Init Parameter tab

General

Simulation Mode

The Simulation Mode indicates whether the I/O connection to the drive and encoder should be active (FALSE) or simulated (TRUE). The parameter can be written at runtime if the axis is not enabled by the controller.

Position Unit

The Position Unit field is used for display purposes, such as on the commissioning interface. Inputs and outputs on function blocks are not converted.

Is Modulo Axis

Enable this parameter to use modulo functionality in function blocks for this axis. The setpoint and actual values are calculated as absolute and modulo values in the cyclic interface. To exchange Modulo information - for example, with the PLC - you must enable the Modulo data area .

• Position Modulus
  Modulo value used to calculate the modulo position
• Position Modulo Tolerance Window
  Movement in the opposite direction to the specified direction is permitted, provided that the target position lies within this position tolerance of the command's starting position. This parameter affects the behavior of MC_MoveModulo. It interacts with the setting selected at the Direction input of the function block.

Maximum Dynamics

Maximum Velocity

Maximum speed taken into account during profile generation. Input values for function blocks are automatically reduced to this limit if values that are too high are specified. If the constant #Maximum is specified at the Velocity input of a function block, the value defined here is used as the limit value for the velocity.

Maximum Acceleration

Maximum acceleration taken into account during profile generation. Input values for function blocks are automatically reduced to this limit if values that are too high are specified. If the constant #Maximum is specified at the Acceleration input of a function block, the value defined here is used as the limit value for acceleration.

Maximum Deceleration

Maximum delay taken into account during profile generation. Input values for function blocks are automatically reduced to this limit if values that are too high are specified. If the constant #Maximum is specified at the Deceleration input of a function block, the value defined here is used as the limit value for the delay.

Maximum Jerk

Maximum jerk taken into account during profile generation. Input values for function blocks are automatically reduced to this limit if values that are too high are specified. If the constant #Maximum is specified at the Jerk input of a function block, the value defined here is used as the limit value for jerk.

Default Dynamics

Default Acceleration

This value is used as the acceleration at the Acceleration input on function blocks, unless it is explicitly set. If the constant #Default is specified at the input of a function block, the value defined here is used as the limit value for acceleration.

Default Deceleration

This value is used as the delay at the Deceleration input on function blocks, unless it is explicitly set. If the constant #Default is specified at the input of a function block, the value defined here is used as the limit value for the delay.

Default Jerk

This value is used as jerk at the Jerk input on function blocks, unless it is explicitly set. If the constant #Default is specified at the input of a function block, the value defined here is used as the limit value for jerk.

Manual Motion

Jog Velocity Slow

This target velocity is used for slow movement of an axis using manual control buttons. This procedure can be performed using MC_Jog as well as through the commissioning interface.

Jog Velocity Fast

This target velocity is used for rapid movement of an axis using manual control buttons. This procedure can be performed using MC_Jog as well as through the commissioning interface.

Monitoring

Position Limit Enforcement Enabled

This parameter specifies whether position limits are taken into account when generating motion profiles. If the value is TRUE, the following two parameters must be set.

• Minimum Position
  : The minimum allowed position for the axis. Use #Ignore to disable enforcement of the position limit in this direction of motion. It is not possible to move an axis beyond this limit. If an axis is outside its position limits when TwinCAT starts up, it can move toward the valid position range. Commands with a target position outside this lower limit will be rejected.
• Maximum Position
  : The maximum allowable position for the axis. Use #Ignore to disable enforcement of the position limit in this direction of motion. It is not possible to move the axis beyond this limit. If an axis is outside its position limits when TwinCAT starts up, it can move toward the valid position range. Commands with a target position outside this lower limit will be rejected.

Position Lag Monitoring Enabled

This parameter specifies whether the position lag for the axis should be monitored. If the value is TRUE, the following two parameters are displayed for configuring position and time. If the parameterized limits are exceeded, a runtime error is output.

The calculation is performed as follows:

Position lag value = current target position - actual position

• Maximum Position Lag Value and Maximum Position Lag Filter Time
  The Maximum Position Lag Value is the position lag value that must not be exceeded for longer than the specified time (Maximum Position Lag Filter Time)). Otherwise, the axis is stopped immediately by direct shutdown, and an error is generated.

Position Lag Calculation

This parameter specifies whether the position lag is calculated by the software from the MC axis (InternallyCalculated) or read directly from the linked hardware (HardwareProvidedIfAvailable). If HardwareProvidedIfAvailable is set but no hardware is available, the system falls back to the internally calculated value. For a simulation axis, HardwareProvidedIfAvailable uses data from the simulation drive.