp₂ in positioning example 1

Braking distance negative direction

The braking distance in the negative direction gives the distance to the target position, below which the creep velocity is switched off, if the direction of travel is negative.

Brake incidence delay time in pos. direction

This delay time gives the start-up delay of the brakes after switching off of the creep velocity, if the direction of travel is positive.

In positioning example 1, this time is between the times T₄ and T₅.

Brake incidence delay time in negative direction

This delay time gives the start-up delay of the brakes after switching off of the creep velocity, if the direction of travel is negative.

Rapid to creep velocity delay time

This waiting time is between the switching off of the rapid velocity and switching on of the creep velocity.

In positioning example 1 , this time is between the times T₂ and T₃.

Creep distance for stop

The creep distance for stop gives the distance that is covered with the creep velocity after calling up the stop. This creep distance is usually selected shorter than the creep distances in positive and negative direction, since the axis should stop as soon as possible and the exact positioning is not a priority.

This distance is denoted by Δp₁ in positioning example 3

Brake release delay

The brake is released immediately the axis is started and after elapse of the brake release delay either the rapid or creep velocity is activated depending on the displacement.

In positioning example 1 , this time is between the times T₀ and  T₁.

Pulse time in positive direction

This parameter is not evaluated and therefore has no effect.

Pulse time in negative direction

This parameter is not evaluated and therefore has no effect.

OPERATION MODE: looping distance

The looping distance can be activated with this flag. The looping distance is for approaching the target position always from the same direction. In the case of a positive (negative) looping distance a target position in the positive (negative) direction is increased by the amount of the looping distance and the target then approached from the opposite direction. Consequently the target position in case of a positive looping distance is always approached with negative velocity and a negative looping distance with positive velocity.

Looping distance (+ / -)

The looping distance gives the distance, by which the target position is exceeded if necessary so that it is possible to move to the target position from the required direction.

This distance is denoted by creep distance (looping distance) in positioning example 2