s

Preface, Contents

SIMOTION

TP Cam
TP Path

Technology Packages
Configuration Data

TP Cam_ext
TP TControl

List Manual

11/2010

I
II
III
IV

Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to
prevent damage to property. The notices referring to your personal safety are highlighted in the manual
by a safety alert symbol, notices referring only to property damage have no safety alert symbol. These
notices shown below are graded according to the degree of danger.

DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.

WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.

CAUTION
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not
taken.

CAUTION
without a safety alert symbol, indicates that property damage can result if proper precautions are not
taken.

NOTICE
indicates that an unintended result or situation can occur if the corresponding information is not taken into
account.
If more than one degree of danger is present, the warning notice representing the highest degree of
danger will be used. A notice warning of injury to persons with a safety alert symbol may also include a
warning relating to property damage.

Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the
specific task in accordance with the relevant documentation for the specific task, in particular its warning
notices and safety instructions. Qualified personnel are those who, based on their training and experience,
are capable of identifying risks and avoiding potential hazards when working with these products/systems.

Proper use of Siemens products

Note the following:

WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant
technical documentation. If products and components from other manufacturers are used, these must be
recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning,
operation and maintenance are required to ensure that the products operate safely and without any
problems. The permissible ambient conditions must be adhered to. The information in the relevant
documentation must be observed.

Trademarks
All names identified by are registered trademarks of the Siemens AG. The remaining trademarks in this
publication my be trademarks whose use by third parties for their own purposes could violate the rights of
the owner.

Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However,
the information in this publication is reviewed regularly and any necessary corrections are included in
subsequent editions.

Siemens AG
Industry Sector
Postfach 48 48
90026 Nrnberg
GERMANY

Copyright Siemens AG 2010.

Technical data subject to change.

Preface
Scope and standards
This document is part of the SIMOTION Programming References
documentation package.
Scope of validity
This manual is valid for SIMOTION SCOUT V4.2:
SIMOTION SCOUT V4.2 (engineering system for the SIMOTION product
family),
SIMOTION Kernel from V3.0 to V4.2
SIMOTION technology packages Cam, Cam_ext (Kernel V3.2 and later) and
TControl in the version for the respective kernel (including technology
packages Gear, Position and BasicMC up to Kernel V3.0).

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Preface-3

Preface

Sections in this manual

This manual describes the generally applicable Configuration Data of SIMOTION and
technology objects.

TP Cam
DriveAxis (Chapter 1)
ExternalEncoderType (Chapter 2)
PosAxis (Chapter 3)
MeasuringInputType (Chapter 4)
OutputCamType (Chapter 5)
CamTrackType (Chapter 6)
FollowingAxis (Chapter 7)
FollowingObjectType (Chapter 8)
CamType (Chapter 9)
TP Path
Additionally, the Technology Package TP Path contains all
Technology Objects (TO) of TP Cam.
PathObjectType (Chapter 10)
PathAxis (Chapter 11)
TP Cam_ext
Additionally, the Technology Package TP Cam_ext contains all
Technology Objects (TO) of TP Cam and TP Path.
AdditionObjectType (Chapter 12)
ControllerObjectType (Chapter 13)
FormulaObjectType (Chapter 14)
FixedGearType (Chapter 15)
SensorType (Chapter 16)
TP TControl
TemperatureControllerType (Chapter 17)

Preface-4

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Preface

SIMOTION Documentation
An overview of the SIMOTION documentation can be found in a separate list of
references.
This documentation is included as electronic documentation in the scope of
delivery of SIMOTION SCOUT. It comprises 10 documentation packages.
The following documentation packages are available for SIMOTION V4.2.
SIMOTION Engineering System
SIMOTION System and Function Descriptions
SIMOTION Service and Diagnostics
SIMOTION IT
SIMOTION Programming
SIMOTION Programming - References
SIMOTION C
SIMOTION P
SIMOTION D
SIMOTION Supplementary Documentation
Hotline and Internet addresses
Additional information
Click the following link to find information on the following topics:
Ordering documentation/overview of documentation
Additional links to download documents
Using documentation online (find and search in manuals/information)
hhtp://www.siemens.com/motioncontrol/docu
My Documentation Manager
Click the following link for information on SITRAIN - Siemens training courses for
automation products, systems and solutions:
http://www.siemens.com/sitrain
Training
Click the following link for information on SITRAIN - Siemens training courses for
automation products, systems and solutions:
http://www.siemens.com/sitrain

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Preface-5

Preface

FAQs
You can find Frequently Asked Questions on the Service&Support pages under
Product Support:
http://support.automation.siemens.com
Technical support
Country-specific telephone numbers for technical support are provided on the
Internet under Contact:
http://www.siemens.com/automation/service&support

Preface-6

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Contents
Preface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Part I

Preface-3

TP Cam

Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1

I-25

DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsEncoder - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ActualVelocityMonitoring - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptDrive - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptExtern - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptLoad - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorDriverInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorMain - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorNumber - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . .
AnalogSensorType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AssemblyBase - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerDynamic - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerStruct - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DataSetMain - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drift - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriveData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriverInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EmergencyRampGenerator - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . .
EncoderMain - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderNumber - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Filter - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FineInterpolator - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControlHeldValueMonitoring - DriveAxis . . . . . . . . . . . . . . . . . . .
ForceControlRunningInWindowMonitoring - DriveAxis . . . . . . . . . . . . .
ForceControllerData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControllerDifference - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Friction - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Gear - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HWEndPos - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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1-48
1-49
1-50
1-51
1-55
1-56
1-58
1-61
1-62
1-63
1-67
1-68
1-69
1-70
1-71
1-72
1-73
1-75
1-75
1-76
1-77
1-78

Contents-7

Contents

IncEncoder - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - DriveAxis . . . . . . . . . . . . . . . . .
InversCountDirection - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPoint - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPointHydraulicType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . .
LinearMotorDriveData - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LinearStepMotorDriveDataType - DriveAxis . . . . . . . . . . . . . . . . . . . . .
MaxAcceleration - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxForceCommandData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxJerk - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxVelocity - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NeutralBand - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfAdditionalSensors - DriveAxis . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDataSets - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfEncoders - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OutputLimits - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerForce - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerPos - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProcessModel - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Range - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartConditionInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorSetActualValue - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SetPointDriverInfo - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SimulationInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SmoothingFilter - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorDriveDataType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorMonitoringType - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisAdditionalOffset - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisDriveControlConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - DriveAxis . . . . .
StructAxisFilterForceControlConfig - DriveAxis. . . . . . . . . . . . . . . . . . .
StructAxisInvertFOutput - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisInvertQOutput - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisNistDriverConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisOperatingDataInInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . .
StructAxisServoMonitoringConfig - DriveAxis . . . . . . . . . . . . . . . . . . . .
StructAxisSetpointFilter - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSlidingFriction - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSpeedLimitation - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSystemDeadTimeData - DriveAxis . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataInInfo - DriveAxis . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataOutInfo - DriveAxis . . . . . . . . . . . . . . . . .
StructControllerOutput - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructDaxDynamicQFData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructDirectOutputDriverInfo - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . .
StructDriveInterfaceDriverInfo - DriveAxis. . . . . . . . . . . . . . . . . . . . . . .
StructDriverInfoDirectIncremental - DriveAxis. . . . . . . . . . . . . . . . . . . .
StructEnableBit - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents-8

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. . . 1-81
. . . 1-82
. . . 1-83
. . . 1-83
. . . 1-84
. . . 1-86
. . . 1-87
. . . 1-88
. . . 1-88
. . . 1-89
. . . 1-90
. . . 1-91
. . . 1-92
. . . 1-94
. . . 1-95
. . . 1-96
. . . 1-98
. . 1-100
. . 1-100
. . 1-101
. . 1-102
. . 1-103
. . 1-104
. . 1-105
. . 1-109
. . 1-110
. . 1-111
. . 1-112
. . 1-113
. . 1-114
. . 1-116
. . 1-118
. . 1-119
. . 1-120
. . 1-120
. . 1-121
. . 1-122
. . 1-124
. . 1-124
. . 1-125
. . 1-126
. . 1-127
. . 1-127
. . 1-128
. . 1-129
. . 1-129
. . 1-130
. . 1-131
. . 1-132
. . 1-133
. . 1-136
. . 1-137

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Contents

StructPressureDifferenceMeasurement - DriveAxis . . . . . . . . . . . . . . . . . 1-138

StructSensorDriverInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-140
TypeOfAxisInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-142
2

ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsEncoder - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsHomingEncoder - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . .
ActualVelocityMonitoring - ExternalEncoderType . . . . . . . . . . . . . . . . .
AdaptDrive - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptExtern - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptLoad - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - ExternalEncoderType . . . . . . . . . . . . . .
AnalogSensorType - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . .
AssemblyBase - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfig - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . .
DistributedMotionInfo - ExternalEncoderType. . . . . . . . . . . . . . . . . . . .
DriverInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderMain - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . .
ExtrapolationPositionFilterType - ExternalEncoderType. . . . . . . . . . . .
Filter - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . .
Gear - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncEncoder - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncHomingEncoder - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - ExternalEncoderType . . . . . . .
InversCountDirection - ExternalEncoderType . . . . . . . . . . . . . . . . . . . .
LeadScrewInfo - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . .
PT2PositionFilterType - ExternalEncoderType . . . . . . . . . . . . . . . . . . .
PathPerRevolution - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . .
PositionFilterType - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . .
Resolution - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - ExternalEncoderType . . . . . . . . . . . . . . . . . . . .
SensorNist - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorSetActualValue - ExternalEncoderType. . . . . . . . . . . . . . . . . . .
SmoothingFilter - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorMonitoringType - ExternalEncoderType . . . . . . . . . . . . . . . .
StructAxisActualValueUpdateCounter - ExternalEncoderType. . . . . . .
StructAxisAnalogSensorErrorStateMonitoring - ExternalEncoderType.
StructAxisAnalogSensorReadyStateMonitoring - ExternalEncoderType
StructAxisDriveControlConfig - ExternalEncoderType . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisNistDriverConfig - ExternalEncoderType . . . . . . . . . . . . . . .
StructAxisOperatingDataInInfo - ExternalEncoderType . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - ExternalEncoderType . . . . . . . . . . .
StructAxisSpeedLimitation - ExternalEncoderType. . . . . . . . . . . . . . . .
StructAxisTechnologicalData - ExternalEncoderType. . . . . . . . . . . . . .
StructAxisTechnologicalDataInInfo - ExternalEncoderType . . . . . . . . .
StructAxisTechnologicalDataOutInfo - ExternalEncoderType. . . . . . . .

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2-150
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2-159
2-163
2-164
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Contents-9

Contents

StructDriverInfoDirectIncremental - ExternalEncoderType . . . . . . . . . .
StructExtrapolation - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . .
StructExtrapolationFilter - ExternalEncoderType . . . . . . . . . . . . . . . . .
StructLogAddressIoBitType - ExternalEncoderType. . . . . . . . . . . . . . .
StructSensorDriverInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . .
StructToleranceRange - ExternalEncoderType. . . . . . . . . . . . . . . . . . .
TypeOfAxisInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . .

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2-196
2-197
2-198
2-199
2-200
2-202
2-203

PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsBackLash - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsEncoder - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsHomingEncoder - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ActualAccelerationMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . . . . . .
ActualVelocityMonitoring - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptDrive - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptExtern - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptLoad - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorNumber - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . .
AnalogSensorType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AssemblyBase - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ClampingMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerDynamic - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerStruct - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerSwitchData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DataSetMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfig - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DigitalInputMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DistributedMotionInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drift - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriveData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriverInfo - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicComp - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicData - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicFollowing - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EmergencyRampGenerator - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderNumber - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExtrapolationPositionFilterType - PosAxis . . . . . . . . . . . . . . . . . . . . . .
Filter - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FineInterpolator - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControlHeldValueMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . .
ForceControlRunningInWindowMonitoring - PosAxis . . . . . . . . . . . . . .
ForceControllerData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControllerDifference - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Friction - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Gear - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HWEndPos - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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3-205
3-205
3-207
3-211
3-212
3-213
3-214
3-214
3-215
3-216
3-218
3-219
3-219
3-220
3-220
3-221
3-222
3-223
3-223
3-224
3-225
3-226
3-230
3-231
3-232
3-233
3-235
3-238
3-239
3-240
3-242
3-243
3-248
3-248
3-249
3-250
3-251
3-251
3-252
3-253
3-255
3-255
3-256
3-257
3-258

Contents-10

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Contents

Homing - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncBackLash - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncEncoder - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncHomingEncoder - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - PosAxis . . . . . . . . . . . . . . . . . .
InversCountDirection - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPoint - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPointHydraulicType - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . .
LeadScrewInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LinearMotorDriveData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LinearStepMotorDriveDataType - PosAxis . . . . . . . . . . . . . . . . . . . . . .
MaxAcceleration - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxForceCommandData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxJerk - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxVelocity - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NeutralBand - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfAdditionalSensors - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDataSets - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDigitalInputs - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfEncoders - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OutputLimits - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PD_Controller - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerForce - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerPos - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PT2PositionFilterType - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PV_Controller - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathPerRevolution - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathSyncAxisPosTolerance - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . .
PositionFilterType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PositionMonitoring - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProcessModel - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Range - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolution - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartConditionInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamNegative - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamPositive - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorNist - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorSetActualValue - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SetPointDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SimulationInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Slippage - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SmoothingFilter - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StateDriveExternalZeroMark - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorDriveDataType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorMonitoringType - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisActualValueUpdateCounter - PosAxis . . . . . . . . . . . . . . . . .
StructAxisAdditionalOffset - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisAnalogSensorErrorStateMonitoring - PosAxis . . . . . . . . . . .

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

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3-260
3-262
3-263
3-264
3-269
3-270
3-270
3-271
3-271
3-272
3-274
3-275
3-276
3-276
3-277
3-277
3-278
3-279
3-280
3-282
3-283
3-284
3-284
3-285
3-287
3-289
3-290
3-292
3-292
3-293
3-294
3-295
3-296
3-296
3-297
3-298
3-299
3-300
3-301
3-302
3-303
3-304
3-308
3-308
3-309
3-310
3-311
3-312
3-312
3-313
3-314
3-316
3-318

Contents-11

Contents

StructAxisAnalogSensorReadyStateMonitoring - PosAxis . . . . . . . . . .
StructAxisDriveControlConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - PosAxis . . . . . .
StructAxisFilterForceControlConfig - PosAxis. . . . . . . . . . . . . . . . . . . .
StructAxisInvertFOutput - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisInvertQOutput - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisNistDriverConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisOperatingDataInInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisServoMonitoringConfig - PosAxis . . . . . . . . . . . . . . . . . . . . .
StructAxisSetpointFilter - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSlidingFriction - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSpeedLimitation - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSwLimitConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSystemDeadTimeData - PosAxis . . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataInInfo - PosAxis . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataOutInfo - PosAxis . . . . . . . . . . . . . . . . . .
StructCommandValueQuantization - PosAxis. . . . . . . . . . . . . . . . . . . .
StructControllerOutput - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructDirectOutputDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructDriveInterfaceDriverInfo - PosAxis. . . . . . . . . . . . . . . . . . . . . . . .
StructDriverInfoDirectIncremental - PosAxis . . . . . . . . . . . . . . . . . . . . .
StructEnableBit - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolation - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolationFilter - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructLogAddressIoBitType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructPaxDynamicQFData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructPositionDifferenceMeasurement - PosAxis . . . . . . . . . . . . . . . . .
StructPressureDifferenceMeasurement - PosAxis . . . . . . . . . . . . . . . .
StructSensorDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructToleranceRange - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TypeOfAxisInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VelocityPositionProfile - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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3-319
3-320
3-322
3-323
3-324
3-324
3-325
3-326
3-328
3-328
3-329
3-330
3-331
3-332
3-333
3-334
3-335
3-335
3-336
3-337
3-338
3-339
3-342
3-343
3-344
3-345
3-346
3-347
3-348
3-349
3-351
3-353
3-354
3-357

MeasuringInputType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - MeasuringInputType. . . . . . . . . . . . . . . . . . . . . .
MipBaseCfgInfo - MeasuringInputType. . . . . . . . . . . . . . . . . . . . . . . . .
MipInputCfgInfo - MeasuringInputType . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - MeasuringInputType. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructMeasuringInputLogAddress - MeasuringInputType . . . . . . . . . . .
StructMeasuringInputTimeStampConfig - MeasuringInputType . . . . . .
StructMeasuringRange - MeasuringInputType . . . . . . . . . . . . . . . . . . .

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4-359
4-359
4-360
4-361
4-362
4-363
4-363
4-364

OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . .
LogAddressInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OcaBaseCfgInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . .
OcaTypeInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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5-365
5-365
5-366
5-367
5-369
5-370

CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6-371
DecodingConfigInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-371

Contents-12

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Contents

LogAddressInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OctBaseCfgInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OctTechnologicalCfgInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . .
OctTypeInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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6-372
6-373
6-375
6-375
6-376

FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsBackLash - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsEncoder - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsHomingEncoder - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
ActualAccelerationMonitoring - FollowingAxis. . . . . . . . . . . . . . . . . . . .
ActualVelocityMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
AdaptDrive - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptExtern - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptLoad - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorNumber - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - FollowingAxis . . . . . . . . . . . . . . . . . . . .
AnalogSensorType - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
AssemblyBase - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ClampingMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerDynamic - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerStruct - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerSwitchData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DataSetMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfig - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DigitalInputMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DistributedMotionInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
Drift - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriveData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicComp - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicFollowing - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EmergencyRampGenerator - FollowingAxis . . . . . . . . . . . . . . . . . . . . .
EncoderMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderNumber - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExtrapolationPositionFilterType - FollowingAxis . . . . . . . . . . . . . . . . . .
Filter - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FineInterpolator - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControlHeldValueMonitoring - FollowingAxis . . . . . . . . . . . . . . . .
ForceControlRunningInWindowMonitoring - FollowingAxis . . . . . . . . .
ForceControllerData - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControllerDifference - FollowingAxis . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Friction - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Gear - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
GearingPosTolerance - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
HWEndPos - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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7-377
7-377
7-379
7-383
7-384
7-385
7-386
7-386
7-387
7-388
7-390
7-391
7-391
7-392
7-392
7-393
7-394
7-395
7-395
7-396
7-397
7-398
7-402
7-403
7-404
7-405
7-407
7-410
7-411
7-412
7-414
7-415
7-420
7-420
7-421
7-422
7-423
7-424
7-424
7-425
7-427
7-427
7-428
7-429
7-430
7-432
7-434

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Contents-13

Contents

IncBackLash - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncEncoder - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncHomingEncoder - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - FollowingAxis. . . . . . . . . . . . . .
InversCountDirection - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPoint - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPointHydraulicType - FollowingAxis . . . . . . . . . . . . . . . . . . . .
LeadScrewInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LinearMotorDriveData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
LinearStepMotorDriveDataType - FollowingAxis. . . . . . . . . . . . . . . . . .
MaxAcceleration - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxForceCommandData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
MaxJerk - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxVelocity - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NeutralBand - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfAdditionalSensors - FollowingAxis . . . . . . . . . . . . . . . . . . . .
NumberOfDataSets - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDigitalInputs - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfEncoders - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
OutputLimits - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PD_Controller - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerForce - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerPos - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PT2PositionFilterType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
PV_Controller - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathPerRevolution - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathSyncAxisPosTolerance - FollowingAxis. . . . . . . . . . . . . . . . . . . . .
PositionFilterType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PositionMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProcessModel - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Range - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolution - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartConditionInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamNegative - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamPositive - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorNist - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorSetActualValue - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
SetPointDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SimulationInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Slippage - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SmoothingFilter - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StateDriveExternalZeroMark - FollowingAxis . . . . . . . . . . . . . . . . . . . .
StepMotorDriveDataType - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . .
StepMotorMonitoringType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisActualValueUpdateCounter - FollowingAxis . . . . . . . . . . . . .
StructAxisAdditionalOffset - FollowingAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisAnalogSensorErrorStateMonitoring - FollowingAxis . . . . . . .
StructAxisAnalogSensorReadyStateMonitoring - FollowingAxis. . . . . .

Contents-14

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7-436
7-437
7-438
7-443
7-444
7-444
7-445
7-445
7-446
7-448
7-449
7-450
7-450
7-451
7-452
7-453
7-454
7-455
7-457
7-458
7-459
7-460
7-461
7-463
7-465
7-466
7-468
7-469
7-470
7-471
7-472
7-472
7-473
7-473
7-474
7-475
7-476
7-477
7-477
7-478
7-479
7-483
7-483
7-484
7-485
7-486
7-487
7-488
7-489
7-490
7-492
7-494
7-495

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Contents

StructAxisDriveControlConfig - FollowingAxis. . . . . . . . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - FollowingAxis . .
StructAxisFilterForceControlConfig - FollowingAxis . . . . . . . . . . . . . . .
StructAxisInvertFOutput - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisInvertQOutput - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisNistDriverConfig - FollowingAxis. . . . . . . . . . . . . . . . . . . . . .
StructAxisOperatingDataInInfo - FollowingAxis. . . . . . . . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - FollowingAxis. . . . . . . . . . . . . . . . . .
StructAxisServoMonitoringConfig - FollowingAxis . . . . . . . . . . . . . . . .
StructAxisSetpointFilter - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSlidingFriction - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSpeedLimitation - FollowingAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisSwLimitConfig - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSystemDeadTimeData - FollowingAxis. . . . . . . . . . . . . . . . .
StructAxisTechnologicalData - FollowingAxis . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataInInfo - FollowingAxis . . . . . . . . . . . . . . .
StructAxisTechnologicalDataOutInfo - FollowingAxis . . . . . . . . . . . . . .
StructCommandValueQuantization - FollowingAxis . . . . . . . . . . . . . . .
StructControllerOutput - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructDirectOutputDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . .
StructDriveInterfaceDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . .
StructDriverInfoDirectIncremental - FollowingAxis . . . . . . . . . . . . . . . .
StructEnableBit - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolation - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolationFilter - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . .
StructLogAddressIoBitType - FollowingAxis . . . . . . . . . . . . . . . . . . . . .
StructPaxDynamicQFData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . .
StructPositionDifferenceMeasurement - FollowingAxis. . . . . . . . . . . . .
StructPressureDifferenceMeasurement - FollowingAxis . . . . . . . . . . . .
StructSensorDriverInfo - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . .
StructToleranceRange - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
TypeOfAxisInfo - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VelocityPositionProfile - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .

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7-496
7-498
7-499
7-500
7-500
7-501
7-502
7-504
7-504
7-505
7-506
7-507
7-508
7-509
7-509
7-510
7-510
7-511
7-512
7-513
7-514
7-517
7-518
7-519
7-520
7-521
7-522
7-523
7-524
7-526
7-528
7-529
7-532

FollowingObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . .
DistributedMotionInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . .
RestartInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SyncingMotionInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . . .

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8-533
8-533
8-534
8-534
8-535
8-536

CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InverseCamRepresentationInfo - CamType . . . . . . . . . . . . . . . . . . . . .
RestartInfo - CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructCamInterpolationSettings - CamType . . . . . . . . . . . . . . . . . . . . .
ToleranceInfo - CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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9-539
9-539
9-540
9-541
9-542
9-543

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Contents-15

Contents

Part II

TP Path

Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

II-547

10

PathObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - PathObjectType . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - PathObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructPathArticulatedArm2DConfig - PathObjectType . . . . . . . . . . . . . .
StructPathArticulatedArm2DLinkCompensationConfig - PathObjectType
StructPathArticulatedArmKinematicsConfig - PathObjectType . . . . . . . .
StructPathArticulatedArmLinkCompensationConfig - PathObjectType. .
StructPathCartesianKinematicsConfig - PathObjectType . . . . . . . . . . . .
StructPathDecodingConfigInfo - PathObjectType . . . . . . . . . . . . . . . . . .
StructPathDelta2DKinematicsConfig - PathObjectType . . . . . . . . . . . . .
StructPathDelta3DKinematicsConfig - PathObjectType . . . . . . . . . . . . .
StructPathInterpolationConfigInfo - PathObjectType . . . . . . . . . . . . . . .
StructPathKinematicsConfig - PathObjectType. . . . . . . . . . . . . . . . . . . .
StructPathKinematicsOffsetConfig - PathObjectType . . . . . . . . . . . . . . .
StructPathPickerKinematicsConfig - PathObjectType. . . . . . . . . . . . . . .
StructPathRotaryArmKinematicsConfig - PathObjectType . . . . . . . . . . .
StructPathRotaryArmLinkCompensationA2 - PathObjectType . . . . . . . .
StructPathRotaryArmLinkCompensationA4 - PathObjectType . . . . . . . .
StructPathScaraKinematicsConfig - PathObjectType . . . . . . . . . . . . . . .
StructPathScaraLinkCompensationA2 - PathObjectType . . . . . . . . . . . .
StructPathScaraLinkCompensationA3 - PathObjectType . . . . . . . . . . . .
StructPathScaraLinkCompensationA4 - PathObjectType . . . . . . . . . . . .
StructPathSpecificKinematicsConfig - PathObjectType . . . . . . . . . . . . .

10-551
10-551
10-552
10-553
10-555
10-556
10-558
10-559
10-560
10-561
10-563
10-565
10-566
10-567
10-568
10-569
10-570
10-571
10-572
10-573
10-574
10-575
10-576

11

PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsBackLash - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsEncoder - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsHomingEncoder - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ActualAccelerationMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . .
ActualVelocityMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptDrive - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptExtern - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptLoad - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorNumber - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
AnalogSensorType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AssemblyBase - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ClampingMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerDynamic - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerStruct - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerSwitchData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DataSetMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DigitalInputMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DistributedMotionInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11-577
11-577
11-579
11-583
11-584
11-585
11-586
11-586
11-587
11-588
11-590
11-591
11-591
11-592
11-592
11-593
11-594
11-595
11-595
11-596
11-597
11-598
11-602
11-603

Contents-16

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SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Contents

Drift - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriveData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicComp - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicFollowing - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EmergencyRampGenerator - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderNumber - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExtrapolationPositionFilterType - PathAxis . . . . . . . . . . . . . . . . . . . . . .
Filter - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FineInterpolator - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControlHeldValueMonitoring - PathAxis. . . . . . . . . . . . . . . . . . . .
ForceControlRunningInWindowMonitoring - PathAxis . . . . . . . . . . . . .
ForceControllerData - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControllerDifference - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Friction - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Gear - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
GearingPosTolerance - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HWEndPos - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncBackLash - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncEncoder - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncHomingEncoder - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - PathAxis. . . . . . . . . . . . . . . . . .
InversCountDirection - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPoint - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPointHydraulicType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
LeadScrewInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LinearMotorDriveData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LinearStepMotorDriveDataType - PathAxis . . . . . . . . . . . . . . . . . . . . .
MaxAcceleration - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxForceCommandData - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxJerk - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxVelocity - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NeutralBand - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfAdditionalSensors - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDataSets - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDigitalInputs - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfEncoders - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OutputLimits - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PD_Controller - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerForce - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerPos - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PT2PositionFilterType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PV_Controller - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathAxisPosTolerance - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathPerRevolution - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathSyncAxisPosTolerance - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . .
PositionFilterType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

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11-604
11-605
11-607
11-610
11-611
11-612
11-614
11-615
11-620
11-620
11-621
11-622
11-623
11-624
11-624
11-625
11-627
11-627
11-628
11-629
11-630
11-632
11-634
11-636
11-637
11-638
11-643
11-644
11-644
11-645
11-645
11-646
11-648
11-649
11-650
11-650
11-651
11-652
11-653
11-654
11-655
11-657
11-658
11-659
11-660
11-661
11-663
11-665
11-666
11-668
11-668
11-669
11-670

Contents-17

Contents

PositionMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProcessModel - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Range - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolution - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartConditionInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamNegative - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamPositive - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorNist - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorSetActualValue - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SetPointDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SimulationInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Slippage - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SmoothingFilter - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StateDriveExternalZeroMark - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorDriveDataType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorMonitoringType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisActualValueUpdateCounter - PathAxis . . . . . . . . . . . . . . . . .
StructAxisAdditionalOffset - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisAnalogSensorErrorStateMonitoring - PathAxis . . . . . . . . . . .
StructAxisAnalogSensorReadyStateMonitoring - PathAxis. . . . . . . . . .
StructAxisDriveControlConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - PathAxis. . . . . .
StructAxisFilterForceControlConfig - PathAxis . . . . . . . . . . . . . . . . . . .
StructAxisInvertFOutput - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisInvertQOutput - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisNistDriverConfig - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisOperatingDataInInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - PathAxis . . . . . . . . . . . . . . . . . . . . .
StructAxisServoMonitoringConfig - PathAxis . . . . . . . . . . . . . . . . . . . .
StructAxisSetpointFilter - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSlidingFriction - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSpeedLimitation - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSwLimitConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSystemDeadTimeData - PathAxis. . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataInInfo - PathAxis . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataOutInfo - PathAxis . . . . . . . . . . . . . . . . . .
StructCommandValueQuantization - PathAxis . . . . . . . . . . . . . . . . . . .
StructControllerOutput - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructDirectOutputDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructDriveInterfaceDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . .
StructDriverInfoDirectIncremental - PathAxis . . . . . . . . . . . . . . . . . . . .
StructEnableBit - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolation - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolationFilter - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructLogAddressIoBitType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructPaxDynamicQFData - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . .
StructPositionDifferenceMeasurement - PathAxis . . . . . . . . . . . . . . . .
StructPressureDifferenceMeasurement - PathAxis. . . . . . . . . . . . . . . .

Contents-18

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11-671
11-672
11-672
11-673
11-673
11-674
11-675
11-676
11-677
11-677
11-678
11-679
11-683
11-683
11-684
11-685
11-686
11-687
11-688
11-689
11-690
11-692
11-694
11-695
11-696
11-698
11-699
11-700
11-700
11-701
11-702
11-704
11-704
11-705
11-706
11-707
11-708
11-709
11-710
11-711
11-711
11-712
11-713
11-714
11-715
11-718
11-719
11-720
11-721
11-722
11-723
11-724
11-725

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Contents

StructSensorDriverInfo - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructToleranceRange - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TypeOfAxisInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VelocityPositionProfile - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Part III

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TP Cam_ext

Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12

11-727
11-729
11-730
11-733

III-737

AdditionObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - AdditionObjectType . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - AdditionObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - AdditionObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAdderDecodingConfigType - AdditionObjectType . . . . . . . . . . . .
StructBaseConfigType - AdditionObjectType . . . . . . . . . . . . . . . . . . . .
StructMotionInMainType - AdditionObjectType. . . . . . . . . . . . . . . . . . .
StructMotionInType - AdditionObjectType. . . . . . . . . . . . . . . . . . . . . . .
StructMotionOutType - AdditionObjectType . . . . . . . . . . . . . . . . . . . . .

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12-741
12-741
12-742
12-743
12-744
12-744
12-745
12-745
12-746

13

ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13-747
DecodingConfigInfo - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . 13-747
ExecutionConfigInfo - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . 13-748
Filter - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-749
PT2PositionFilterType - ControllerObjectType . . . . . . . . . . . . . . . . . . . . 13-750
RestartInfo - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-751
SmoothingFilter - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . 13-752
StructCompactControllerControllerType - ControllerObjectType . . . . . . 13-753
StructCompactControllerPreControl - ControllerObjectType. . . . . . . . . . 13-753
StructControlObjectControlDeviationThreshold - ControllerObjectType . 13-754
StructControllerObjectControlDeviationMonitoring - ControllerObjectType 13-754
StructControllerObjectInputInterface - ControllerObjectType . . . . . . . . . 13-755
StructControllerObjectOutputDerivativeLimitingConfig ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-756
StructControllerObjectOutputInterface - ControllerObjectType . . . . . . . . 13-757
StructControllerObjectOutputLimitConfig - ControllerObjectType . . . . . . 13-758
StructControllerObjectPIDContollerDConfig - ControllerObjectType . . . 13-758
StructControllerObjectPIDContollerIConfig - ControllerObjectType . . . . 13-759
StructControllerObjectPIDContollerIConfigILimit - ControllerObjectType . 13-759
StructControllerObjectPIDContollerLimitAntiWindup ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-760
StructControllerObjectPIDControllerConfig - ControllerObjectType . . . . 13-760

14

FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructDINTInMainType - FormulaObjectType . . . . . . . . . . . . . . . . . . . .
StructDINTInType - FormulaObjectType. . . . . . . . . . . . . . . . . . . . . . . .
StructDINTOutMainType - FormulaObjectType . . . . . . . . . . . . . . . . . .
StructDINTOutType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . .

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

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14-761
14-761
14-762
14-763
14-764
14-764
14-765
14-765

Contents-19

Contents

15

16

StructFormulaObjectMotionOutConfig - FormulaObjectType . . . . . . . .
StructLREALInMainType - FormulaObjectType . . . . . . . . . . . . . . . . . .
StructLREALInType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . .
StructLREALOutMainType - FormulaObjectType . . . . . . . . . . . . . . . . .
StructLREALOutType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . .
StructMotionInMainType - FormulaObjectType. . . . . . . . . . . . . . . . . . .
StructMotionInType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . .
StructMotionOutMainType - FormulaObjectType . . . . . . . . . . . . . . . . .

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14-766
14-766
14-767
14-767
14-768
14-768
14-769
14-769

FixedGearType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - FixedGearType. . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - FixedGearType . . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - FixedGearType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - FixedGearType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructBaseConfigType - FixedGearType . . . . . . . . . . . . . . . . . . . . . . .
StructMotionInMainType - FixedGearType . . . . . . . . . . . . . . . . . . . . . .
StructMotionInType - FixedGearType . . . . . . . . . . . . . . . . . . . . . . . . . .
StructMotionOutType - FixedGearType . . . . . . . . . . . . . . . . . . . . . . . .

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15-771
15-771
15-772
15-773
15-774
15-775
15-775
15-776
15-776

SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsEncoder - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorDriverInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - SensorType. . . . . . . . . . . . . . . . . . . . . .
AnalogSensorType - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionData - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionDataAdaptType - SensorType. . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriverInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Filter - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncEncoder - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - SensorType . . . . . . . . . . . . . . .
InversCountDirection - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . .
LeadScrewInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathPerRevolution - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PositionFilterType - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolution - SensorType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . .
Slippage - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - SensorType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisActualValueUpdateCounter - SensorType . . . . . . . . . . . . . .
StructAxisAnalogSensorErrorStateMonitoring - SensorType . . . . . . . .
StructAxisAnalogSensorReadyStateMonitoring - SensorType . . . . . . .
StructAxisDriveControlConfig - SensorType . . . . . . . . . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - SensorType . . .
StructAxisNistDriverConfig - SensorType . . . . . . . . . . . . . . . . . . . . . . .
StructAxisOperatingDataInInfo - SensorType . . . . . . . . . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - SensorType . . . . . . . . . . . . . . . . . . .
StructAxisSpeedLimitation - SensorType . . . . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalData - SensorType . . . . . . . . . . . . . . . . . . . . .

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16-777
16-777
16-781
16-783
16-784
16-785
16-786
16-786
16-787
16-790
16-791
16-791
16-792
16-793
16-794
16-794
16-795
16-795
16-796
16-797
16-798
16-799
16-799
16-800
16-801
16-803
16-804
16-805
16-807
16-807
16-808
16-810
16-811
16-812

Contents-20

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Contents

StructAxisTechnologicalDataInInfo - SensorType. . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataOutInfo - SensorType . . . . . . . . . . . . . . .
StructDriverInfoDirectIncremental - SensorType. . . . . . . . . . . . . . . . . .
StructExtrapolation - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolationFilter - SensorType . . . . . . . . . . . . . . . . . . . . . . . . .
StructInSensorMain - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructInputObjectRange - SensorType . . . . . . . . . . . . . . . . . . . . . . . . .
StructLogAddressIoBitType - SensorType . . . . . . . . . . . . . . . . . . . . . .
StructSensorDriverInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . .
StructSensorExtrapolation - SensorType . . . . . . . . . . . . . . . . . . . . . . .
StructSensorGeneralParameter - SensorType . . . . . . . . . . . . . . . . . . .
StructToleranceRange - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . .

Part IV

17

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16-812
16-813
16-813
16-814
16-815
16-816
16-816
16-817
16-818
16-820
16-820
16-821

TP TControl

Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

IV-825

TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgActualIdentificationType TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgAnalogDevice - TemperatureControllerType . . . .
StructTControllerCfgBinaryDevice - TemperatureControllerType . . . . .
StructTControllerCfgConfigUpdate - TemperatureControllerType . . . .
StructTControllerCfgControlRangeParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgControlledSystemParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgController - TemperatureControllerType. . . . . . . .
StructTControllerCfgCycleParameter - TemperatureControllerType . .
StructTControllerCfgDPIDController - TemperatureControllerType . . .
StructTControllerCfgDPIDParameter - TemperatureControllerType. . .
StructTControllerCfgDataConversionOutput TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgExecutionParameter - TemperatureControllerType
StructTControllerCfgGeneralParameter - TemperatureControllerType.
StructTControllerCfgHTempController - TemperatureControllerType. .
StructTControllerCfgIdentificationMinimumStepSize TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgIdentificationModifiedTangentMethod TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgIdentificationOutputValue TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgIdentificationStandardType TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgIdentificationStaticCondition TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgIdentificationTransitionMode TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgInput - TemperatureControllerType . . . . . . . . . . .
StructTControllerCfgInputAnalog - TemperatureControllerType . . . . . .

17-827

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

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17-827
17-828
17-828
17-829

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17-830
17-830
17-831
17-831
17-832

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17-834
17-835
17-837
17-838

. 17-838
. 17-839
. 17-839
. 17-840
. 17-841
. 17-841
. 17-842
. 17-842

Contents-21

Contents

StructTControllerCfgInputDisplayValueParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgInputFilterParameter - TemperatureControllerType .
StructTControllerCfgInputGradientCheckParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgInputLimitCheckParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgInputSingleLimitCheckParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgLimits - TemperatureControllerType. . . . . . . . . . . .
StructTControllerCfgLimitsControllerParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgLimitsGeneralParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgLimitsProcessParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgOutput - TemperatureControllerType . . . . . . . . . . .
StructTControllerCfgOutputAnalog - TemperatureControllerType . . . . .
StructTControllerCfgOutputPwm - TemperatureControllerType . . . . . . .
StructTControllerCfgOutputSingleOutput - TemperatureControllerType .
StructTControllerCfgParameterMatlab - TemperatureControllerType. . .
StructTControllerCfgParameterNetwork1 - TemperatureControllerType .
StructTControllerCfgParameterPT4Tt - TemperatureControllerType . . .
StructTControllerCfgPlausibilityParameter - TemperatureControllerType
StructTControllerCfgProcessMode - TemperatureControllerType . . . . .
StructTControllerCfgPwmParameter - TemperatureControllerType . . . .
StructTControllerCfgSetpointHandling - TemperatureControllerType. . .
StructTControllerCfgSetpointSmoothing - TemperatureControllerType .
StructTControllerCfgSetpointStartupProfile - TemperatureControllerType
StructTControllerCfgSimulation - TemperatureControllerType . . . . . . . .
StructTControllerCfgSimulationControlledSystemParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgSimulationParameter - TemperatureControllerType.
StructTControllerCfgSimulationSystemNetwork1 TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgSimulationSystemPT4Tt TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerConversionConverterRange TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerConversionLinear - TemperatureControllerType . . . . .
StructTControllerConversionTemperatureRange TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerConversionVector - TemperatureControllerType . . . . .
StructTControllerDataConversionConfig - TemperatureControllerType .
StructTcontrollerCfgIdentification - TemperatureControllerType. . . . . . .

Contents-22

17-843
17-843
17-844
17-844
17-845
17-846
17-847
17-849
17-850
17-852
17-852
17-853
17-853
17-854
17-855
17-857
17-858
17-860
17-861
17-861
17-862
17-863
17-864
17-865
17-866
17-867
17-868
17-869
17-870
17-870
17-871
17-872
17-872

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Part I
TP Cam

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

I-23

I-24

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Contents
Part I
1

TP Cam

DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsEncoder - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ActualVelocityMonitoring - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptDrive - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptExtern - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptLoad - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorDriverInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorMain - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorNumber - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . .
AnalogSensorType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AssemblyBase - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerDynamic - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerStruct - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DataSetMain - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drift - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriveData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriverInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EmergencyRampGenerator - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . .
EncoderMain - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderNumber - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Filter - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FineInterpolator - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControlHeldValueMonitoring - DriveAxis . . . . . . . . . . . . . . . . . . .
ForceControlRunningInWindowMonitoring - DriveAxis . . . . . . . . . . . . .
ForceControllerData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControllerDifference - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Friction - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Gear - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HWEndPos - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncEncoder - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - DriveAxis . . . . . . . . . . . . . . . . .
InversCountDirection - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPoint - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPointHydraulicType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . .
LinearMotorDriveData - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

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1-35
1-35
1-39
1-40
1-40
1-41
1-42
1-44
1-45
1-45
1-46
1-46
1-47
1-48
1-49
1-50
1-51
1-55
1-56
1-58
1-61
1-62
1-63
1-67
1-68
1-69
1-70
1-71
1-72
1-73
1-75
1-75
1-76
1-77
1-78
1-80
1-81
1-82
1-83
1-83
1-84

Contents-25

Contents

LinearStepMotorDriveDataType - DriveAxis . . . . . . . . . . . . . . . . . . . . .
MaxAcceleration - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxForceCommandData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxJerk - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxVelocity - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NeutralBand - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfAdditionalSensors - DriveAxis . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDataSets - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfEncoders - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OutputLimits - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerForce - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerPos - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProcessModel - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Range - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartConditionInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorSetActualValue - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SetPointDriverInfo - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SimulationInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SmoothingFilter - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorDriveDataType - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorMonitoringType - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisAdditionalOffset - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisDriveControlConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - DriveAxis . . . . .
StructAxisFilterForceControlConfig - DriveAxis. . . . . . . . . . . . . . . . . . .
StructAxisInvertFOutput - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisInvertQOutput - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisNistDriverConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisOperatingDataInInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - DriveAxis . . . . . . . . . . . . . . . . . . . . .
StructAxisServoMonitoringConfig - DriveAxis . . . . . . . . . . . . . . . . . . . .
StructAxisSetpointFilter - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSlidingFriction - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSpeedLimitation - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSystemDeadTimeData - DriveAxis . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataInInfo - DriveAxis . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataOutInfo - DriveAxis . . . . . . . . . . . . . . . . .
StructControllerOutput - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructDaxDynamicQFData - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructDirectOutputDriverInfo - DriveAxis. . . . . . . . . . . . . . . . . . . . . . . .
StructDriveInterfaceDriverInfo - DriveAxis. . . . . . . . . . . . . . . . . . . . . . .
StructDriverInfoDirectIncremental - DriveAxis. . . . . . . . . . . . . . . . . . . .
StructEnableBit - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructPressureDifferenceMeasurement - DriveAxis . . . . . . . . . . . . . . .
StructSensorDriverInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TypeOfAxisInfo - DriveAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2

. . . 1-86
. . . 1-87
. . . 1-88
. . . 1-88
. . . 1-89
. . . 1-90
. . . 1-91
. . . 1-92
. . . 1-94
. . . 1-95
. . . 1-96
. . . 1-98
. . 1-100
. . 1-100
. . 1-101
. . 1-102
. . 1-103
. . 1-104
. . 1-105
. . 1-109
. . 1-110
. . 1-111
. . 1-112
. . 1-113
. . 1-114
. . 1-116
. . 1-118
. . 1-119
. . 1-120
. . 1-120
. . 1-121
. . 1-122
. . 1-124
. . 1-124
. . 1-125
. . 1-126
. . 1-127
. . 1-127
. . 1-128
. . 1-129
. . 1-129
. . 1-130
. . 1-131
. . 1-132
. . 1-133
. . 1-136
. . 1-137
. . 1-138
. . 1-140
. . 1-142

ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-145
AbsEncoder - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-145

Contents-26

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Contents

AbsHomingEncoder - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . .
ActualVelocityMonitoring - ExternalEncoderType . . . . . . . . . . . . . . . . .
AdaptDrive - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptExtern - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptLoad - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - ExternalEncoderType . . . . . . . . . . . . . .
AnalogSensorType - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . .
AssemblyBase - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfig - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . .
DistributedMotionInfo - ExternalEncoderType. . . . . . . . . . . . . . . . . . . .
DriverInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderMain - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . .
ExtrapolationPositionFilterType - ExternalEncoderType. . . . . . . . . . . .
Filter - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . .
Gear - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncEncoder - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncHomingEncoder - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - ExternalEncoderType . . . . . . .
InversCountDirection - ExternalEncoderType . . . . . . . . . . . . . . . . . . . .
LeadScrewInfo - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . . . . . . . .
PT2PositionFilterType - ExternalEncoderType . . . . . . . . . . . . . . . . . . .
PathPerRevolution - ExternalEncoderType. . . . . . . . . . . . . . . . . . . . . .
PositionFilterType - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . .
Resolution - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - ExternalEncoderType . . . . . . . . . . . . . . . . . . . .
SensorNist - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorSetActualValue - ExternalEncoderType. . . . . . . . . . . . . . . . . . .
SmoothingFilter - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorMonitoringType - ExternalEncoderType . . . . . . . . . . . . . . . .
StructAxisActualValueUpdateCounter - ExternalEncoderType. . . . . . .
StructAxisAnalogSensorErrorStateMonitoring - ExternalEncoderType.
StructAxisAnalogSensorReadyStateMonitoring - ExternalEncoderType
StructAxisDriveControlConfig - ExternalEncoderType . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisNistDriverConfig - ExternalEncoderType . . . . . . . . . . . . . . .
StructAxisOperatingDataInInfo - ExternalEncoderType . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - ExternalEncoderType . . . . . . . . . . .
StructAxisSpeedLimitation - ExternalEncoderType. . . . . . . . . . . . . . . .
StructAxisTechnologicalData - ExternalEncoderType. . . . . . . . . . . . . .
StructAxisTechnologicalDataInInfo - ExternalEncoderType . . . . . . . . .
StructAxisTechnologicalDataOutInfo - ExternalEncoderType. . . . . . . .
StructDriverInfoDirectIncremental - ExternalEncoderType . . . . . . . . . .
StructExtrapolation - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . .
StructExtrapolationFilter - ExternalEncoderType . . . . . . . . . . . . . . . . .
StructLogAddressIoBitType - ExternalEncoderType. . . . . . . . . . . . . . .
StructSensorDriverInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . .
StructToleranceRange - ExternalEncoderType. . . . . . . . . . . . . . . . . . .

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

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2-150
2-151
2-151
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2-153
2-154
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2-155
2-156
2-159
2-163
2-164
2-165
2-166
2-166
2-167
2-168
2-171
2-172
2-172
2-173
2-174
2-174
2-175
2-176
2-177
2-178
2-178
2-179
2-180
2-181
2-182
2-183
2-185
2-186
2-187

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2-189
2-190
2-192
2-193
2-194
2-195
2-195
2-196
2-197
2-198
2-199
2-200
2-202

Contents-27

Contents

TypeOfAxisInfo - ExternalEncoderType . . . . . . . . . . . . . . . . . . . . . . . . . . 2-203

3

PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsBackLash - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsEncoder - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsHomingEncoder - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ActualAccelerationMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . . . . . .
ActualVelocityMonitoring - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptDrive - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptExtern - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptLoad - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorNumber - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . .
AnalogSensorType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AssemblyBase - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ClampingMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerDynamic - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerStruct - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerSwitchData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DataSetMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfig - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DigitalInputMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DistributedMotionInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drift - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriveData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriverInfo - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicComp - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicData - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicFollowing - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EmergencyRampGenerator - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderMain - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderNumber - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExtrapolationPositionFilterType - PosAxis . . . . . . . . . . . . . . . . . . . . . .
Filter - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FineInterpolator - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControlHeldValueMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . .
ForceControlRunningInWindowMonitoring - PosAxis . . . . . . . . . . . . . .
ForceControllerData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControllerDifference - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Friction - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Gear - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HWEndPos - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncBackLash - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncEncoder - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncHomingEncoder - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - PosAxis . . . . . . . . . . . . . . . . . .
InversCountDirection - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents-28

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3-205
3-205
3-207
3-211
3-212
3-213
3-214
3-214
3-215
3-216
3-218
3-219
3-219
3-220
3-220
3-221
3-222
3-223
3-223
3-224
3-225
3-226
3-230
3-231
3-232
3-233
3-235
3-238
3-239
3-240
3-242
3-243
3-248
3-248
3-249
3-250
3-251
3-251
3-252
3-253
3-255
3-255
3-256
3-257
3-258
3-260
3-262
3-263
3-264
3-269
3-270

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Contents

InvertSetPoint - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPointHydraulicType - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . .
LeadScrewInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LinearMotorDriveData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LinearStepMotorDriveDataType - PosAxis . . . . . . . . . . . . . . . . . . . . . .
MaxAcceleration - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxForceCommandData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxJerk - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxVelocity - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NeutralBand - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfAdditionalSensors - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDataSets - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDigitalInputs - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfEncoders - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OutputLimits - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PD_Controller - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerForce - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerPos - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PT2PositionFilterType - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PV_Controller - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathPerRevolution - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathSyncAxisPosTolerance - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . .
PositionFilterType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PositionMonitoring - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProcessModel - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Range - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolution - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartConditionInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamNegative - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamPositive - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorNist - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorSetActualValue - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SetPointDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SimulationInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Slippage - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SmoothingFilter - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillMonitoring - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StateDriveExternalZeroMark - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorDriveDataType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorMonitoringType - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisActualValueUpdateCounter - PosAxis . . . . . . . . . . . . . . . . .
StructAxisAdditionalOffset - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisAnalogSensorErrorStateMonitoring - PosAxis . . . . . . . . . . .
StructAxisAnalogSensorReadyStateMonitoring - PosAxis . . . . . . . . . .
StructAxisDriveControlConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - PosAxis . . . . . .
StructAxisFilterForceControlConfig - PosAxis. . . . . . . . . . . . . . . . . . . .
StructAxisInvertFOutput - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisInvertQOutput - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

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3-270
3-271
3-271
3-272
3-274
3-275
3-276
3-276
3-277
3-277
3-278
3-279
3-280
3-282
3-283
3-284
3-284
3-285
3-287
3-289
3-290
3-292
3-292
3-293
3-294
3-295
3-296
3-296
3-297
3-298
3-299
3-300
3-301
3-302
3-303
3-304
3-308
3-308
3-309
3-310
3-311
3-312
3-312
3-313
3-314
3-316
3-318
3-319
3-320
3-322
3-323
3-324
3-324

Contents-29

Contents

StructAxisNistDriverConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisOperatingDataInInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisServoMonitoringConfig - PosAxis . . . . . . . . . . . . . . . . . . . . .
StructAxisSetpointFilter - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSlidingFriction - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSpeedLimitation - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSwLimitConfig - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSystemDeadTimeData - PosAxis . . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataInInfo - PosAxis . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataOutInfo - PosAxis . . . . . . . . . . . . . . . . . .
StructCommandValueQuantization - PosAxis. . . . . . . . . . . . . . . . . . . .
StructControllerOutput - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructDirectOutputDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructDriveInterfaceDriverInfo - PosAxis. . . . . . . . . . . . . . . . . . . . . . . .
StructDriverInfoDirectIncremental - PosAxis . . . . . . . . . . . . . . . . . . . . .
StructEnableBit - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolation - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolationFilter - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructLogAddressIoBitType - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructPaxDynamicQFData - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructPositionDifferenceMeasurement - PosAxis . . . . . . . . . . . . . . . . .
StructPressureDifferenceMeasurement - PosAxis . . . . . . . . . . . . . . . .
StructSensorDriverInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructToleranceRange - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TypeOfAxisInfo - PosAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VelocityPositionProfile - PosAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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3-326
3-328
3-328
3-329
3-330
3-331
3-332
3-333
3-334
3-335
3-335
3-336
3-337
3-338
3-339
3-342
3-343
3-344
3-345
3-346
3-347
3-348
3-349
3-351
3-353
3-354
3-357

MeasuringInputType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - MeasuringInputType. . . . . . . . . . . . . . . . . . . . . .
MipBaseCfgInfo - MeasuringInputType. . . . . . . . . . . . . . . . . . . . . . . . .
MipInputCfgInfo - MeasuringInputType . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - MeasuringInputType. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructMeasuringInputLogAddress - MeasuringInputType . . . . . . . . . . .
StructMeasuringInputTimeStampConfig - MeasuringInputType . . . . . .
StructMeasuringRange - MeasuringInputType . . . . . . . . . . . . . . . . . . .

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4-359
4-360
4-361
4-362
4-363
4-363
4-364

OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . .
LogAddressInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OcaBaseCfgInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . .
OcaTypeInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - OutputCamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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5-365
5-365
5-366
5-367
5-369
5-370

CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . .
LogAddressInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OctBaseCfgInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OctTechnologicalCfgInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . .
OctTypeInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - CamTrackType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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6-371
6-372
6-373
6-375
6-375
6-376

Contents-30

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Contents

FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsBackLash - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsEncoder - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsHomingEncoder - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
ActualAccelerationMonitoring - FollowingAxis. . . . . . . . . . . . . . . . . . . .
ActualVelocityMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
AdaptDrive - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptExtern - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptLoad - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorNumber - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - FollowingAxis . . . . . . . . . . . . . . . . . . . .
AnalogSensorType - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
AssemblyBase - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ClampingMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerDynamic - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerStruct - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerSwitchData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DataSetMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfig - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DigitalInputMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DistributedMotionInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
Drift - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriveData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicComp - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicFollowing - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EmergencyRampGenerator - FollowingAxis . . . . . . . . . . . . . . . . . . . . .
EncoderMain - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderNumber - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExtrapolationPositionFilterType - FollowingAxis . . . . . . . . . . . . . . . . . .
Filter - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FineInterpolator - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControlHeldValueMonitoring - FollowingAxis . . . . . . . . . . . . . . . .
ForceControlRunningInWindowMonitoring - FollowingAxis . . . . . . . . .
ForceControllerData - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControllerDifference - FollowingAxis . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Friction - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Gear - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
GearingPosTolerance - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
HWEndPos - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncBackLash - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncEncoder - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncHomingEncoder - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - FollowingAxis. . . . . . . . . . . . . .
InversCountDirection - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPoint - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

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7-377
7-377
7-379
7-383
7-384
7-385
7-386
7-386
7-387
7-388
7-390
7-391
7-391
7-392
7-392
7-393
7-394
7-395
7-395
7-396
7-397
7-398
7-402
7-403
7-404
7-405
7-407
7-410
7-411
7-412
7-414
7-415
7-420
7-420
7-421
7-422
7-423
7-424
7-424
7-425
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7-427
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7-434
7-436
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7-438
7-443
7-444
7-444

Contents-31

Contents

InvertSetPointHydraulicType - FollowingAxis . . . . . . . . . . . . . . . . . . . .
LeadScrewInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LinearMotorDriveData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
LinearStepMotorDriveDataType - FollowingAxis. . . . . . . . . . . . . . . . . .
MaxAcceleration - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxForceCommandData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
MaxJerk - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxVelocity - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NeutralBand - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfAdditionalSensors - FollowingAxis . . . . . . . . . . . . . . . . . . . .
NumberOfDataSets - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDigitalInputs - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfEncoders - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
OutputLimits - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PD_Controller - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerForce - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerPos - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PT2PositionFilterType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
PV_Controller - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathPerRevolution - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathSyncAxisPosTolerance - FollowingAxis. . . . . . . . . . . . . . . . . . . . .
PositionFilterType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PositionMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProcessModel - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Range - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolution - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartConditionInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamNegative - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamPositive - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorNist - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorSetActualValue - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
SetPointDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SimulationInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Slippage - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SmoothingFilter - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillMonitoring - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StateDriveExternalZeroMark - FollowingAxis . . . . . . . . . . . . . . . . . . . .
StepMotorDriveDataType - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . .
StepMotorMonitoringType - FollowingAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisActualValueUpdateCounter - FollowingAxis . . . . . . . . . . . . .
StructAxisAdditionalOffset - FollowingAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisAnalogSensorErrorStateMonitoring - FollowingAxis . . . . . . .
StructAxisAnalogSensorReadyStateMonitoring - FollowingAxis. . . . . .
StructAxisDriveControlConfig - FollowingAxis. . . . . . . . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - FollowingAxis . .
StructAxisFilterForceControlConfig - FollowingAxis . . . . . . . . . . . . . . .
StructAxisInvertFOutput - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisInvertQOutput - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisNistDriverConfig - FollowingAxis. . . . . . . . . . . . . . . . . . . . . .

Contents-32

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7-445
7-445
7-446
7-448
7-449
7-450
7-450
7-451
7-452
7-453
7-454
7-455
7-457
7-458
7-459
7-460
7-461
7-463
7-465
7-466
7-468
7-469
7-470
7-471
7-472
7-472
7-473
7-473
7-474
7-475
7-476
7-477
7-477
7-478
7-479
7-483
7-483
7-484
7-485
7-486
7-487
7-488
7-489
7-490
7-492
7-494
7-495
7-496
7-498
7-499
7-500
7-500
7-501

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Contents

StructAxisOperatingDataInInfo - FollowingAxis. . . . . . . . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - FollowingAxis. . . . . . . . . . . . . . . . . .
StructAxisServoMonitoringConfig - FollowingAxis . . . . . . . . . . . . . . . .
StructAxisSetpointFilter - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSlidingFriction - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSpeedLimitation - FollowingAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisSwLimitConfig - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSystemDeadTimeData - FollowingAxis. . . . . . . . . . . . . . . . .
StructAxisTechnologicalData - FollowingAxis . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataInInfo - FollowingAxis . . . . . . . . . . . . . . .
StructAxisTechnologicalDataOutInfo - FollowingAxis . . . . . . . . . . . . . .
StructCommandValueQuantization - FollowingAxis . . . . . . . . . . . . . . .
StructControllerOutput - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructDirectOutputDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . . .
StructDriveInterfaceDriverInfo - FollowingAxis . . . . . . . . . . . . . . . . . . .
StructDriverInfoDirectIncremental - FollowingAxis . . . . . . . . . . . . . . . .
StructEnableBit - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolation - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolationFilter - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . .
StructLogAddressIoBitType - FollowingAxis . . . . . . . . . . . . . . . . . . . . .
StructPaxDynamicQFData - FollowingAxis . . . . . . . . . . . . . . . . . . . . . .
StructPositionDifferenceMeasurement - FollowingAxis. . . . . . . . . . . . .
StructPressureDifferenceMeasurement - FollowingAxis . . . . . . . . . . . .
StructSensorDriverInfo - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . .
StructToleranceRange - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .
TypeOfAxisInfo - FollowingAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VelocityPositionProfile - FollowingAxis . . . . . . . . . . . . . . . . . . . . . . . . .

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7-502
7-504
7-504
7-505
7-506
7-507
7-508
7-509
7-509
7-510
7-510
7-511
7-512
7-513
7-514
7-517
7-518
7-519
7-520
7-521
7-522
7-523
7-524
7-526
7-528
7-529
7-532

FollowingObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . .
DistributedMotionInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . .
RestartInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SyncingMotionInfo - FollowingObjectType . . . . . . . . . . . . . . . . . . . . . .

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8-533
8-533
8-534
8-534
8-535
8-536

CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InverseCamRepresentationInfo - CamType . . . . . . . . . . . . . . . . . . . . .
RestartInfo - CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructCamInterpolationSettings - CamType . . . . . . . . . . . . . . . . . . . . .
ToleranceInfo - CamType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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9-539
9-539
9-540
9-541
9-542
9-543

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Contents-33

Contents

Contents-34

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis
Associated parameters (maximum):
Execution (ExecutionConfigInfo)
Restart (RestartInfo)
RestartCondition (RestartConditionInfo)
Simulation (SimulationInfo)
TypeOfAxis (TypeOfAxisInfo)

AbsEncoder - DriveAxis
The structure elements of 'AbsEncoder' specify the parameters for an absolute encoder.
Note
Further information about the following parameters and on fine resolution can be found in
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
or in the online help
absBaudRate
Data type:

EnumAbsBaudrate

Changeable online:

No

System default:

Baudrate_3

Specifies the baud rate data for detecting the actual value of the absolute encoder.
Baudrate_5 sets a baud rate of 3 Mbaud.
Baudrate_4 sets a baud rate of 1.5 Mbaud.
Baudrate_3 sets a baud rate of 750 Kbaud.
Baudrate_2 sets a baud rate of 375 Kbaud.
Baudrate_1 sets a baud rate of 187.5 Kbaud.
absDataLength
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

24

Specifies the number of data bits of the absolute encoder range (packet length).
The number of data bits is calculated from the number of steps per revolution multiplied by the number
of revolutions.
For example: 2048 incr./rev. * rev.= data bit length 23

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-35

DriveAxis

absMessageFormat
Data type:

EnumAbsMsgFormat

Changeable online:

No

System default:

PINETREE

Specifies a message frame format for the absolute encoder.

With RIGHT_MARGIN, the protocol format is right-justified.
With PINETREE, the pine tree format is selected.
absMessageLength
Data type:

EnumAbsMsgLength

Changeable online:

No

System default:

LENGTH_25

Specifies the message frame length for detecting the actual value of the absolute encoder.
With LENGTH_13, a protocol length of 13 bits is selected.
With LENGTH_21, a protocol length of 21 bits is selected.
With LENGTH_25, a protocol length of 25 bits is selected.
absResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

4096

Specifies the number of increments per encoder revolution specified on the encoder rating plate.
absResolutionMultiplierAbsolute
Data type:

UDINT

Changeable online:

No

System default:

Specifies the multiplication factor of the actual value of the absolute encoder.
Evaluation of the absolute encoder during request by the absolute encoder (GxIST2).
absResolutionMultiplierCyclic
Data type:

UDINT

Changeable online:

No

System default:

Specifies the multiplication factor of the cyclic actual value of the encoder.
Evaluation of the incremental signal of the absolute encoder during operation (GxIST1).

1-36

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

absState
Data type:

EnumAbsState

Changeable online:

No

System default:

GRAY_CODE

Specifies a protocol format for the actual value of the absolute encoder.
With BIN_CODE, a binary code is selected.
With GRAY_CODE, GRAY code is selected.
enableAbsMonitoring
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

YES

Specifies the monitoring mode of the permissible changes of the actual value for the absolute encoder.
With YES (system default), monitoring of the permissible changes of the actual value for the absolute
encoder is activated.
Actual value changes of the absolute encoder greater than or equal to the possible change in accordance with the maximum velocity (maxVelocity.maximum) are limited to the change in accordance
with the current velocity, i.e. the velocity of the previous cycle.
Incorrect actual values, e.g. due to transmission errors, are adjusted.
If the actual value changes are impermissibly high in 5 subsequent cycles, alarm 20005, reason 0, is
issued.
With NO, monitoring of the permissible changes of the actual value for the absolute encoder is not
activated, i.e., incorrect actual values due to transmission errors, for example, are also not changed
and processed as they are.
No technological alarm is issued.
Note
Switch the monitoring function off at your own risk.
After the deactivation of the monitoring, it can no longer be guaranteed that the magnitude of the calculated velocity lies within the limits defined by the user.
The position and the velocity and all derived quantities are also displayed and processed also taking
account of any measured values recognized as being incorrect (control, stop ramps, interpolations,
positioning).
EnumAbsBaudrate
Baudrate_5 (16#01)

3 Mbaud

Baudrate_4 (16#02)

1.5 Mbaud

Baudrate_3 (16#04)

750 Kbaud

Baudrate_2 (16#08)

375 Kbaud

Baudrate_1 (16#10)

187.5 Kbaud

EnumAbsMsgFormat
RIGHT_MARGIN (0)

Right-justified

PINETREE (1)

Pine tree format

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List Manual, 11/2010

1-37

DriveAxis

EnumAbsMsgLength
LENGTH_13 (13)

13 bits

LENGTH_21 (21)

21 bits

LENGTH_25 (25)

25 bits

EnumAbsState
BIN_CODE (16#00)

Binary

GRAY_CODE (16#01)

Gray Code

EnumYesNo

1-38

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

ActualVelocityMonitoring - DriveAxis
The structure elements of 'ActualVelocityMonitoring' specify the monitoring mode for the maximum
actual velocity.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the monitoring mode for the maximum actual velocity.

With NO, monitoring of the actual velocity does not take place.
With YES, the actual velocity is monitored for the maximum permissible value.
When the maximum value is exceeded, the system variable 'sensordata.sensormonitoring.velocity' is
output as 'limitexceeded'.
The velocity is not limited to this value.
maximum
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 1/min

Specifies the maximum permissible actual velocity.

EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-39

DriveAxis

AdaptDrive - DriveAxis
The structure elements of 'AdaptDrive' specify the gear ratio parameters for drive-mounted encoders.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
denFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the denominator of the gear ratio for a measuring gear.

numFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the numerator of the gear ratio for a measuring gear.

AdaptExtern - DriveAxis
The structure elements of 'AdaptExtern' specify the gear ratio parameters for the EXTERN mounting
type.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
denFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the denominator of the gear ratio for a measuring gear.

numFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the numerator of the gear ratio for a measuring gear.

1-40

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

AdaptLoad - DriveAxis
The structure elements of 'AdaptLoad' specify the gear ratio parameters for load-side encoders.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
denFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the denominator of the gear ratio for a measuring gear.

numFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the numerator of the gear ratio for a measuring gear.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-41

DriveAxis

AdditionalSensorDriverInfo - DriveAxis
The elements of this structure are used to configure the I/O module of an encoder.
errorToleranceTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1 s

Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Data type:

EnumActualValueFormat

Changeable online:

Yes, active after restart

System default:

VALUE_LEFT_MARGIN

Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the communication module.

maxValue
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

32511

Specifies the maximum digitalized measured value for the additional encoder.
minValue
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

-32512

Specifies the minimal digitalized measured value for the additional encoder.
resolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

15

Specifies the number of relevant bits for the additional encoder.

1-42

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

EnumActualValueFormat
VALUE_RIGHT_MARGIN (0)

Right-justified

VALUE_LEFT_MARGIN (1)

Left-justified

VALUE_LEFT_MARGIN_WITHOUT_SIGN (2)

Left-justified without sign

VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3)

Right-justified without sign

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-43

DriveAxis

AdditionalSensorMain - DriveAxis
The structure element 'AdditionalSensor' is used to configure an additional encoder.
additionalSensorType
Data type:

EnumAxisAdditionalSensorType

Changeable online:

No

System default:

STANDARD

Specifies the interpretation of the encoder values.

With STANDARD, the digitalized measured value is interpreted as an absolute actual force/pressure
value of an individual encoder.
With PRESSURE_DIFFERENCE_MEASUREMENT, the differential pressure measurement between
two different encoders is set.
With SET_ACTUAL_VALUE, the value is specified with a system variable.
interfaceActivation
Data type:

EnumAxisInterfaceActivationConfig

Changeable online:

No

System default:

STARTUP_ACTIVATED

Specification to activate the digitized measured values.

With STARTUP_ACTIVATED the driver is activated on the technology object following system startup.
With STARTUP_DEACTIVATED the driver is deactivated on the technology object following system
startup.
EnumAxisAdditionalSensorType
STANDARD (0)

Pressure measurement

PRESSURE_DIFFERENCE_MEASUREMENT
(1)

Differential pressure measurement

SET_ACTUAL_VALUE (2)

Actual pressure value via system variable

EnumAxisInterfaceActivationConfig
STARTUP_DEACTIVATED (942)

Deactivated after startup

STARTUP_ACTIVATED (943)

Active after startup

Associated parameters (maximum):

1-44

ConversionData
(ConversionData)

Interpretation of the encoder values

DriverInfo
(AdditionalSensorDriverInfo)

Analog input module

Filter
(Filter)

Filter for actual value smoothing

PressureDifferenceMeasurement
(StructPressureDifferenceMeasurement)

Parameters for differential pressure measurement

Range
(Range)

Definition range of the encoder values

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

AdditionalSensorNumber - DriveAxis
The structure element 'AdditionalSensorNumber' is used to configure the assignment of data set to
additional encoder.
number
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the encoder number.

AnalogConversionDataType - DriveAxis
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder
values read.
_type
Data type:

EnumConversionDataType

Changeable online:

No

System default:

LINEAR_CONVERSIONDATA

Specifies the interpretation type for the digitalized measured value.

factor
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

Specifies the weighting factor for the analog measured value. The weighting factor specifies the relation between distance/velocity per bit.
offset
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the offset for the analog measured value.

EnumConversionDataType
LINEAR_CONVERSIONDATA (1)

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Linear relationship

1-45

DriveAxis

AnalogSensorType - DriveAxis
The structure elements of 'AnalogSensor' specify actual value smoothing.
Associated parameters (maximum):
ConversionData
(AnalogConversionDataType)

Conversion factors between analog input value

and actual position value

DriverInfo
(StructSensorDriverInfo)

Driver data

AssemblyBase - DriveAxis
The structure elements of 'AssemblyBase' specify the parameters for the encoder mounting type.
assemblyBase
Data type:

EnumAxisEncoderAssemblyType

Changeable online:

Yes, active after restart

System default:

ASSEMBLY_BASE_DRIVE

Specifies the assembly base of the encoder.

With ASSEMBLY_BASE_DRIVE, the encoder is a drive-side assembly type.
With ASSEMBLY_BASE_LOAD, the encoder is a load-side assembly type.
With ASSEMBLY_BASE_EXTERN, the encoder is an external assembly type.
With ASSEMBLY_BASE_LINEAR, the encoder is a linear assembly type.
EnumAxisEncoderAssemblyType

1-46

ASSEMBLY_BASE_DRIVE (0)

Drive side

ASSEMBLY_BASE_LOAD (1)

Load side

ASSEMBLY_BASE_EXTERN (2)

External

ASSEMBLY_BASE_LINEAR (3)

Linear

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

ControllerDynamic - DriveAxis
The structure elements of 'ControllerDynamic' specify the reference model monitoring.
Note
The function of the 'ControllerDynamic' (monitoring of actual speed) configuration data element on a
drive axis can only be used when a message frame type that also supplies an actual position value to
the controller is used.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the reference model monitoring.

With 'NO', the monitoring is not activated.
With 'YES', the monitoring is activated.
maxVeloTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

2.0 %

Specifies the maximum deviation between model and process with reference to maximum velocity.
EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-47

DriveAxis

ControllerStruct - DriveAxis
The structure elements of 'ControllerStruct' set the controller structure.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
conType
Data type:

EnumAxisControllerType

Changeable online:

No

System default:

DIRECT

Specifies the controller type.

NODEF has no significance.
With PD, a PD controller is used.
With PV, a P controller with precontrol is used.
With PID, a PID controller is used.
With PID_ACTUAL, a PID controller with actual value-dependent D-component is used.
EnumAxisControllerType
NODEF (0)

No significance

DIRECT (1)

Control only

PD (2)

PID controller

PV (3)

PV controller

PID (4)

PID controller

PID_ACTUAL (5)

PID controller with actual value-dependent Dcomponent

Associated parameters (maximum):

PID_Controller
(PID_ControllerPos)

1-48

PID controller

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

ConversionData - DriveAxis
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder
values read.
Note
Further information is provided:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Supplementary Technology Objects Function Manual
Online help
_type
Data type:

EnumConversionDataType

Changeable online:

No

System default:

LINEAR_CONVERSIONDATA

Specifies the interpretation type for the digitalized measured value.

factor
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 Pa

Specifies the evaluation type for the digitalized measured value.

invert
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether or not the sign of the measured value should be inverted.
With NO, the sign is not inverted.
With YES, the sign is inverted.
offset
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 Pa

Specifies the offset for the digitalized measured value.

EnumConversionDataType
LINEAR_CONVERSIONDATA (1)

Linear relationship

EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-49

DriveAxis

DataSetMain - DriveAxis
The structure elements belonging to "DataSet_(n)" are used to set the data set (n).
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
Associated parameters (maximum):

1-50

AdditionalSensorNumber
(AdditionalSensorNumber)

Assignment of a force/pressure sensor to this

data record

ControllerDynamic
(ControllerDynamic)

Reference model monitoring

ControllerStruct
(ControllerStruct)

Controller parameters

DynamicData
(DynamicData)

Dynamic data of the cascaded control loop system

DynamicQFData
(StructDaxDynamicQFData)

Dynamic data of the hydraulic process

EncoderNumber
(EncoderNumber)

Assignment of an encoder to this data record

ForceControllerData
(ForceControllerData)

Force/pressure controller

ForceControllerDifference
(ForceControllerDifference)

System deviation monitoring of the force/pressure control loop

Gear
(Gear)

Ratio of the load gearbox

InvertQ
(StructAxisInvertQOutput)

Inversion of the Q-output in front of the characteristic curve

InvertSetPoint
(InvertSetPointHydraulicType)

Inversion of the Q-output behind the characteristic curve

ProcessModel
(ProcessModel)

Process model

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

DecodingConfig - DriveAxis
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
Note
Additional information is available at:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
SIMOTION MCC Motion Control Chart Programming and Operating Manual
Function Manual: Basic Functions
or in the online help
behaviourAtTheEndOfProfile
Data type:

EnumEndBehaviourOfProfile

Changeable online:

Yes, active immediately

System default:

STOP_WHEN_PROFILE_END_REACHED

Specifies the behavior at the end of the profile.

With MOVE_WITH_CONSTANT_SPEED, the axis moves at a constant velocity.
In terms of interpolation status, the final condition acts in the same way as the system function _move.
If the physical variable is not equal to 0, setpoint generation will not be completed.
With STOP_IN_PROFILE_END, the profile end is the target of the positioning movement, that is, at
the target, 'velocity:=0'.
With STOP_WHEN_PROFILE_END_REACHED, the axis is stopped only after the profile end has
been reached.
cyclicSetUpInForceLimiting
Data type:

EnumAxisCyclicSetUpInForceLimiting

Changeable online:

Yes, active immediately

System default:

NONE

Specifies how cyclic resetting to the setpoints should occur with active force/pressure limiting.
With 'NONE' cyclic resetting does not occur.
With 'POSITION_BASED' cyclic resetting is to the setpoint position after allowing for the pressure limiting component.
With 'POSITION_AND_DYNAMIC_BASED' cyclic resetting is to the setpoint position and setpoint
velocity after allowing for the pressure limiting component.
decodeSequentialMotionCommand
Data type:

EnumDecodeSequentialMotionCommand

Changeable online:

Yes, active immediately

System default:

IMMEDIATELY

Specifies the cycle in which the next 'SEQUENTIAL' or 'NEXT_MOTION' command is transferred to
the interpolator.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-51

DriveAxis

directionDynamic
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the acceleration model used.

With NO, the non-direction-related acceleration model is used.
With YES, the direction-related acceleration model is used.
disableMotionOperation
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

YES

Specifies the behavior for motion commands stopped with 'stopMode := STOP_WITHOUT_ABORT'
after the enables have been removed.
With 'YES' the motion commands are canceled and cannot be resumed.
With 'NO' the motion commands are not canceled and can be resumed after the enables are reset.
numberOfImmediateCommands
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of commands, programmed with the IMMEDIATELY command parameter,
which can be active simultaneously on one axis.
numberOfMaxBufferedCommandId
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

100

Specifies the maximum number of command IDs active simultaneously whose status can be requested at the end of the relevant command.
A command ID is added to the list with the ST command '_bufferAxisCommandId'.
Removal from the list takes place with the ST command '_removeBufferedAxisCommandId'.
numberOfQueueCommands
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

Specifies the maximum number of commands which can be active simultaneously on one axis.

1-52

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

profileDynamicsLimiting
Data type:

EnumProfileDynamicsLimiting

Changeable online:

Yes, active immediately

System default:

COMMAND_DYNAMICS

Specifies the active limits for dynamic parameters.

With 'COMMAND_DYNAMICS' the system ramps up to the profile or the values specified in the MotionIn vector using the minimum of the dynamic parameters specified in the command or the configured
maximum values in 'MaxJerk', 'MaxAcceleration', and 'MaxVelocity' and is then limited during the
course of the profile to the minimum of the programmed values and the configured maximum values.
With 'MAX_CONFIGURED_DYNAMICS' the system ramps up to the profile or the values specified in
the MotionIn vector using the minimum of the dynamic parameters specified in the command and the
configured maximum values in 'MaxJerk', 'MaxAcceleration', and 'MaxVelocity' and is then limited
during the course of the profile to the configured maximum values.
speedModeSetPointZero
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies how the axis is traversed to zero velocity when the enables are set.
With 'No', the axis is traversed to zero via a braking ramp with the maximum axis dynamic response.
With 'Yes', the velocity setpoint (and acceleration) is set directly to 0 without ramp.
stopWithJerk
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Details of the behavior for a local stop response. This configuration applies only to interpolatory stops.
With 'YES' the local stop response is executed with the value from 'Max.Jerk.maximum'.
With 'NO', the local stop response is executed without jerk limiting.
transferSuperimposedPosition
Data type:

EnumTransferSuperimposedPosition

Changeable online:

Yes, active after restart

System default:

TRANSFER_STANDSTILL

Specifies when the coordinate system of the superimposed motion is reset (to 0).
With 'TRANSFER_STANDSTILL' the position of the superimposed coordinate system is reset to 0
after termination of the setpoint generation of the axis or when programming a motion command with
mergeMode:=IMMEDIATELY or when the axis is reset.
With 'TRANSFER_MERGE' the position of the superimposed coordinate system is reset to 0 when
programming a motion command with mergeMode:=IMMEDIATELY or when the axis is reset.
With ''AXIS_RESET' the position of the superimposed coordinate system is reset to 0 when the axis
is reset.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-53

DriveAxis

EnumEndBehaviourOfProfile
MOVE_WITH_CONSTANT_SPEED (0)

Motion at constant speed

STOP_IN_PROFILE_END (1)

Deceleration to the endpoint / velocity 0

STOP_WHEN_PROFILE_END_REACHED (2)

Deceleration after profile completed

EnumAxisCyclicSetUpInForceLimiting
NONE (0)

No cyclic resetting

POSITION_BASED (1)

Cyclic resetting to the setpoint position

POSITION_AND_DYNAMIC_BASED (2)

Cyclic resetting to the setpoint position and setpoint velocity

EnumDecodeSequentialMotionCommand
IMMEDIATELY (0)

Switch to next command immediately

NEXT_IPO_CYCLE (1)

Switch to next command in next cycle

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumProfileDynamicsLimiting
COMMAND_DYNAMICS (0)

Limiting of dynamic parameters using the minimum value of the configured and programmed
values

MAX_CONFIGURED_DYNAMICS (1)

Limiting of dynamic parameters using configured values

EnumTransferSuperimposedPosition

1-54

TRANSFER_STANDSTILL (0)

Switch to next command at standstill, reset, or

according to merge mode

TRANSFER_MERGE (1)

Switch to next command at reset, or according to

merge mode

TRANSFER_RESET (2)

Switch to next command at reset

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

Drift - DriveAxis
The structure elements of 'Drift' specify drift compensation.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the activation status of drift compensation.

With 'NO', the drift compensation is not activated.
With 'YES', the drift compensation is activated.
EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-55

DriveAxis

DriveData - DriveAxis
The structure elements for 'DriveData' specify the key drive values.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
maxSpeed
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

3000.0 1/min

Specifies the maximum speed.

maxTorque
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

3.2 Nm

Specifies the maximum torque of the drive.

nominalSpeed
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

3000.0 1/min

Specifies the reference speed.

nominalTorque
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

3.2 Nm

Specifies the nominal torque of the drive.

speedReference
Data type:

EnumAxisReferenceMaxNominal

Changeable online:

Yes, active after restart

System default:

MAX_VALUE

Selection setting for scaling: reference speed or maximum speed.

torqueReductionGranularity
Data type:

EnumAxisTorqueForceReductionGranularity

Changeable online:

Yes, active after restart

System default:

BASIC

Specifies the fine resolution of the torque reduction.

1-56

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

torqueReference
Data type:

EnumAxisReferenceMaxNominal

Changeable online:

Yes, active after restart

System default:

MAX_VALUE

Selection setting for scaling: Nominal torque or maximum torque.

EnumAxisReferenceMaxNominal
MAX_VALUE (0)

Maximum value

NOMINAL_VALUE (1)

Nominal value

EnumAxisTorqueForceReductionGranularity
STANDARD (0)

Resolution 1/100

BASIC (16)

Resolution 1/16384

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-57

DriveAxis

DriverInfo - DriveAxis
The structure elements of 'DriverInfo' specify the parameters for the encoder hardware.
Note
Additional information is available at:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Technology Objects Synchronous Operation, Cam Function Manual
or in the online help
encoderNumberOnDevice
Data type:

DINT

Changeable online:

No

System default:

Specifies the number of the encoder actual value for message frames with several actual values, e.g.
DP_TEL106_611U_DSC_2_ENCODER.
lifeSignCheck
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies the monitoring mode for the PROFIBUS DP sign of life between nodes.
With 'NO', the sign of life monitoring is switched off.
With 'YES', the sign of life monitoring is activated.
logAddressIn
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the input data area.

logAddressOut
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the output data area.

1-58

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

telegramType
Data type:

EnumAxisTelegramType

Changeable online:

No

System default:

DP_TEL102_611U_POSCTRL_1_ENCODER

Specifies a PROFIdrive message frame type.

With NO_TELEGRAM, a message frame is not specified.
With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set
up.
With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set
up.
With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one
encoder) is set up.
With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with
two encoders) is set up.
With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives
with one encoder and DSC) is set up.
With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled
drives with two encoders and DSC) is set up.
With DP_TEL81_STANDARD, the standard message frame 81, PZD-2/6 for an encoder is set up.
With DP_TEL82_STANDARD, the standard message frame 82, PZD-2/7 for an encoder is set up.
With DP_TEL83_STANDARD, the standard message frame 83, PZD-2/8 for an encoder is set up.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7
for velocity-controlled drives without encoders is set up.
With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for
velocity-controlled drives with one encoder is set up.
With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for
velocity-controlled drives with two encoders is set up.
With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for
velocity-controlled drives with one encoder and DSC is set up.
With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for
velocity-controlled drives with two encoders and DSC is set up.
EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisTelegramType
NO_TELEGRAM (0)

No message frame

DP_TEL1_STANDARD (1)

Standard message frame 1, PZD-2/2

DP_TEL2_STANDARD (2)

Standard message frame 2, PZD-4/4

DP_TEL3_STANDARD (3)

Standard message frame 3, PZD-5/9

DP_TEL4_STANDARD (4)

Standard message frame 4, PZD-6/14

DP_TEL5_STANDARD (5)

Standard message frame 5, PZD-9/9

DP_TEL6_STANDARD (6)

Standard message frame 6, PZD-10/14

DP_TEL81_STANDARD (81)

Standard message frame 81, PZD-2/6

DP_TEL83_STANDARD (83)

Standard message frame 83, PZD-2/8

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-59

DriveAxis

1-60

DP_TEL101_611U_VELCTRL_NO_ENCODER
(101)

SIEMENS message frame 101, PZD-6/7

DP_TEL102_611U_POSCTRL_1_ENCODER
(102)

SIEMENS message frame 102, PZD-6/10

DP_TEL103_611U_POSCTRL_2_ENCODER
(103)

SIEMENS message frame 103, PZD-7/15

DP_TEL105_611U_DSC_1_ENCODER (105)

SIEMENS message frame 105, PZD-10/10

DP_TEL106_611U_DSC_2_ENCODER (106)

SIEMENS message frame 106/107, PZD-11/15

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

DynamicData - DriveAxis
The structure elements of 'DynamicData' specify the dynamic data of the cascade control system.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
torqueTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.00005 s

Specifies the equivalent time constant of the torque control system.

velocityTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0005 s

Specifies the equivalent time constant of the velocity control system.

Note
This value can only be checked after download.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-61

DriveAxis

EmergencyRampGenerator - DriveAxis
The structure element of 'EmergencyRampGenerator' sets the parameter of the emergency stop ramp
generator.
maxDeceleration
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

3600000.0 m/s

Specifies the deceleration of the braking ramp.

1-62

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

EncoderMain - DriveAxis
The structure elements of 'Encoder' specify the parameters of the encoder.
dataAdaption
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Selects the behavior

For YES, the selected encoder configuration parameters will be modified by the drive.
For NO, the encoder configuration parameters are configured by the user.
encoderIdentification
Data type:

EnumAxisEncoderIdentification

Changeable online:

No

System default:

SIMULATION

Specifies the encoder identification (encoder interface).

With SIMULATION, the circuit between the motor and encoder is closed by means of software. Encoder measured values are calculated from the simulated actual speed or velocity of the axis. It is not
necessary to use a real encoder when simulating encoder operation.
With ONBOARD, the encoder is connected to an ONBOARD encoder interface of the controller (e.g.
C230, C240, etc.).
With DPMASTER, the encoder is connected to an external module. Encoder data is provided via the
DP interface.
With DIRECT, the encoder is connected to the inputs of a digital or analog input module.
With SET_ACTUAL_VALUE, the encoder measured value is provided via the 'sensorsetting.actualvalue' system variable. The measured value is updated cyclically in a user program.
encoderMode
Data type:

EnumAxisEncoderMode

Changeable online:

No

System default:

RECTANGLE_TTL

Specifies the encoder mode (encoder signal type).

RECTANGLE_TTL should be selected if the incremental position is to be measured by evaluating a
rectangular encoder signal.
SINUS_1VPP should be selected if the incremental position is to be measured by evaluating a sinusoidal encoder signal.
RESOLVER should be selected if the incremental position is to be measured by evaluating a resolver's encoder signal.
STEPMOT should be selected, if the incremental position is to be determined by taking a set incremental position for a stepper motor without an encoder.
INTERVAL_COUNTER should be selected if the velocity/speed is to be measured by using an additional module to count intervals between two pulses.
PROFIDRIVE_NIST_A should be selected if the velocity/speed is to be determined by reading actual
speed value data (16 bits wide) from the PROFIDrive message frame.
PROFIDRIVE_NIST_B should be selected if the velocity/speed is to be determined by reading actual
speed value data (32 bits wide) from the PROFIDrive message frame.
SSI_MODE should be selected if the incremental position is to be transferred to the controller in accordance with the specifications of the SSI protocol (absolute encoder).
ENDAT should be selected if the incremental position is to be transferred to the controller in accordance with the specifications of the EnDat protocol (incremental/absolute encoder).

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-63

DriveAxis

encoderType
Data type:

EnumAxisEncoderType

Changeable online:

No

System default:

SENSOR_INCREMENTAL

Specifies the encoder type.

With SENSOR_INCREMENTAL, the encoder is treated as an incremental encoder.
With SENSOR_ABSOLUTE, the encoder is treated as an absolute encoder.
With SENSOR_CYCLIC_ABSOLUTE, the encoder is treated as an absolute encoder. The number of
encoder overflows is also stored in the controller after disabling.
With SENSOR_POSITION_DIFFERENCE_MEASUREMENT, an encoder is configured to allow differential measurement of position and velocity of two definable encoders.
encoderValueType
Data type:

EnumAxisEncoderValueType

Changeable online:

No

System default:

VELOCITY

Specifies the actual value type from which the encoder value is calculated.
With POSITION, the actual value is calculated for both the position and the velocity/speed.
With VELOCITY, the actual value for the velocity/speed is calculated.
With POSITION_AND_PROFIDRIVE_NIST_B, the actual value is calculated for the position and the
actual value of the velocity/speed is read from the PROFIDrive message frame.
With POSITION_AND_DIRECT_NIST_B, the actual value is calculated for the position, and the actual
value for the velocity/speed is read from an area to be addressed in the process image of the inputs
and outputs.
interfaceAllocation
Data type:

EnumAxisSensorInterfaceAllocationConfig

Changeable online:

No

System default:

EXCLUSIVE

Selects the interface behavior.

With EXCLUSIVE, the driver can only be used on this technology object.
With NON_EXCLUSIVE_AND_STARTUP_ACTIVATED, the driver can be used on this and any other
technology object. The driver is activated on the technology object after system startup.
With NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED, the driver can be used on this and any
other technology object. The driver is deactivated on the technology object after system startup.
EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisEncoderIdentification

1-64

SIMULATION (0)

Simulation

ONBOARD (1)

Onboard

DPMASTER (2)

DPMaster

DIRECT (4)

Encoder supplies the value directly

SET_ACTUAL_VALUE (5)

Actual value via system variable

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

EnumAxisEncoderMode
RECTANGLE_TTL (1)

Rectangle

SSI_MODE (2)

SSI

STEPMOTOR (3)

Stepper motor

ENDAT (4)

Endat

SINUS_1VPP (5)

Sine

RESOLVER (6)

Resolver

SENSOR_ANALOG (7)

Analog encoder

INTERVAL_COUNTER (8)

Encoder mode for interval counter

PROFIDRIVE_NIST_A (9)

Velocity value 16-bit

PROFIDRIVE_NIST_B (10)

Velocity value 32-bit

PROFIDRIVE (11)

PROFIdrive profile

EnumAxisEncoderType
SENSOR_INCREMENTAL (1)

Incremental encoder

SENSOR_ABSOLUTE (2)

Absolute encoder

SENSOR_CYCLIC_ABSOLUTE (3)

Absolute encoder cyclic absolute

SENSOR_POSITION_DIFFERENCE_MEASU
REMENT (4)

Differential position

EnumAxisEncoderValueType
POSITION (0)

Calculate actual position value

VELOCITY (1)

Calculate actual velocity value

POSITION_AND_PROFIDRIVE_NIST_B (2)

Calculate actual position values and velocity

from DP protocol

POSITION_AND_DIRECT_NIST_B (3)

Calculate actual position values and actual velocity value from I/O

POSITION_AND_PROFIDRIVE_ENCODER_N
IST_B (4)

Calculate actual position values and velocity

from DP protocol (standard message frame 83)

EnumAxisSensorInterfaceAllocationConfig
EXCLUSIVE (939)

Exclusive

NON_EXCLUSIVE_AND_STARTUP_DEACTI
VATED (940)

Non-exclusive and deactivated

NON_EXCLUSIVE_AND_STARTUP_ACTIVAT
ED (941)

Non-exclusive and active

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-65

DriveAxis

Associated parameters (maximum):

1-66

AbsEncoder
(AbsEncoder)

Absolute encoder

AdaptDrive
(AdaptDrive)

Gear ratio of the measuring system for a driveside assembly type

AdaptExtern
(AdaptExtern)

Gear ratio of the measuring system for an external assembly type

AdaptLoad
(AdaptLoad)

Gear ratio of the measuring system for a loadside assembly type

AnalogSensor
(AnalogSensorType)

Analog measuring system

AssemblyBase
(AssemblyBase)

Assembly type of the measuring system

DriverInfo
(DriverInfo)

Actual value interface

DriverInfoDirectIncremental
(StructDriverInfoDirectIncremental)

Actual value interface of the direct incremental

encoder

Filter
(Filter)

Actual value filter

FrequencyLimit
(FrequencyLimit)

Limit frequency of the measuring system

IncEncoder
(IncEncoder)

Incremental encoder

IntervalCounterConversionData
(IntervalCounterConversionDataType)

Interval counter

InversCountDirection
(InversCountDirection)

Inverse count direction

NistDriverConfig
(StructAxisNistDriverConfig)

Actual speed value

SensorControlConfig
(SensorControlConfig)

Encoder error tolerance

SensorSetActualValue
(SensorSetActualValue)

Actual value via system variable

StepMotorMonitoring
(StepMotorMonitoringType)

Stepper motor

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

EncoderNumber - DriveAxis
The assignment between data record number and measuring system number of the position or velocity sensor is specified with the structure elements for 'EncoderNumber'.
EncoderNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies which encoder is assigned to this data set.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-67

DriveAxis

ExecutionConfigInfo - DriveAxis
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
Note
Further information is provided:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Technology Objects Synchronous Operation, Cam Function Manual
Online help
executionlevel
Data type:

EnumToExecutionLevel

Changeable online:

Yes, active after restart

System default:

IPO

Specifies the task level at which the interpolator task of the technology object is running.
With IPO, the task is executed in the fast interpolator cycle clock.
With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel

1-68

IPO (0)

IPO

IPO_2 (1)

IPO_2

SERVO (2)

Servo

IPO_FAST (3)

IPO_fast

SERVO_FAST (4)

Servo_fast

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

Filter - DriveAxis
The structure elements of 'Filter' specify actual value smoothing.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With 'NO', the filter functionality is deactivated.
With 'YES', the filter functionality is activated.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-69

DriveAxis

FineInterpolator - DriveAxis
The structure element of 'FineInterpolator' specifies the parameter of the fine interpolator.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
_type
Data type:

EnumAxisFineInterpolatorMode

Changeable online:

Yes, active after restart

System default:

LINEAR_MODE

Specifies the type of fine interpolator used.

With DIRECT_MODE, fine interpolation does not take place.
With LINEAR_MODE, a linear fine interpolation takes place.
With CUBIC_MODE, acceleration-continuous setpoints are generated.
With QUADRATIC_MODE, velocity-continuous setpoints are generated.
EnumAxisFineInterpolatorMode

1-70

DIRECT_MODE (0)

No interpolation

LINEAR_MODE (1)

Linear interpolation

CUBIC_MODE (2)

Acceleration-continuous interpolation

QUADRATIC_MODE (3)

Velocity-continuous interpolation

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

ForceControlHeldValueMonitoring - DriveAxis
The force/pressure final value monitoring is set with the structure elements for 'ForceControlHeldValueMonitoring'.
delayTimeToActivate
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the delay between the time when the actual value exceeds the tolerance window and activation of the message.
tolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

20.0 Pa

Specifies the permissible force/pressure value tolerance with a constant setpoint.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-71

DriveAxis

ForceControlRunningInWindowMonitoring - DriveAxis
The parameters of the force entry window monitoring are specified with the structure elements for
'ForceControlRunningIn WindowMonitoring'.
maxDelayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the delay time from the arrival of the force/pressure actual value in the tolerance window
until the activation of the force/pressure value monitoring.
tolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 Pa

Permissible deviation between setpoint and actual value.

winTolTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Specifies the delay time from the activation of the monitoring until the actual value reaches the tolerance window.

1-72

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

ForceControllerData - DriveAxis
The structure elements of 'ForceControllerData' parameterize the force controller.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
_type
Data type:

EnumForceControllerType

Changeable online:

Yes, active after restart

System default:

PID

Controller type for the force controller

invertControlValue
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

With YES, the manipulated variable of the force controller is inverted.

With NO, the manipulated variable of the force controller is not inverted.
typeOfSensorData
Data type:

EnumSensorDataType

Changeable online:

Yes, active after restart

System default:

UNI_DIRECTION

UNI_DIRECTION means that negative actual values cannot be measured.

BOTH_DIRECTION means negative actual values will be measured.
EnumForceControllerType
PID (1)

PID controller

PID_ACTUAL (2)

PID controller with actual value-dependent Dcomponent

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumSensorDataType
UNI_DIRECTION (1)

Unidirectional

BOTH_DIRECTION (2)

Bidirectional

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-73

DriveAxis

Associated parameters (maximum):

1-74

FilterForceControl
(StructAxisFilterForceControlConfig)

Manipulated variable limitation

OutputLimits
(OutputLimits)

Manipulated variable limitation

PID_Controller
(PID_ControllerForce)

Parameters for the PID controller

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

ForceControllerDifference - DriveAxis
The controller differential monitoring is set with the structure elements for 'ForceControllerDifference'.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

With 'YES', the control deviation monitoring of the force controller is activated.
With 'NO', the control deviation monitoring of the force controller remains deactivated (system default).
maxForceTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 Pa

Specifies the maximum permissible control deviation.

EnumYesNo
NO (91)

No

YES (173)

Yes

FrequencyLimit - DriveAxis
The structure elements of 'FrequencyLimit' specify the frequency limit of the encoder.
encoderFrequencyLimit
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

400000.0 Hz

Specifies the frequency limit of the encoder.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-75

DriveAxis

Friction - DriveAxis
The structure elements of 'Friction' specify the friction torque compensation.
amplitude
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

5.0 mm/s

Specifies the maximum value of the friction torque compensation characteristic.

decayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.05 s

Specifies the delay time constant.

delayTimeStandStill
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Specifies the delay time for activation of the standstill signal.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of friction torque compensation.

With NO, the friction torque compensation is not activated.
With YES, the friction torque compensation is activated.
maxVeloStandStill
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm/s

Specifies the maximum velocity at which the standstill signal is active.

EnumYesNo

1-76

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

Gear - DriveAxis
The structure elements of 'Gear' specify the gear ratio of the load gearbox. The gear ratio is only active
for the 'ASSEMBLY_DRIVE' mounting type.
denFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of load revolutions.

numFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of motor revolutions.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-77

DriveAxis

HWEndPos - DriveAxis
The structure elements of 'HWEndPos' are used to specify the monitoring mode of the hardware limit
switches.
bitNumberNegative
Data type:

UDINT

Changeable online:

No

System default:

Specifies the I/O bit number within the I/O byte specified by the logical address.
bitNumberPositive
Data type:

UDINT

Changeable online:

No

System default:

Specifies the I/O bit number within the I/O byte specified by the logical address.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the hardware limit switches.

For 'NO', the hardware limit switches are deactivated.
For 'YES', the hardware limit switches are activated.
interfaceActivation
Data type:

EnumAxisInterfaceActivationConfig

Changeable online:

No

System default:

STARTUP_ACTIVATED

Selects the interface behavior.

With STARTUP_DEACTIVATED the driver is deactivated on the technology object following system
startup.
With STARTUP_ACTIVATED the driver is activated on the technology object following system startup.
logAddressNegative
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address of the negative hardware limit switch.

1-78

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

logAddressPositive
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address of the positive hardware limit switch.

mode
Data type:

EnumMountSwitch

Changeable online:

Yes, active after restart

System default:

END_MOUNTED_SWITCH

Specifies the position of the hardware limit switch relative to the axis traversing range.
With 'END_MOUNTED_SWITCH', the hardware limit switches outside of the permissible traversing
range are always active.
With 'FLEXIBLE_MOUNTED_SWITCH', the hardware limit switches can be crossed in the direction
of the impermissible traversing range.
EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisInterfaceActivationConfig
STARTUP_DEACTIVATED (942)

Deactivated after startup

STARTUP_ACTIVATED (943)

Active after startup

EnumMountSwitch
END_MOUNTED_SWITCH (0)

Limit switch outside of the permissible traversing

range always active

FLEXIBLE_MOUNTED_SWITCH (1)

Limit switch can be crossed

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-79

DriveAxis

IncEncoder - DriveAxis
The structure elements of 'IncEncoder' specify the parameters for an incremental encoder.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enableZeroMonitoring
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of monitoring of the number of increments between two encoder zero
marks.
With 'NO', monitoring of the number of increments between two encoder zero marks is not activated.
With 'YES', monitoring of the number of increments between two encoder zero marks is activated.
incResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

2048

Specifies the number of increments per encoder revolution specified on the encoder rating plate.
incResolutionMultiplierCyclic
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the multiplication factor of the cyclic actual value.

EnumYesNo

1-80

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

IntervalCounterConversionDataType - DriveAxis
The structure elements of 'IntervalCounterConversionData' are used to configure the encoder as an
interval counter.
The 'Interval counter' encoder type is used to determine the speed using an interval duration and the
number of intervals per encoder revolution.
An interval is the time between two successive encoder pulses that are recorded by an encoder
module.
The duration (interval) between the encoder pulses is measured by the module and provided in the
I/O area.
incResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the increments or the number of intervals or encoder pulses per encoder revolution.
referenceTime
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0005 ms

Specifies the reference time for the measurement of the interval duration.
The reference time is the time after which the counter in the encoder module used to determine the
interval duration is incremented by one (interval duration = count * reference time).
Associated parameters (maximum):
DriverInfo
(StructSensorDriverInfo)

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

AnalogDriverInfo (Only the logical address

'logAddress' of the reference value for the interval duration stored by the encoder module in the
I/O area has to be specified. The other elements
of the 'StructSensorDriverInfo' structure are not
taken into account for the configuration of the
interval counter.)

1-81

DriveAxis

InversCountDirection - DriveAxis
The structure elements of 'InversCountDirection' specify the counting direction of the actual encoder
value.
encoderFeedbackPolarity
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the counting direction of the actual encoder value is inverted.
With NO, the count direction of the actual encoder value is not inverted. (System default)
With YES, the count direction of the actual encoder value is inverted.
EnumYesNo

1-82

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

InvertSetPoint - DriveAxis
The inversion of actuating signal is specified with the structure elements for 'InvertSetPoint'.
With an electrical axis, this means the adaptation of the direction of rotation of the drive to the rotational direction of the machine.
With a hydraulic axis, this means the inversion of the F-output behind the characteristic curve.
invSetPoint
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the manipulated variable inversion.

With 'NO', the manipulated variable is output unchanged.
With 'YES', the manipulated variable is output inverted.
EnumYesNo
NO (91)

No

YES (173)

Yes

InvertSetPointHydraulicType - DriveAxis
The structure element for 'InvertSetPoint' specifies the inversion of the Q-output value after the characteristic.
invert
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the activation status.

With NO, the Q-output value behind the characteristic curve is output unchanged.
With YES, the Q-output value behind the characteristic curve is output inverted.
EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-83

DriveAxis

LinearMotorDriveData - DriveAxis
The structure elements of 'LinearMotorDriveData' specify key drive values for linear motors.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
forceReductionGranularity
Data type:

EnumAxisTorqueForceReductionGranularity

Changeable online:

Yes, active after restart

System default:

BASIC

Specifies the fine resolution of the force reduction.

forceReference
Data type:

EnumAxisReferenceMaxNominal

Changeable online:

Yes, active after restart

System default:

MAX_VALUE

Selection setting for scaling: Reference force or maximum force.

maxForce
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1000.0 N

Specifies the maximum force.

maxSpeed
Data type:

LREAL

Changeable online:

No

System default:

3000.0 1/min

Specifies the maximum traversing velocity.

nominalForce
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1000.0 N

Specifies the maximum force.

nominalSpeed
Data type:

LREAL

Changeable online:

No

System default:

3000.0 1/min

Specifies the reference velocity.

1-84

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

speedReference
Data type:

EnumAxisReferenceMaxNominal

Changeable online:

Yes, active after restart

System default:

MAX_VALUE

Selection setting for scaling: Reference velocity or maximum velocity.

EnumAxisTorqueForceReductionGranularity
STANDARD (0)

Resolution 1/100

BASIC (16)

Resolution 1/16384

EnumAxisReferenceMaxNominal
MAX_VALUE (0)

Maximum value

NOMINAL_VALUE (1)

Nominal value

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-85

DriveAxis

LinearStepMotorDriveDataType - DriveAxis
The structure elements of 'LinearStepMotorDriveData' specify key drive values for stepper motors.
maxFrequency
Data type:

LREAL

Changeable online:

No

System default:

50000.0 Hz

Specifies the maximum frequency for motor steps.

stepMotorResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

1000

Specifies the number of motor steps per revolution.

1-86

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

MaxAcceleration - DriveAxis
The structure elements of 'MaxAcceleration' define the maximum permissible acceleration and the
monitoring mode for the change of the manipulated variable.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enableSetPointMonitoring
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the monitoring of the manipulated variable change
With 'NO', the monitoring is deactivated.
With 'YES', the monitoring is activated. The change of the manipulated variable is monitored but not
limited.
The value specified in 'maxAcceleration.maximum' is converted into the value for the maximum
change of the manipulated variable.
maximum
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

3600000.0 1/min

Specifies the maximum permissible acceleration.

EnumYesNo
NO (91)

No

YES (173)

Yes

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1-87

DriveAxis

MaxForceCommandData - DriveAxis
The structure elements for 'MaxForceCommandData' are used to configure the type of setpoint generation.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
maximum
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1000.0

Specifies the maximum force/pressure setpoint.

maximumDerived
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10000.0

Specifies the maximum rise of the maximum force/pressure setpoint.

MaxJerk - DriveAxis
The structure element of 'MaxJerk' defines the maximum permissible jerk.
Note
Further information is provided:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
SIMOTION Basic Functions Function Manual
Online help
maximum
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

4320000000.0 1/min

Specifies the maximum possible jerk.

1-88

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

MaxVelocity - DriveAxis
The structure element of 'MaxVelocity' defines the maximum permissible velocity.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
maximum
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

3000.0 1/min

Specifies the maximum permissible velocity.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-89

DriveAxis

NeutralBand - DriveAxis
The structure elements of 'NeutralBand' specify the parameters for neutral band compensation.
centreValue
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the center point of the neutral band.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of neutral band compensation.

With NO, the neutral band compensation is not activated.
With YES, the neutral band compensation is activated.
range
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the range of the neutral band.

EnumYesNo

1-90

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

NumberOfAdditionalSensors - DriveAxis
The structure elements for 'NumberOfAdditionalSensors' are used to configure the additional encoders.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
number
Data type:

UDINT

Changeable online:

No

System default:

Specifies the number of encoders for a force-controlled axis

Associated parameters (maximum):
AdditionalSensor_1
(AdditionalSensorMain)

Encoder 1

AdditionalSensor_2
(AdditionalSensorMain)

Encoder 2

AdditionalSensor_3
(AdditionalSensorMain)

Encoder 3

AdditionalSensor_4
(AdditionalSensorMain)

Encoder 4

AdditionalSensor_5
(AdditionalSensorMain)

Encoder 5

AdditionalSensor_6
(AdditionalSensorMain)

Encoder 6

AdditionalSensor_7
(AdditionalSensorMain)

Encoder 7

AdditionalSensor_8
(AdditionalSensorMain)

Encoder 8

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1-91

DriveAxis

NumberOfDataSets - DriveAxis
The structure elements for 'NumberOfDataSets' specify the number of data sets.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
changeMode
Data type:

EnumChangeMode

Changeable online:

Yes, active after restart

System default:

IN_STANDSTILL

Specifies the mode for data set change.

With 'NEVER', data record switchover does not take place.
With 'IN_POSITION', the data record switchover takes place when the positioning window is reached.
With 'IN_STANDSTILL', the data record switchover takes place when the standstill signal is present.
With 'IMMEDIATELY', data record switchover takes place immediately.
initDataSet
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the initialization data set.

numberOfDataSets
Data type:

UDINT

Changeable online:

No

System default:

Specifies the number of data sets.

smoothingTimeByChangeDifference
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

The time constant parameterizes a PT1 element that smoothes abrupt changes in the manipulated
variable. Such jumps occur, for example, as a result of Kv changes.
This filter is not effective for changes in the Kv factor.
This filter is effective for data record changes.
EnumChangeMode

1-92

NEVER (0)

No switchover

IN_POSITION (1)

Switchover when axis in positioning window

IN_STANDSTILL (3)

Switchover when axis below standstill velocity

IMMEDIATELY (7)

Immediate switchover

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

Associated parameters (maximum):

DataSet_1
(DataSetMain)

Data record 1

DataSet_10
(DataSetMain)

Data record 10

DataSet_11
(DataSetMain)

Data record 11

DataSet_12
(DataSetMain)

Data record 12

DataSet_13
(DataSetMain)

Data record 13

DataSet_14
(DataSetMain)

Data record 14

DataSet_15
(DataSetMain)

Data record 15

DataSet_16
(DataSetMain)

Data record 16

DataSet_2
(DataSetMain)

Data record 2

DataSet_3
(DataSetMain)

Data record 3

DataSet_4
(DataSetMain)

Data record 4

DataSet_5
(DataSetMain)

Data record 5

DataSet_6
(DataSetMain)

Data record 6

DataSet_7
(DataSetMain)

Data record 7

DataSet_8
(DataSetMain)

Data record 8

DataSet_9
(DataSetMain)

Data record 9

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1-93

DriveAxis

NumberOfEncoders - DriveAxis
The structure element of 'NumberOfEncoders' sets the number of encoders.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
dscEncoderNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the DSC encoder.

numberOfEncoders
Data type:

UDINT

Changeable online:

No

System default:

Specifies the number of encoders.

Associated parameters (maximum):

1-94

Encoder_1
(EncoderMain)

Encoder 1

Encoder_2
(EncoderMain)

Encoder 2

Encoder_3
(EncoderMain)

Encoder 3

Encoder_4
(EncoderMain)

Encoder 4

Encoder_5
(EncoderMain)

Encoder 5

Encoder_6
(EncoderMain)

Encoder 6

Encoder_7
(EncoderMain)

Encoder 7

Encoder_8
(EncoderMain)

Encoder 8

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

OutputLimits - DriveAxis
The structure element 'OutputLimits' is used to configure the manipulated variable limitation.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
_max
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

500.0

Specifies the maximum output value for the force controller.

_min
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

-500.0

Specifies the minimum output value for the force controller.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

1-95

DriveAxis

PID_ControllerForce - DriveAxis
The structure element 'PID_Controller' is used to configure the PID controller.
decayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Delay time constant of D-action component

enableAntiWindup
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies the activation status of the integrator limitation.

With 'NO', the integrator limitation is not activated.
With 'YES', the integrator limitation is activated.
integratorFeedbackTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the time constant to deactivate the I component.

kd
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the D component gain.

ki
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the I component gain.

kp
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0

Specifies the P component gain.

1-96

SIMOTION Technology Packages Configuration Data

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DriveAxis

kpc
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

100.0 %

Specifies the pre-control factor.

preCon
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the precontrol system.

With 'NO', the precontrol is not activated.
With 'YES', the precontrol is activated.
EnumYesNo
NO (91)

No

YES (173)

Yes

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DriveAxis

PID_ControllerPos - DriveAxis
The structure element 'PID_Controller' is used to configure the PID controller.
balanceFilterMode
Data type:

EnumBalanceFilterMode

Changeable online:

Yes, active after restart

System default:

MODE_1

Specifies the balancing filter.

decayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Specifies the delay time constant of the D component.

enableAntiWindup
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Activation of the integrator limitation.

kd
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the D component gain.

ki
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 1/s

Specifies the I component gain.

kp
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0

Specifies the P component gain.

1-98

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List Manual, 11/2010

DriveAxis

kpc
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

100.0 %

Specifies the pre-control factor.

preCon
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the precontrol system.

With 'NO', the precontrol is not activated.
With 'YES', the precontrol is activated.
EnumBalanceFilterMode
OFF (0)

Balancing filter not active

MODE_1 (1)

Balancing filter active

MODE_2 (2)

Expanded balancing filter active

EnumYesNo
NO (91)

No

YES (173)

Yes

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1-99

DriveAxis

ProcessModel - DriveAxis
The structure elements of 'ProcessModel' set the parameters for the process model.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
T1
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.003 s

Specifies the first time constant.

T2
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0001 s

Specifies the second time constant.

ks
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.00000095367431640625

Specifies the transmission factor.

Range - DriveAxis
The 'Range' structure elements are used to configure the definition range of the read encoder values.
_max
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10000.0

Specifies the maximum value.

_min
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

-10000.0

Specifies the minimum value.

1-100

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

RestartConditionInfo - DriveAxis
'RestartConditionInfo' is used to set the state in which axis restart is possible.
restartAxisCondition
Data type:

EnumRestartAxisCondition

Changeable online:

Yes, active after restart

System default:

AXIS_DISABLED

Specifies the condition for restart.

With 'NO_CONSTRAINTS', restart takes place irrespective of the axis state.
With 'STANDSTILL', restart takes place only when a standstill signal is present.
With 'AXIS_DISABLED', restart only takes place if there are no enables set on the axis.
EnumRestartAxisCondition
NO_CONSTRAINTS (0)

Restart without constraints

STANDSTILL (1)

Restart during standstill

AXIS_DISABLED (2)

Restart only when no enables are set

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1-101

DriveAxis

RestartInfo - DriveAxis
'RestartInfo' is used to enable technology object restart with system variables and/or by command or
just by command.
behaviorInvalidSysvarAccess
Data type:

EnumToInvalidSysvarAccess

Changeable online:

No

System default:

LAST_VALUE

If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP
mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology
object is restarted or deactivated.
The values stored in the image are supplied when system variables are accessed during the technology object restart or deactivation phase.
restartActivationSetting
Data type:

EnumToRestartActivationSetting

Changeable online:

Yes, active after restart

System default:

RESTART_BY_SYSVAR_AND_COMMAND

With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with

system variables and/or by command.
With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
DEFAULT_VALUE (2)

Supply substitute value from default value

STOP_DEVICE (3)

No substitute value, switch to STOP mode

LAST_VALUE (338)

Supply substitute value from last valid value

EnumToRestartActivationSetting

1-102

RESTART_BY_SYSVAR_AND_COMMAND (0)

Allow restart via system variable and/or command

RESTART_BY_COMMAND (1)

Allow restart only via command

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

SensorControlConfig - DriveAxis
The tolerance of an encoder error is specified with the structure elements for 'SensorControlConfig'.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
tolerateSensorDefect
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether a failure of an encoder not involved in the closed-loop control should be tolerated.
With 'NO', a failure is not tolerated.
With 'YES', a failure is tolerated.
EnumYesNo
NO (91)

No

YES (173)

Yes

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1-103

DriveAxis

SensorSetActualValue - DriveAxis
The structure elements of 'SensorSetActualValue' specify the parameters for actual value read-in via
system variable.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
maxFailures
Data type:

UDINT

Changeable online:

Yes, active immediately

System default:

Specifies the number of permissible failures with reference to the update cycle.
updateCycle
Data type:

EnumAxisUpdateCycle

Changeable online:

Yes, active after restart

System default:

IPO

Specifies the actual value update cycle via system variable.

EnumAxisUpdateCycle

1-104

IPO (0)

IPO

IPO_2 (1)

IPO_2

SERVO (2)

Servo

IPO_FAST (3)

IPO_fast

SERVO_FAST (4)

Servo_fast

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

SetPointDriverInfo - DriveAxis
The structure elements of 'SetPointDriverInfo' specify the driver information for the drive interface.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
actorType
Data type:

EnumAxisDioActorType

Changeable online:

No

System default:

NO_TYPE

Specifies the type of drive.

With NO_TYPE, there is no interface specification.
With 'ANALOG', the interface is configured for analog drives.
With 'STEPMOTOR', the interface is configured for stepper motors.
interfaceAllocation
Data type:

EnumAxisActuatorInterfaceAllocationConfig

Changeable online:

No

System default:

EXCLUSIVE

Selects the interface behavior.

With EXCLUSIVE, the driver can only be used on this technology object.
With NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED, the driver can be used on this or any
other technology object. The driver is deactivated on the technology object after system startup.
With NON_EXCLUSIVE_AND_STARTUP_ACTIVATED, the driver can be used on this or any other
technology object. The driver is activated on the technology object after system startup.
lifeSignCheck
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies the activation status of life sign monitoring.

With NO, the sign of life monitoring is not activated.
With YES, the sign of life monitoring is activated.
logAddressIn
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the input data area.

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DriveAxis

logAddressOut
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the output data area.

maxSetPointVoltage
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

10.0 V

Specifies the standard voltage with which the analog drive reaches its rated speed.
mode
Data type:

EnumAxisDriverMode

Changeable online:

No

System default:

SIMULATION

Specifies the type of drive interface.

With SIMULATION, actuator and encoder are short-circuited via a delay element.
With ONBOARD, the ONBOARD interfaces are used.
With DPMASTER, the drive coupling is performed via PROFIBUS DP.
.
motorType
Data type:

EnumAxisMotorType

Changeable online:

No

System default:

STANDARD_MOTORTYPE

Specifies the motor type.

With STANDARD_MOTORTYPE, operation with a standard motor is configured.
With LINEAR_MOTORTYPE, operation with a linear motor is configured.
outputNumberOnDevice
Data type:

UDINT

Changeable online:

No

System default:

Not used

1-106

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

telegramType
Data type:

EnumAxisTelegramType

Changeable online:

No

System default:

DP_TEL102_611U_POSCTRL_1_ENCODER

Specifies the PROFIBUS message frame type.

With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set
up.
With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set
up.
With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one
encoder) is set up.
With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with
two encoders) is set up.
With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives
with one encoder and DSC) is set up.
With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled
drives with two encoders and DSC) is set up.
The message frames DP_TEL81_STANDARD (81) to DP_TEL83_STANDARD (83) are not relevant
for DriveAxis.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7
for velocity-controlled drives without encoders is set up.
With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for
velocity-controlled drives with one encoder is set up.
With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for
velocity-controlled drives with two encoders is set up.
With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for
velocity-controlled drives with one encoder and DSC is set up.
With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for
velocity-controlled drives with two encoders and DSC is set up.
The message frames DP_TEL125_SIEM_DSC_1_ENCODER_SPLINE (125) and
DP_TEL126_SIEM_DSC_2_ENCODER_SPLINE (126) are not supported for he SIMOTION Version
V4.2.
EnumAxisDioActorType
NO_TYPE (0)

No type

ANALOG (1)

Analog

STEPMOTOR (2)

Step mode

EnumAxisActuatorInterfaceAllocationConfig
EXCLUSIVE (939)

Technology object (TO) exclusive

NON_EXCLUSIVE_AND_STARTUP_DEACTI
VATED (940)

TO non-exclusive and deactivated

NON_EXCLUSIVE_AND_STARTUP_ACTIVAT
ED (941)

TO non-exclusive and active

EnumYesNo
NO (91)

No

YES (173)

Yes

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1-107

DriveAxis

EnumAxisDriverMode
SIMULATION (0)

Simulation

ONBOARD (1)

Onboard

DPMASTER (2)

DP Master

EnumAxisMotorType
STANDARD_MOTORTYPE (0)

Standard motor

LINEAR_MOTORTYPE (1)

Linear motor

EnumAxisTelegramType
NO_TELEGRAM (0)

No message frame

DP_TEL1_STANDARD (1)

Standard message frame 1, PZD-2/2

DP_TEL2_STANDARD (2)

Standard message frame 2, PZD-4/4

DP_TEL3_STANDARD (3)

Standard message frame 3, PZD-5/9

DP_TEL4_STANDARD (4)

Standard message frame 4, PZD-6/14

DP_TEL5_STANDARD (5)

Standard message frame 5, PZD-9/9

DP_TEL6_STANDARD (6)

Standard message frame 6, PZD-10/14

DP_TEL81_STANDARD (81)

Standard message frame 81, PZD-2/6

DP_TEL83_STANDARD (83)

Standard message frame 83, PZD-2/8

DP_TEL101_611U_VELCTRL_NO_ENCODER
(101)

SIEMENS message frame 101, PZD-6/7

DP_TEL102_611U_POSCTRL_1_ENCODER
(102)

SIEMENS message frame 102, PZD-6/10

DP_TEL103_611U_POSCTRL_2_ENCODER
(103)

SIEMENS message frame 103, PZD-7/15

DP_TEL105_611U_DSC_1_ENCODER (105)

SIEMENS message frame 105, PZD-10/10

DP_TEL106_611U_DSC_2_ENCODER (106)

SIEMENS message frame 106/107, PZD-11/15

Associated parameters (maximum):

1-108

DriveData
(DriveData)

Drive characteristics for standard motors

InvertSetPoint
(InvertSetPoint)

Direction of rotation adaptation

LinearMotorDriveData
(LinearMotorDriveData)

Drive characteristics for linear motors

LinearStepMotorDriveData
(LinearStepMotorDriveDataType)

Drive characteristics for stepper motors

StepMotorDriveData
(StepMotorDriveDataType)

Drive characteristics for stepper motors

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

SimulationInfo - DriveAxis
The structure elements of 'SimulationInfo' are used to set a process interface. Simulation mode is not
available at present.
simulationMode
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Simulation mode activation.

With 'Simulation mode = NO', process connection is set.
'Simulation mode = YES' is not available.
EnumYesNo
NO (91)

No

YES (173)

Yes

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1-109

DriveAxis

SmoothingFilter - DriveAxis
The structure elements for 'SmoothingFilter' specify actual velocity filtering. The filtered actual velocity
is displayed in 'motionStateData.actualVelocity'.
'timeConstant':
- Time constant for PT1 smoothing.
- Time constant for averaging.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With NO, the filter functionality is deactivated.
With YES, the filter functionality is activated.
mode
Data type:

EnumAxisFilterMode

Changeable online:

Yes, active after restart

System default:

DEFAULT_MODE

Specifies criterion for actual value smoothing.

With 'DEFAULT_MODE', the ratio of interpolator cycle clock to position servo cycle clock is used.
With 'AVERAGING', an average over time is used.
With 'PT1', a filter set via 'timeConstant' is used.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisFilterMode

1-110

DEFAULT_MODE (0)

No filter

AVERAGING (1)

Form mean value

PT1 (2)

PT1 filter

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

StandStillSignal - DriveAxis
The structure elements of 'StandStillSignal' specify the parameters for the velocity-dependent standstill signal.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
delayTimeToActivate
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Specifies the delay time to activation of the velocity-dependent standstill signal.

filterDegree
Data type:

UINT

Changeable online:

Yes, active immediately

System default:

Specifies the filter degree.

filterFrequency
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 Hz

Specifies the filter frequency.

maxVeloStandStill
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

30.0 mm/min

Specifies the velocity limit below which the velocity-dependent standstill signal is active.

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DriveAxis

StepMotorDriveDataType - DriveAxis
The structure elements of 'StepMotorDriveData' specify key drive values for stepper motors.
maxFrequency
Data type:

LREAL

Changeable online:

No

System default:

50000.0 Hz

Specifies the maximum frequency for motor steps.

stepMotorResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

1000

Specifies the number of motor steps per revolution.

1-112

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DriveAxis

StepMotorMonitoringType - DriveAxis
The structure elements belonging to 'StepMotorMonitoring' are used to set the rotation monitoring for
step motor operation.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
beroCycleDistance
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

2048

Specifies the maximum allowed deviation of motor steps per revolution.

beroCycleTolerance
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

2048

Specifies a tolerance range around beroCycleDistance.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the step motor monitoring.

EnumYesNo
NO (91)

No

YES (173)

Yes

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1-113

DriveAxis

StructAxisAdditionalOffset - DriveAxis
The structure elements belonging to 'AdditionalOffset' are used to set the offset application for traversal of the axis with motion/force control.
The offset is applied during traversal of the axis with motion control related to the velocity setpoint.
For force/pressure specification, the offset application is based on the actual velocity value.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the offset application.

With NO, the offset application is not activated.
With YES , the offset application is activated.
forceControlLowerLimit
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm/s

Specifies the activation threshold for 'offsetForceControlPositive/Negative'.

The offset acts when the 'forceControlLowerLimit' value has been exceeded.
offsetForceControlNegative
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm/s

Specifies the offset for traversal with force specification and negative direction of movement.
offsetForceControlPositive
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm/s

Specifies the offset for traversal with force control and positive direction of movement.
offsetMotionControlNegative
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm/s

Specifies the offset for traversal with motion control and negative direction of movement.

1-114

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DriveAxis

offsetMotionControlPositive
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm/s

Specifies the offset for traversal with motion control and positive direction of movement.
EnumYesNo
NO (91)

No

YES (173)

Yes

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DriveAxis

StructAxisDriveControlConfig - DriveAxis
Settings for the drive are specified with the 'DriveControlConfig' configuration data.
dataAdaption
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

The 'dataAdaption' configuration data activates the adaptation of the drive data.
With 'YES', is the adaptation active.
With 'NO', is the adaptation deactivated.
pulsesEnabledEvaluation
Data type:

EnumAxisPulsesEnabledEvaluation

Changeable online:

Yes, active after restart

System default:

COMPATIBILITY_MODE

The 'PulsesEnabledEvaluation' configuration data describes the behavior of the axis for a drive-independent stop response.
With 'YES', the Pulses-Enabled bit is always processed.
With 'COMPATIBILITY_MODE', the Pulses-Enabled bit is only processed for selected safety data
block.
releaseDisableMode
Data type:

UDINT

Changeable online:

Yes, active immediately

System default:

127

The behavior of the drive during the RELEASE_DISABLE error response is specified with the 'releaseDisableMode' configuration data.
Specifies the values of bits 0 - 6 to be reset in the PROFIDrive protocol.
The bits are negated by the system and ANDed with the existing control word. The specified bits are
reset.
Meaning of the bits in the PROFIdrive protocol:
Bit0 - ON
Bit1 - No Coast Stop
Bit2 - No Quick Stop
Bit3 - Enable Operation
Bit4 - Enable Ramp Generator
Bit5 - Unfreeze Ramp Generator
Bit6 - Enable Setpoint
EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisPulsesEnabledEvaluation

1-116

YES (173)

Pulses-Enabled bit is always processed

COMPATIBILITY_MODE (959)

The Pulses-Enabled bit is only processed for

selected safety data block

SIMOTION Technology Packages Configuration Data

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DriveAxis

Associated parameters (maximum):

pulsesEnabled
(StructAxisPulsesEnabledConfig)

SIMOTION Technology Packages Configuration Data

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Position of PulsesEnabled bit

1-117

DriveAxis

StructAxisDriveSafetyExtendedFunctionsInfoDataIn - DriveAxis
Specifies the logical address for the communication with the drive.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data
in the cyclic message frame from the drive.

1-118

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DriveAxis

StructAxisFilterForceControlConfig - DriveAxis
The filter at the output of the force controller is configured with the structure element 'FilterForceControl'.
T1
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Specifies the T1 time constant of the PT2 filter.

T2
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Specifies the T2 time constant of the PT2 filter.

_type
Data type:

EnumForceControllerFilterType

Changeable online:

Yes, active after restart

System default:

PT2

With 'PT2', a PT2 filter is selected.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

This data element activates the filter

EnumForceControllerFilterType
PT2 (909)

PT2

EnumYesNo
NO (91)

No

YES (173)

Yes

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1-119

DriveAxis

StructAxisInvertFOutput - DriveAxis
The structure element for 'InvertF' specifies the inversion of the F-output value in front of the characteristic.
invSetPoint
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status.

With 'NO', the F output value in front of the characteristic curve (logical manipulated variable) is output
unchanged.
With 'YES', the F output value in front of the characteristic curve (logical manipulated variable) is output inverted.
EnumYesNo
NO (91)

No

YES (173)

Yes

StructAxisInvertQOutput - DriveAxis
The structure element for 'InvertQ' specifies the inversion of the Q-output value in front of the characteristic.
invSetPoint
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status.

With 'NO', the Q output value in front of the characteristic curve (logical manipulated variable) is output
unchanged.
With 'YES', the Q output value in front of the characteristic curve (logical manipulated variable) is output inverted.
EnumYesNo

1-120

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

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DriveAxis

StructAxisNistDriverConfig - DriveAxis
The parameters for the actual speed value hardware are specified with the structure elements for
'NistDriverConfig' .
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the actual speed value.

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1-121

DriveAxis

StructAxisOperatingDataInInfo - DriveAxis
Specifies the configuration of the operating character data block.
enableActivePower
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the effective power display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableActualCurrent
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the actual current value display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableActualTorqueOrForce
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the torque / force actual value display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableMotorTemperature
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the motor temperature display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableTorqueOrForceUtilization
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the torque utilization display.

With 'NO', the display is not activated.
With 'YES', the display is activated.

1-122

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DriveAxis

logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data
in the cyclic message frame from the drive.
EnumYesNo
NO (91)

No

YES (173)

Yes

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1-123

DriveAxis

StructAxisPulsesEnabledConfig - DriveAxis
The bit position for pulsesEnable is defined with the configuration data in 'StructAxisPulsesEnabledConfig'.
bitNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

13

Specifies the bit number for pulse enable.

pzdNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the PZD number for pulse enable.

StructAxisServoMonitoringConfig - DriveAxis
The structure elements for 'ServoMonitoring' are used to set the activation status of the control loop
monitoring for activated limitation by the Q/P valve.
motionMonitoringWhenExternalForceLimiting
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Activation of the control loop monitoring with an active pressure limiting command.
With 'YES', the monitoring is active.
With 'NO', the monitoring is not active.
EnumYesNo

1-124

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

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DriveAxis

StructAxisSetpointFilter - DriveAxis
The 'setpointFilter' structure element is used to configure a PT1 filter in the manipulated variable
branch.
T1
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the T1 time constant of the PT1 filter.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

This data element activates the filter

EnumYesNo
NO (91)

No

YES (173)

Yes

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1-125

DriveAxis

StructAxisSlidingFriction - DriveAxis
The structure elements of 'Sliding Friction' specify sliding friction compensation.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of friction torque compensation.

With 'NO', the sliding friction compensation is not activated.
With 'YES', the sliding friction compensation is activated.
factorForceControl
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01

Factor for the sliding friction compensation relative to the actual velocity when
traversing via force/pressure control.
factorMotionControl
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01

Factor for the sliding friction compensation relative to the setpoint velocity when
traversing via motion control.
maxSlidingFrictionForceControl
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the upper limit for the sliding friction component for pressure control.
EnumYesNo

1-126

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

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DriveAxis

StructAxisSpeedLimitation - DriveAxis
Parameters for asymmetric manipulated variable limitation. This function is also referred to as a backstop.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the velocity range limit..

With 'NO', the velocity limit is not activated.
With 'YES', the velocity limit is activated.
maxSpeed
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 1/min

Specifies the upper limit for the manipulated variable range.

minSpeed
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 1/min

Specifies the lower limit for the manipulated variable range.

EnumYesNo
NO (91)

No

YES (173)

Yes

StructAxisSystemDeadTimeData - DriveAxis
The structure elements belonging to 'SystemDeadTimeData' allow the correction of system-related
dead times.
additionalTime
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0 s

Correction value for system-related dead times.

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1-127

DriveAxis

StructAxisTechnologicalData - DriveAxis
The structure elements belonging to TechnologicalData are used to specify addresses for additional
data exchange between drive and control unit.
driveSafetyExtendedFunctionsEnabled
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation status of the SINAMICS Safety Integrated Extended Functions data.
With 'NO', the data are not activated.
With 'YES', the data are activated.
enable
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation status of the technological data.

With 'NO', the technology data are not activated.
With 'YES', the technology data are activated.
EnumYesNo
NO (91)

No

YES (173)

Yes

Associated parameters (maximum):

1-128

DriveSafetyExtendedFunctionsInfoDataIn
(StructAxisDriveSafetyExtendedFunctionsInfoDataIn)

Drive interface for SINAMICS Safety Integrated

Extended Functions data

OperatingDataInInfo
(StructAxisOperatingDataInInfo)

Drive interface for operating characteristics

TechnologicalDataInInfo
(StructAxisTechnologicalDataInInfo)

Drive interface for specific actual values

TechnologicalDataOutInfo
(StructAxisTechnologicalDataOutInfo)

Drive interface for specific setpoints

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

StructAxisTechnologicalDataInInfo - DriveAxis
Specifies the logical address for the communication with the drive.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of specific parameters in the cyclical message frame from
the drive.

StructAxisTechnologicalDataOutInfo - DriveAxis
Specifies the logical address for the communication with the drive.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of specific parameters in the cyclical message frame to
the drive.

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1-129

DriveAxis

StructControllerOutput - DriveAxis
Configures the controller for a hydraulic axis.
outputType
Data type:

EnumAxisControllerOutput

Changeable online:

No

System default:

DIRECT_OUTPUT

Type of output interface.

With 'DIRECT_OUTPUT', the output takes place via the analog interface.
With 'DRIVE_INTERFACE', the output takes place via the onboard interface or via PROFIdrive.
EnumAxisControllerOutput
DIRECT_OUTPUT (1)

Analog interface

DRIVE_INTERFACE (2)

Onboard interface or PROFIdrive

Associated parameters (maximum):

1-130

DirectOutputDriverInfo
(StructDirectOutputDriverInfo)

Parameters of the analog driver

DriveInterfaceDriverInfo
(StructDriveInterfaceDriverInfo)

Parameters of the driver for the drive interface

EnableBit
(StructEnableBit)

Enable bit

InvertF
(StructAxisInvertFOutput)

Inversion of the F-output in front of the characteristic curve

InvertFOutput
(InvertSetPoint)

Inversion of the F-output behind the characteristic curve

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

StructDaxDynamicQFData - DriveAxis
The structure elements belonging to 'DynamicQFData' specify the dynamic data of the cascade control system.
qOutputTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.00005 s

Specifies the equivalent time constant of the torque control system.

velocityTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0005 s

Specifies the equivalent time constant of the velocity control system.

SIMOTION Technology Packages Configuration Data

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1-131

DriveAxis

StructDirectOutputDriverInfo - DriveAxis
The structure elements of 'DirectOutputDriverInfo' are used to configure the controller for a hydraulic
axis.
format
Data type:

EnumActualValueFormat

Changeable online:

Yes, active after restart

System default:

VALUE_LEFT_MARGIN

Specifies the format of the actual value.

logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address.

maxOutputVoltage
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

10.0 V

Not used
resolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

15

Specifies the number of relevant bits.

EnumActualValueFormat

1-132

VALUE_RIGHT_MARGIN (0)

Right-justified

VALUE_LEFT_MARGIN (1)

Left-justified

VALUE_LEFT_MARGIN_WITHOUT_SIGN (2)

Left-justified without sign

VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3)

Right-justified without sign

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

StructDriveInterfaceDriverInfo - DriveAxis
The structure elements of 'DriveInterfaceDriverInfo' are used to configure the controller for a hydraulic
axis.
actorType
Data type:

EnumAxisDioActorType

Changeable online:

No

System default:

NO_TYPE

Specifies the type of drive.

With NO_TYPE, there is no interface specification.
With ANALOG, the interface is configured for analog drives.
With STEPMOTOR, the interface is configured for stepper motors.
lifeSignCheck
Data type:

EnumYesNo

Changeable online:

No

System default:

YES

Specifies the activation status of life sign monitoring.

With 'NO', the sign of life monitoring is not activated.
With 'YES', the sign of life monitoring is activated.
logAddressIn
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the input data area.

logAddressOut
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the output data area.

maxOutputVoltage
Data type:

LREAL

Changeable online:

No

System default:

10.0 V

Specifies the standard voltage on which the analog drive reaches its maximum speed.

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1-133

DriveAxis

mode
Data type:

EnumAxisDriverMode

Changeable online:

No

System default:

SIMULATION

Specifies the type of drive interface.

With 'ONBOARD', an onboard analog interface is used.
With 'DPMASTER', an onboard PROFIBUS DP interface is used.
With 'SIMULATION', a drive interface is simulated.
outputNumberOnDevice
Data type:

DINT

Changeable online:

No

System default:

Reserved
telegramType
Data type:

EnumAxisTelegramType

Changeable online:

No

System default:

DP_TEL102_611U_POSCTRL_1_ENCODER

Specifies the PROFIBUS message frame type.

With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set
up.
With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set
up.
With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one
encoder) is set up.
With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with
two encoders) is set up.
With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives
with one encoder and DSC) is set up.
With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled
drives with two encoders and DSC) is set up.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7
for velocity-controlled drives without encoders is set up.
With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for
velocity-controlled drives with one encoder is set up.
With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for
velocity-controlled drives with two encoders is set up.
With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for
velocity-controlled drives with one encoder and DSC is set up.
With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for
velocity-controlled drives with two encoders and DSC is set up.
EnumAxisDioActorType

1-134

NO_TYPE (0)

No type

ANALOG (1)

Analog

STEPMOTOR (2)

Step mode

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

DriveAxis

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisDriverMode
SIMULATION (0)

Simulation

ONBOARD (1)

Onboard

DPMASTER (2)

DP Master

EnumAxisTelegramType
NO_TELEGRAM (0)

No message frame

DP_TEL1_STANDARD (1)

Standard message frame 1, PZD-2/2

DP_TEL2_STANDARD (2)

Standard message frame 2, PZD-4/4

DP_TEL3_STANDARD (3)

Standard message frame 3, PZD-5/9

DP_TEL4_STANDARD (4)

Standard message frame 4, PZD-6/14

DP_TEL5_STANDARD (5)

Standard message frame 5, PZD-9/9

DP_TEL6_STANDARD (6)

Standard message frame 6, PZD-10/14

DP_TEL81_STANDARD (81)

Standard message frame 81, PZD-2/6

DP_TEL83_STANDARD (83)

Standard message frame 83, PZD-2/8

DP_TEL101_611U_VELCTRL_NO_ENCODER
(101)

SIEMENS message frame 101, PZD-6/7

DP_TEL102_611U_POSCTRL_1_ENCODER
(102)

SIEMENS message frame 102, PZD-6/10

DP_TEL103_611U_POSCTRL_2_ENCODER
(103)

SIEMENS message frame 103, PZD-7/15

DP_TEL105_611U_DSC_1_ENCODER (105)

SIEMENS message frame 105, PZD-10/10

DP_TEL106_611U_DSC_2_ENCODER (106)

SIEMENS message frame 106/107, PZD-11/15

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DriveAxis

StructDriverInfoDirectIncremental - DriveAxis
The parameters for the direct incremental encoder hardware are specified with the structure elements
for 'DriverInfoDirectIncremental' .
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the communication module.

resolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

16

Specifies the number of bits of the incremental encoder.

1-136

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DriveAxis

StructEnableBit - DriveAxis
The structure elements for 'EnableBit' can be used to configure an output bit for indicating the enables.
bitNumberOnDevice
Data type:

UDINT

Changeable online:

No

System default:

Specifies the I/O bit number within the I/O byte specified by the logical address.
enable
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies whether the output cam result is output.

With 'NO', the output bit is not used to display the enables.
With 'YES', the output bit is used to display the enables.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address.

EnumYesNo
NO (91)

No

YES (173)

Yes

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1-137

DriveAxis

StructPressureDifferenceMeasurement - DriveAxis
The structure element 'PressureDifferenceMeasurement' is used to configure the parameters for the
differential pressure measurement.
areaA
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

Specifies the area parameter for pressure sensor A.

areaB
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

Specifies the area parameter for pressure sensor B.

factor
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0

Specifies a normalization factor for the determined difference value.

invert
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the sign of the differential value should be inverted.

With NO, the sign is not inverted.
With YES, the sign is inverted.
numberSensorA
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the sensor number for detecting the pA pressure.

numberSensorB
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the sensor number for detecting the pB pressure.

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DriveAxis

EnumYesNo
NO (91)

No

YES (173)

Yes

Associated parameters (maximum):

Filter
(Filter)

Differential value smoothing

Range
(Range)

Differential value limitation

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DriveAxis

StructSensorDriverInfo - DriveAxis
The elements of this structure are used to configure the I/O module of the additional encoder.
errorToleranceTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1 s

Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Data type:

EnumActualValueFormat

Changeable online:

Yes, active after restart

System default:

VALUE_LEFT_MARGIN

Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the communication module.

maxValue
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

32511

Specifies the maximum digitalized measured value for the additional encoder.
minValue
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

-32512

Specifies the minimal digitalized measured value for the additional encoder.

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DriveAxis

resolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

15

Specifies the number of relevant bits for the additional encoder.

EnumActualValueFormat
VALUE_RIGHT_MARGIN (0)

Right-justified

VALUE_LEFT_MARGIN (1)

Left-justified

VALUE_LEFT_MARGIN_WITHOUT_SIGN (2)

Left-justified without sign

VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3)

Right-justified without sign

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DriveAxis

TypeOfAxisInfo - DriveAxis
The structure elements of 'TypeOfAxis' specify the axis parameters.
typeOfAxis
Data type:

EnumAxisIdentification

Changeable online:

No

System default:

REAL_AXIS

Specifies the type of axis configured.

With REAL_AXIS, the axis is connected to a real process.
REAL_QFAXIS corresponds to an axis with quantity and force control.
REAL_QFAXIS_WITH_OPEN_LOOP_FORCE_CONTROL corresponds to an axis with open-loop
force control by way of a separate force/pressure limitation valve.
REAL_QFAXIS_WITH_CLOSED_LOOP_FORCE_CONTROL corresponds to an axis with closedloop force/pressure specification via Q-valve.
EnumAxisIdentification
REAL_AXIS (0)

Real electric axis

VIRTUAL_AXIS (1)

Virtual axis

REAL_AXIS_WITH_FORCE_CONTROL (2)

Real electric axis with force/pressure control

REAL_QFAXIS (3)

Real hydraulic axis (Q-valve)

REAL_QFAXIS_WITH_OPEN_LOOP_FORCE
_CONTROL (4)

Real hydraulic axis with force/pressure specification (Q-valve and P-valve)

REAL_QFAXIS_WITH_CLOSED_LOOP_FOR
CE_CONTROL (5)

Real hydraulic axis with force/pressure control

(Q-valve)

REAL_QFAXIS_WITH_OPEN_LOOP_FORCE
_CONTROL_ONLY (6)

Real hydraulic axis with force/pressure specification (P-valve)

REAL_AXIS_WITH_SIGNAL_OUTPUT (7)

Real electric axis with master value output via

encoder signal simulation

Associated parameters (maximum):

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ActualVelocityMonitoring
(ActualVelocityMonitoring)

Actual velocity monitoring

AdditionalOffset
(StructAxisAdditionalOffset)

Offset injection for axis traversing with

motion/force control

DecodingConfig
(DecodingConfig)

Command processing

Drift
(Drift)

Drift compensation

DriveControlConfig
(StructAxisDriveControlConfig)

Drive-related settings

EmergencyRampGenerator
(EmergencyRampGenerator)

Emergency ramp generator

FOutput
(StructControllerOutput)

Manipulated variable interface for F output

FineInterpolator
(FineInterpolator)

Fine interpolator

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DriveAxis

ForceControlHeldValueMonitoring
(ForceControlHeldValueMonitoring)

Force/pressure end value monitoring

ForceControlRunningInWindowMonitoring
(ForceControlRunningInWindowMonitoring)

Force/pressure entry monitoring

Friction
(Friction)

Friction torque compensation

HWEndPos
(HWEndPos)

Hardware limit switches

MaxAcceleration
(MaxAcceleration)

Maximum acceleration

MaxForceCommandData
(MaxForceCommandData)

Limitations for force/pressure setpoint

MaxJerk
(MaxJerk)

Maximum jerk

MaxVelocity
(MaxVelocity)

Maximum velocity

NeutralBand
(NeutralBand)

Neutral band compensation

NumberOfAdditionalSensors
(NumberOfAdditionalSensors)

Configured encoder of a force-controlled axis

NumberOfDataSets
(NumberOfDataSets)

Data records for the controller configuration

NumberOfEncoders
(NumberOfEncoders)

Configured encoder

QOutput
(StructControllerOutput)

Manipulated variable interface for Q output

ServoMonitoring
(StructAxisServoMonitoringConfig)

Activate control loop monitoring with active pressure limiting command

SetPointDriverInfo
(SetPointDriverInfo)

Drive interface

SetpointFilter
(StructAxisSetpointFilter)

Manipulated variable filter

SlidingFriction
(StructAxisSlidingFriction)

Sliding friction compensation

SmoothingFilter
(SmoothingFilter)

Actual value smoothing

SpeedLimitation
(StructAxisSpeedLimitation)

Manipulated variable limitation

StandStillSignal
(StandStillSignal)

Standstill signal

SystemDeadTimeData
(StructAxisSystemDeadTimeData)

System-dependent dead times

TechnologicalData
(StructAxisTechnologicalData)

Drive interface for specific parameters

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DriveAxis

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ExternalEncoderType
Associated parameters (maximum):
Execution (ExecutionConfigInfo)
LeadScrew (LeadScrewInfo)
Modulo (ModuloInfo)
Restart (RestartInfo)
TypeOfAxis (TypeOfAxisInfo)

AbsEncoder - ExternalEncoderType
The structure elements of 'AbsEncoder' specify the parameters for an absolute encoder.
Note
Further information about the following parameters and on fine resolution can be found in
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
or in the online help
absBaudRate
Data type:

EnumAbsBaudrate

Changeable online:

No

System default:

Baudrate_3

Specifies the baud rate data for detecting the actual value of the absolute encoder.
Baudrate_5 sets a baud rate of 3 Mbaud.
Baudrate_4 sets a baud rate of 1.5 Mbaud.
Baudrate_3 sets a baud rate of 750 Kbaud.
Baudrate_2 sets a baud rate of 375 Kbaud.
Baudrate_1 sets a baud rate of 187.5 Kbaud.
absDataLength
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

24

Specifies the number of data bits of the absolute encoder range (packet length).
The number of data bits is calculated from the number of steps per revolution multiplied by the number
of revolutions.
For example: 2048 incr./rev. * rev.= data bit length 23

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ExternalEncoderType

absMessageFormat
Data type:

EnumAbsMsgFormat

Changeable online:

No

System default:

PINETREE

Specifies a message frame format for the absolute encoder.

With RIGHT_MARGIN, the protocol format is right-justified.
With PINETREE, the pine tree format is selected.
absMessageLength
Data type:

EnumAbsMsgLength

Changeable online:

No

System default:

LENGTH_25

Specifies the message frame length for detecting the actual value of the absolute encoder.
With LENGTH_13, a protocol length of 13 bits is selected.
With LENGTH_21, a protocol length of 21 bits is selected.
With LENGTH_25, a protocol length of 25 bits is selected.
absResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

4096

Specifies the number of increments per encoder revolution specified on the encoder rating plate.
absResolutionMultiplierAbsolute
Data type:

UDINT

Changeable online:

No

System default:

Specifies the multiplication factor of the actual value of the absolute encoder.
Evaluation of the absolute encoder during request by the absolute encoder (GxIST2).
absResolutionMultiplierCyclic
Data type:

UDINT

Changeable online:

No

System default:

Specifies the multiplication factor of the cyclic actual value of the encoder.
Evaluation of the incremental signal of the absolute encoder during operation (GxIST1).

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ExternalEncoderType

absState
Data type:

EnumAbsState

Changeable online:

No

System default:

GRAY_CODE

Specifies a protocol format for the actual value of the absolute encoder.
With BIN_CODE, a binary code is selected.
With GRAY_CODE, GRAY code is selected.
enableAbsMonitoring
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

YES

Specifies the monitoring mode of the permissible changes of the actual value for the absolute encoder.
With YES (system default), monitoring of the permissible changes of the actual value for the absolute
encoder is activated.
Actual value changes of the absolute encoder greater than or equal to the possible change in accordance with the maximum velocity (maxVelocity.maximum) are limited to the change in accordance
with the current velocity, i.e. the velocity of the previous cycle.
Incorrect actual values, e.g. due to transmission errors, are adjusted.
If the actual value changes are impermissibly high in 5 subsequent cycles, alarm 20005, reason 0, is
issued.
With NO, monitoring of the permissible changes of the actual value for the absolute encoder is not
activated, i.e., incorrect actual values due to transmission errors, for example, are also not changed
and processed as they are.
No technological alarm is issued.
Note
Switch the monitoring function off at your own risk.
After the deactivation of the monitoring, it can no longer be guaranteed that the magnitude of the calculated velocity lies within the limits defined by the user.
The position and the velocity and all derived quantities are also displayed and processed also taking
account of any measured values recognized as being incorrect (control, stop ramps, interpolations,
positioning).
EnumAbsBaudrate
Baudrate_5 (16#01)

3 Mbaud

Baudrate_4 (16#02)

1.5 Mbaud

Baudrate_3 (16#04)

750 Kbaud

Baudrate_2 (16#08)

375 Kbaud

Baudrate_1 (16#10)

187.5 Kbaud

EnumAbsMsgFormat
RIGHT_MARGIN (0)

Right-justified

PINETREE (1)

Pine tree format

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ExternalEncoderType

EnumAbsMsgLength
LENGTH_13 (13)

13 bits

LENGTH_21 (21)

21 bits

LENGTH_25 (25)

25 bits

EnumAbsState
BIN_CODE (16#00)

Binary

GRAY_CODE (16#01)

Gray Code

EnumYesNo

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NO (91)

No

YES (173)

Yes

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ExternalEncoderType

AbsHomingEncoder - ExternalEncoderType
The structure elements of 'AbsHomingEncoder' specify the synchronization data for an absolute encoder.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
absShift
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the offset of the absolute encoder.

setOffsetOfAbsoluteEncoder
Data type:

EnumAbsoluteRelative

Changeable online:

Yes, active after restart

System default:

RELATIVE

Specifies the effect of the absolute encoder offset set in the 'absshift' configuration data (V3.2 and higher).
With RELATIVE, the offset is set as an addition (default response).
Actual axis value = actual encoder value + (previous offset already in effect + absshift)
(new) offset = previous offset + absshift
'absshift' is added to the existing absolute encoder offset whenever the _homing() function is called.
With ABSOLUTE, the offset is set as an absolute value (V3.2 and higher).
'absshift' is set as the absolute encoder offset whenever the _homing() function is called.
Actual axis value = actual encoder value + absshift
EnumAbsoluteRelative
ABSOLUTE (1)

Absolute

RELATIVE (115)

Relative

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ExternalEncoderType

ActualVelocityMonitoring - ExternalEncoderType
The structure elements of 'ActualVelocityMonitoring' specify the monitoring mode for the maximum
actual velocity.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the monitoring mode for the maximum actual velocity.

With NO, monitoring of the actual velocity does not take place.
With YES, the actual velocity is monitored for the maximum permissible value.
When the maximum value is exceeded, the system variable 'sensordata.sensormonitoring.velocity' is
output as 'limitexceeded'.
The velocity is not limited to this value.
maximum
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm/s

Specifies the maximum permissible actual velocity.

EnumYesNo
NO (91)

No

YES (173)

Yes

AdaptDrive - ExternalEncoderType
The structure elements of 'AdaptDrive' specify the gear ratio parameters for drive-mounted encoders.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
denFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the denominator of the gear ratio for a measuring gear.

numFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the numerator of the gear ratio for a measuring gear.

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ExternalEncoderType

AdaptExtern - ExternalEncoderType
The structure elements of 'AdaptExtern' specify the gear ratio parameters for the EXTERN mounting
type.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
denFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the denominator of the gear ratio for a measuring gear.

numFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the numerator of the gear ratio for a measuring gear.

AdaptLoad - ExternalEncoderType
The structure elements of 'AdaptLoad' specify the gear ratio parameters for load-side encoders.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
denFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the denominator of the gear ratio for a measuring gear.

numFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the numerator of the gear ratio for a measuring gear.

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ExternalEncoderType

AnalogConversionDataType - ExternalEncoderType
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder
values read.
_type
Data type:

EnumConversionDataType

Changeable online:

No

System default:

LINEAR_CONVERSIONDATA

Specifies the interpretation type for the digitalized measured value.

factor
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

Specifies the weighting factor for the analog measured value. The weighting factor specifies the relation between distance/velocity per bit.
offset
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the offset for the analog measured value.

EnumConversionDataType
LINEAR_CONVERSIONDATA (1)

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Linear relationship

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ExternalEncoderType

AnalogSensorType - ExternalEncoderType
The structure elements of 'AnalogSensor' specify actual value smoothing.
Associated parameters (maximum):
ConversionData
(AnalogConversionDataType)

Conversion factors between analog input value

and actual position value

DriverInfo
(StructSensorDriverInfo)

Driver data

ErrorStateMonitoring
(StructAxisAnalogSensorErrorStateMonitoring)

Error-state monitoring

LogAddress
(StructLogAddressIoBitType)

Logical address of analog sensor

PositionFilter
(PositionFilterType)

Actual position value filter

ReadyStateMonitoring
(StructAxisAnalogSensorReadyStateMonitoring)

Ready-state monitoring

UpdateCounter
(StructAxisActualValueUpdateCounter)

Evaluation of actual value update

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ExternalEncoderType

AssemblyBase - ExternalEncoderType
The structure elements of 'AssemblyBase' specify the parameters for the encoder mounting type.
assemblyBase
Data type:

EnumAxisEncoderAssemblyType

Changeable online:

Yes, active after restart

System default:

ASSEMBLY_BASE_DRIVE

Specifies the assembly base of the encoder.

With ASSEMBLY_BASE_DRIVE, the encoder is a drive-side assembly type.
With ASSEMBLY_BASE_LOAD, the encoder is a load-side assembly type.
With ASSEMBLY_BASE_EXTERN, the encoder is an external assembly type.
With ASSEMBLY_BASE_LINEAR, the encoder is a linear assembly type.
EnumAxisEncoderAssemblyType
ASSEMBLY_BASE_DRIVE (0)

Drive side

ASSEMBLY_BASE_LOAD (1)

Load side

ASSEMBLY_BASE_EXTERN (2)

External

ASSEMBLY_BASE_LINEAR (3)

Linear

DecodingConfig - ExternalEncoderType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
Note
Additional information is available at:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
SIMOTION MCC Motion Control Chart Programming and Operating Manual
Function Manual: Basic Functions
or in the online help
numberOfMaxBufferedCommandId
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

100

Specifies the maximum number of command IDs active simultaneously whose status can be requested at the end of the relevant command.
A command ID is added to the list with the ST command '_bufferAxisCommandId'.
Removal from the list takes place with the ST command '_removeBufferedAxisCommandId'.

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ExternalEncoderType

DistributedMotionInfo - ExternalEncoderType
The structure elements for 'DistributedMotion' set the sign-of-life failure tolerance.
enableDelayOfCommandValueOutput
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the master-side output delay.

With 'NO', the master-side output delay is deactivated.
With 'YES', the master-side output delay is activated.
enableLifeSignMonitoring
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies life sign monitoring.

With 'NO', the sign of life monitoring is deactivated.
With 'YES', the sign of life monitoring is activated.
enableOffsetCompensation
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies offset compensation.

With 'NO', the compensation of the cycle offset is deactivated.
With 'YES', the compensation of the cycle offset is activated.
numberOfLifeSignFailures
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the maximum number of life sign failures tolerated.

EnumYesNo
NO (91)

No

YES (173)

Yes

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ExternalEncoderType

DriverInfo - ExternalEncoderType
The structure elements of 'DriverInfo' specify the parameters for the encoder hardware.
Note
Additional information is available at:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Technology Objects Synchronous Operation, Cam Function Manual
or in the online help
encoderNumberOnDevice
Data type:

DINT

Changeable online:

No

System default:

Specifies the number of the encoder actual value for message frames with several actual values, e.g.
DP_TEL106_611U_DSC_2_ENCODER.
lifeSignCheck
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies the monitoring mode for the PROFIBUS DP sign of life between nodes.
With 'NO', the sign of life monitoring is switched off.
With 'YES', the sign of life monitoring is activated.
logAddressIn
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the input data area.

logAddressOut
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the output data area.

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ExternalEncoderType

telegramType
Data type:

EnumAxisTelegramType

Changeable online:

No

System default:

DP_TEL81_STANDARD

Specifies a PROFIdrive message frame type.

With NO_TELEGRAM, a message frame is not specified.
With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set
up.
With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set
up.
With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one
encoder) is set up.
With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with
two encoders) is set up.
With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives
with one encoder and DSC) is set up.
With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled
drives with two encoders and DSC) is set up.
With DP_TEL81_STANDARD, the standard message frame 81, PZD-2/6 for an encoder is set up.
With DP_TEL82_STANDARD, the standard message frame 82, PZD-2/7 for an encoder is set up.
With DP_TEL83_STANDARD, the standard message frame 83, PZD-2/8 for an encoder is set up.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7
for velocity-controlled drives without encoders is set up.
With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for
velocity-controlled drives with one encoder is set up.
With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for
velocity-controlled drives with two encoders is set up.
With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for
velocity-controlled drives with one encoder and DSC is set up.
With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for
velocity-controlled drives with two encoders and DSC is set up.
EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisTelegramType
NO_TELEGRAM (0)

No message frame

DP_TEL1_STANDARD (1)

Standard message frame 1, PZD-2/2

DP_TEL2_STANDARD (2)

Standard message frame 2, PZD-4/4

DP_TEL3_STANDARD (3)

Standard message frame 3, PZD-5/9

DP_TEL4_STANDARD (4)

Standard message frame 4, PZD-6/14

DP_TEL5_STANDARD (5)

Standard message frame 5, PZD-9/9

DP_TEL6_STANDARD (6)

Standard message frame 6, PZD-10/14

DP_TEL81_STANDARD (81)

Standard message frame 81, PZD-2/6

DP_TEL83_STANDARD (83)

Standard message frame 83, PZD-2/8

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DP_TEL101_611U_VELCTRL_NO_ENCODER
(101)

SIEMENS message frame 101, PZD-6/7

DP_TEL102_611U_POSCTRL_1_ENCODER
(102)

SIEMENS message frame 102, PZD-6/10

DP_TEL103_611U_POSCTRL_2_ENCODER
(103)

SIEMENS message frame 103, PZD-7/15

DP_TEL105_611U_DSC_1_ENCODER (105)

SIEMENS message frame 105, PZD-10/10

DP_TEL106_611U_DSC_2_ENCODER (106)

SIEMENS message frame 106/107, PZD-11/15

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ExternalEncoderType

EncoderMain - ExternalEncoderType
The structure elements of 'Encoder' specify the parameters of the encoder.
dataAdaption
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Selects the behavior

For YES, the selected encoder configuration parameters will be modified by the drive.
For NO, the encoder configuration parameters are configured by the user.
encoderIdentification
Data type:

EnumAxisEncoderIdentification

Changeable online:

No

System default:

SIMULATION

Specifies the encoder identification (encoder interface).

With SIMULATION, the circuit between the motor and encoder is closed by means of software. Encoder measured values are calculated from the simulated actual speed or velocity of the axis. It is not
necessary to use a real encoder when simulating encoder operation.
With ONBOARD, the encoder is connected to an ONBOARD encoder interface of the controller (e.g.
C230, C240, etc.).
With DPMASTER, the encoder is connected to an external module. Encoder data is provided via the
DP interface.
With DIRECT, the encoder is connected to the inputs of a digital or analog input module.
With SET_ACTUAL_VALUE, the encoder measured value is provided via the 'sensorsetting.actualvalue' system variable. The measured value is updated cyclically in a user program.
encoderMode
Data type:

EnumAxisEncoderMode

Changeable online:

No

System default:

RECTANGLE_TTL

Specifies the encoder mode (encoder signal type).

RECTANGLE_TTL should be selected if the incremental position is to be measured by evaluating a
rectangular encoder signal.
SINUS_1VPP should be selected if the incremental position is to be measured by evaluating a sinusoidal encoder signal.
RESOLVER should be selected if the incremental position is to be measured by evaluating a resolver's encoder signal.
STEPMOT should be selected, if the incremental position is to be determined by taking a set incremental position for a stepper motor without an encoder.
INTERVAL_COUNTER should be selected if the velocity/speed is to be measured by using an additional module to count intervals between two pulses.
PROFIDRIVE_NIST_A should be selected if the velocity/speed is to be determined by reading actual
speed value data (16 bits wide) from the PROFIDrive message frame.
PROFIDRIVE_NIST_B should be selected if the velocity/speed is to be determined by reading actual
speed value data (32 bits wide) from the PROFIDrive message frame.
SSI_MODE should be selected if the incremental position is to be transferred to the controller in accordance with the specifications of the SSI protocol (absolute encoder).
ENDAT should be selected if the incremental position is to be transferred to the controller in accordance with the specifications of the EnDat protocol (incremental/absolute encoder).

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encoderSystem
Data type:

EnumAxisEncoderSystem

Changeable online:

No

System default:

ROTATORY_SYSTEM

Specifies the encoder system.

With ROTARY, a rotary encoder system is used.
With LINEAR, a linear encoder system is used.
encoderType
Data type:

EnumAxisEncoderType

Changeable online:

No

System default:

SENSOR_INCREMENTAL

Specifies the encoder type.

With SENSOR_INCREMENTAL, the encoder is treated as an incremental encoder.
With SENSOR_ABSOLUTE, the encoder is treated as an absolute encoder.
With SENSOR_CYCLIC_ABSOLUTE, the encoder is treated as an absolute encoder. The number of
encoder overflows is also stored in the controller after disabling.
With SENSOR_POSITION_DIFFERENCE_MEASUREMENT, an encoder is configured to allow differential measurement of position and velocity of two definable encoders.
encoderValueType
Data type:

EnumAxisEncoderValueType

Changeable online:

No

System default:

POSITION

Specifies the actual value type from which the encoder value is calculated.
With POSITION, the actual value is calculated for both the position and the velocity/speed.
With VELOCITY, the actual value for the velocity/speed is calculated.
With POSITION_AND_PROFIDRIVE_NIST_B, the actual value is calculated for the position and the
actual value of the velocity/speed is read from the PROFIDrive message frame.
With POSITION_AND_DIRECT_NIST_B, the actual value is calculated for the position, and the actual
value for the velocity/speed is read from an area to be addressed in the process image of the inputs
and outputs.
EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisEncoderIdentification

2-160

SIMULATION (0)

Simulation

ONBOARD (1)

Onboard

DPMASTER (2)

DPMaster

DIRECT (4)

Encoder supplies the value directly

SET_ACTUAL_VALUE (5)

Actual value via system variable

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

ExternalEncoderType

EnumAxisEncoderMode
RECTANGLE_TTL (1)

Rectangle

SSI_MODE (2)

SSI

STEPMOTOR (3)

Stepper motor

ENDAT (4)

Endat

SINUS_1VPP (5)

Sine

RESOLVER (6)

Resolver

SENSOR_ANALOG (7)

Analog encoder

INTERVAL_COUNTER (8)

Encoder mode for interval counter

PROFIDRIVE_NIST_A (9)

Velocity value 16-bit

PROFIDRIVE_NIST_B (10)

Velocity value 32-bit

PROFIDRIVE (11)

PROFIdrive profile

EnumAxisEncoderSystem
ROTATORY_SYSTEM (0)

Rotary encoder system

LINEAR_SYSTEM (1)

Linear encoder system (linear scale)

EnumAxisEncoderType
SENSOR_INCREMENTAL (1)

Incremental encoder

SENSOR_ABSOLUTE (2)

Absolute encoder

SENSOR_CYCLIC_ABSOLUTE (3)

Absolute encoder cyclic absolute

SENSOR_POSITION_DIFFERENCE_MEASU
REMENT (4)

Differential position

EnumAxisEncoderValueType
POSITION (0)

Calculate actual position value

VELOCITY (1)

Calculate actual velocity value

POSITION_AND_PROFIDRIVE_NIST_B (2)

Calculate actual position values and velocity

from DP protocol

POSITION_AND_DIRECT_NIST_B (3)

Calculate actual position values and actual velocity value from I/O

POSITION_AND_PROFIDRIVE_ENCODER_N
IST_B (4)

Calculate actual position values and velocity

from DP protocol (standard message frame 83)

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ExternalEncoderType

Associated parameters (maximum):

2-162

AbsEncoder
(AbsEncoder)

Absolute encoder

AbsHomingEncoder
(AbsHomingEncoder)

Homing for absolute measuring system

AdaptDrive
(AdaptDrive)

Gear ratio of the measuring system for a driveside assembly type

AdaptExtern
(AdaptExtern)

Gear ratio of the measuring system for an external assembly type

AdaptLoad
(AdaptLoad)

Gear ratio of the measuring system for a loadside assembly type

AnalogSensor
(AnalogSensorType)

Analog measuring system

AssemblyBase
(AssemblyBase)

Assembly type of the measuring system

DriverInfo
(DriverInfo)

Actual value interface

DriverInfoDirectIncremental
(StructDriverInfoDirectIncremental)

Actual value interface of the direct incremental

encoder

Filter
(Filter)

Actual value filter

FrequencyLimit
(FrequencyLimit)

Limit frequency of the measuring system

IncEncoder
(IncEncoder)

Incremental encoder

IncHomingEncoder
(IncHomingEncoder)

Homing for incremental measuring system

IntervalCounterConversionData
(IntervalCounterConversionDataType)

Interval counter

InversCountDirection
(InversCountDirection)

Inverse count direction

NistDriverConfig
(StructAxisNistDriverConfig)

Actual speed value

PathPerRevolution
(PathPerRevolution)

Path per revolution

PositionFilter
(PT2PositionFilterType)

Position filter

Resolution
(Resolution)

Resolution

SensorControlConfig
(SensorControlConfig)

Encoder error tolerance

SensorNist
(SensorNist)

Actual speed value extrapolation

SensorSetActualValue
(SensorSetActualValue)

Actual value via system variable

StepMotorMonitoring
(StepMotorMonitoringType)

Stepper motor

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

ExternalEncoderType

ExecutionConfigInfo - ExternalEncoderType
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
Note
Further information is provided:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Technology Objects Synchronous Operation, Cam Function Manual
Online help
executionlevel
Data type:

EnumToExecutionLevel

Changeable online:

Yes, active after restart

System default:

IPO

Specifies the task level at which the interpolator task of the technology object is running.
With IPO, the task is executed in the fast interpolator cycle clock.
With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel
IPO (0)

IPO

IPO_2 (1)

IPO_2

SERVO (2)

Servo

IPO_FAST (3)

IPO_fast

SERVO_FAST (4)

Servo_fast

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ExternalEncoderType

ExtrapolationPositionFilterType - ExternalEncoderType
The structure elements belonging to 'ExtrapolationPositionFilter' are used to set the filter for the actual
position on the master value axis.
T1
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant T1 of the filter for the actual position.

T2
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant T2 of the filter for the actual position.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the PT2 filter for the actual position.
EnumYesNo

2-164

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

ExternalEncoderType

Filter - ExternalEncoderType
The structure elements of 'Filter' specify actual value smoothing.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With 'NO', the filter functionality is deactivated.
With 'YES', the filter functionality is activated.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo
NO (91)

No

YES (173)

Yes

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ExternalEncoderType

FrequencyLimit - ExternalEncoderType
The structure elements of 'FrequencyLimit' specify the frequency limit of the encoder.
encoderFrequencyLimit
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

400000.0 Hz

Specifies the frequency limit of the encoder.

Gear - ExternalEncoderType
The structure elements of 'Gear' specify the gear ratio of the load gearbox. The gear ratio is only active
for the 'ASSEMBLY_DRIVE' mounting type.
denFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of load revolutions.

numFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of motor revolutions.

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ExternalEncoderType

IncEncoder - ExternalEncoderType
The structure elements of 'IncEncoder' specify the parameters for an incremental encoder.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enableZeroMonitoring
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of monitoring of the number of increments between two encoder zero
marks.
With 'NO', monitoring of the number of increments between two encoder zero marks is not activated.
With 'YES', monitoring of the number of increments between two encoder zero marks is activated.
incResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

2048

Specifies the number of increments per encoder revolution specified on the encoder rating plate.
incResolutionMultiplierCyclic
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the multiplication factor of the cyclic actual value.

EnumYesNo
NO (91)

No

YES (173)

Yes

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ExternalEncoderType

IncHomingEncoder - ExternalEncoderType
The structure elements of 'IncHomingEncoder' specify the parameters for an incremental encoder.
Note
Additional information is available at:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
SIMOTION MCC Motion Control Chart Programming and Operating Manual
or in the online help
enableZeroMarkDistance
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the monitoring mode for the path after leaving the reference cam until the encoder zero mark
is reached.
With NO, the monitoring of the path after leaving the reference cam until the encoder zero mark is reached is not activated.
With YES, the monitoring of the path after leaving the reference cam until the encoder zero mark is
reached is activated.
passiveApproachDirection
Data type:

EnumAxisPassiveApproachDirection

Changeable online:

Yes, active immediately

System default:

ACTUAL_DIRECTION_PASSIVE

Specifies the expected approach direction for the passive homing.

For the setting 'passiveHomingMode:=ZM_PASSIVE' or 'passiveHomingMode:=CAM_AND_ZM_PASSIVE', this configuration data items specifies the approach direction of
the encoder zero mark.
With 'passiveHomingMode:=ZM_PASSIVE', the encoder zero mark is expected in the configured
direction.
With 'passiveHomingMode:=CAM_AND_ZM_PASSIVE', the encoder zero mark is expected in the
configured direction after the approach of the reference cam.
With APPROACH_NEGATIVE_PASSIVE, the negative approach direction is expected.
With APPROACH_POSITIVE_PASSIVE, the positive approach direction is expected.
With ACTUAL_DIRECTION_PASSIVE, both approach directions are possible.
With EDGE_POS_SIDE_NEG_PASSIVE, a rising edge on the negative side of the external zero mark
is expected.
With EDGE_POS_SIDE_POS_PASSIVE, a rising edge on the positive side of the external zero mark
is expected.
With EDGE_NEG_SIDE_POS_PASSIVE, a falling edge on the positive side of the external zero mark
is expected.
With EDGE_NEG_SIDE_NEG_PASSIVE, a falling edge on the negative side of the external zero
mark is expected.
passiveBitNumberBero
Data type:

UDINT

Changeable online:

No

System default:

Specifies the bit number of the reference cam during passive homing and for homing mode
CAM_AND_ZM_PASSIVE or REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE.

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ExternalEncoderType

passiveHomingMode
Data type:

EnumAxisPassiveHomingMode

Changeable online:

Yes, active after restart

System default:

DEFAULT_PASSIVE

Specifies the homing mode.

With CAM_AND_ZM_PASSIVE, homing mode reference cam with encoder zero mark is selected.
With ZM_PASSIVE, the homing mode with encoder zero mark only is selected.
With CAM_PASSIVE, the homing mode with external zero mark only is selected.
With DEFAULT_PASSIVE, the homing mode ZM_PASSIVE or CAM_PASSIVE is preset with or without the encoder zero mark, depending on the encoder type.
REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE is not available.
passiveLogAddressBero
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address of the reference cam during passive homing and for homing mode
CAM_AND_ZM_PASSIVE or REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE.
zeroMarkDistance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the maximum length of the path after leaving the reference cam until the encoder zero mode
is reached in homing mode MODE_CAM_AND_ZM.
Specifies the maximum length until the encoder zero mark in homing mode MODE_ZM.
EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisPassiveApproachDirection
APPROACH_NEGATIVE_PASSIVE (0)

Approach direction encoder zero mark negative

APPROACH_POSITIVE_PASSIVE (1)

Approach direction encoder zero mark positive

EDGE_POS_SIDE_NEG_PASSIVE (2)

Rising edge negative side external zero mark

EDGE_POS_SIDE_POS_PASSIVE (3)

Rising edge positive side external zero mark

EDGE_NEG_SIDE_POS_PASSIVE (4)

Falling edge positive side external zero mark

EDGE_NEG_SIDE_NEG_PASSIVE (5)

Falling edge negative side external zero mark

ACTUAL_DIRECTION_PASSIVE (6)

Next edge

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ExternalEncoderType

EnumAxisPassiveHomingMode

2-170

CAM_AND_ZM_PASSIVE (1)

Reference cam and encoder zero mark

ZM_PASSIVE (2)

Encoder zero mark only

CAM_PASSIVE (3)

External zero mark only

DEFAULT_PASSIVE (4)

Default setting depends on encoder type

(with/without encoder zero mark)

REFERENCE_CAM_AND_EXTERNAL_ZM_P
ASSIVE (5)

Reference cam and external zero mark

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

ExternalEncoderType

IntervalCounterConversionDataType - ExternalEncoderType
The structure elements of 'IntervalCounterConversionData' are used to configure the encoder as an
interval counter.
The 'Interval counter' encoder type is used to determine the speed using an interval duration and the
number of intervals per encoder revolution.
An interval is the time between two successive encoder pulses that are recorded by an encoder
module.
The duration (interval) between the encoder pulses is measured by the module and provided in the
I/O area.
incResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the increments or the number of intervals or encoder pulses per encoder revolution.
referenceTime
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0005 ms

Specifies the reference time for the measurement of the interval duration.
The reference time is the time after which the counter in the encoder module used to determine the
interval duration is incremented by one (interval duration = count * reference time).
Associated parameters (maximum):
DriverInfo
(StructSensorDriverInfo)

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

AnalogDriverInfo (Only the logical address

'logAddress' of the reference value for the interval duration stored by the encoder module in the
I/O area has to be specified. The other elements
of the 'StructSensorDriverInfo' structure are not
taken into account for the configuration of the
interval counter.)

2-171

ExternalEncoderType

InversCountDirection - ExternalEncoderType
The structure elements of 'InversCountDirection' specify the counting direction of the actual encoder
value.
encoderFeedbackPolarity
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the counting direction of the actual encoder value is inverted.
With NO, the count direction of the actual encoder value is not inverted. (System default)
With YES, the count direction of the actual encoder value is inverted.
EnumYesNo
NO (91)

No

YES (173)

Yes

LeadScrewInfo - ExternalEncoderType
The structure elements of 'LeadScrew' set the leadscrew pitch.
efficiency
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

Efficiency of the spindle/nut combination.

pitchVal
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

10.0 mm/rot

Specifies the leadscrew pitch per spindle revolution.

2-172

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ExternalEncoderType

ModuloInfo - ExternalEncoderType
The structure elements of 'Modulo' specify the modulo information.
length
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

360.0

Specifies modulo length.

The minimum modulo length that can be set depends on the available resolution!
startValue
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Specifies the initial value.

state
Data type:

EnumActiveInactive

Changeable online:

Yes, active after restart

System default:

INACTIVE

Specifies modulo activation.

With ACTIVE, a modulo status is activated.
With INACTIVE, the modulo status is not activated.
EnumActiveInactive
ACTIVE (4)

Active

INACTIVE (61)

Inactive

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ExternalEncoderType

PT2PositionFilterType - ExternalEncoderType
The structure elements of 'PositionFilter' specify the parameters of the position filter.
T1
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant T1 of the position filter.

T2
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant T2 of the position filter.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the position filter.

EnumYesNo
NO (91)

No

YES (173)

Yes

PathPerRevolution - ExternalEncoderType
The structure elements of 'PathPerRevolution' specify the distance of one revolution for the EXTERN
assembly base.
length
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

100.0 mm

Specifies the path length of an encoder revolution for EXTERNAL mount type.

2-174

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ExternalEncoderType

PositionFilterType - ExternalEncoderType
The structure elements of 'PositionFilter' specify actual value smoothing. The settings take effect on
the actual position values in the servo cycle clock.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With 'NO', the filter functionality is deactivated.
With 'YES', the filter functionality is activated.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo
NO (91)

No

YES (173)

Yes

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2-175

ExternalEncoderType

Resolution - ExternalEncoderType
'Resolution' is used to configure the parameters of a linear encoder system (linear scale).
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
distance
Data type:

LREAL

Changeable online:

No

System default:

0.001 mm

Distance between two encoder increments.

Note
The minimum value that can be set results from the maximum resolution of the TO axis or TO external
encoder. Consequently, for an excessive lower limit, the unit for the 'Increments/Position' physical
quantity must be varied appropriately.
multiplierCyclic
Data type:

UDINT

Changeable online:

No

System default:

Incremental resolution

2-176

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ExternalEncoderType

RestartInfo - ExternalEncoderType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or
just by command.
behaviorInvalidSysvarAccess
Data type:

EnumToInvalidSysvarAccess

Changeable online:

No

System default:

LAST_VALUE

If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP
mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology
object is restarted or deactivated.
The values stored in the image are supplied when system variables are accessed during the technology object restart or deactivation phase.
restartActivationSetting
Data type:

EnumToRestartActivationSetting

Changeable online:

Yes, active after restart

System default:

RESTART_BY_SYSVAR_AND_COMMAND

With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with

system variables and/or by command.
With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
DEFAULT_VALUE (2)

Supply substitute value from default value

STOP_DEVICE (3)

No substitute value, switch to STOP mode

LAST_VALUE (338)

Supply substitute value from last valid value

EnumToRestartActivationSetting
RESTART_BY_SYSVAR_AND_COMMAND (0)

Allow restart via system variable and/or command

RESTART_BY_COMMAND (1)

Allow restart only via command

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ExternalEncoderType

SensorControlConfig - ExternalEncoderType
The tolerance of an encoder error is specified with the structure elements for 'SensorControlConfig'.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
tolerateSensorDefect
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether a failure of an encoder not involved in the closed-loop control should be tolerated.
With 'NO', a failure is not tolerated.
With 'YES', a failure is tolerated.
EnumYesNo
NO (91)

No

YES (173)

Yes

SensorNist - ExternalEncoderType
The structure elements of 'SensorNist' specify the parameters for the actual speed value from the I/O
area.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address of the actual speed value in the I/O area.
referenceValue
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

3000.0

Specifies the reference time for the interval measurement.

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ExternalEncoderType

SensorSetActualValue - ExternalEncoderType
The structure elements of 'SensorSetActualValue' specify the parameters for actual value read-in via
system variable.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
maxFailures
Data type:

UDINT

Changeable online:

Yes, active immediately

System default:

Specifies the number of permissible failures with reference to the update cycle.
updateCycle
Data type:

EnumAxisUpdateCycle

Changeable online:

Yes, active after restart

System default:

IPO

Specifies the actual value update cycle via system variable.

EnumAxisUpdateCycle
IPO (0)

IPO

IPO_2 (1)

IPO_2

SERVO (2)

Servo

IPO_FAST (3)

IPO_fast

SERVO_FAST (4)

Servo_fast

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2-179

ExternalEncoderType

SmoothingFilter - ExternalEncoderType
The structure elements for 'SmoothingFilter' specify actual velocity filtering. The filtered actual velocity
is displayed in 'motionStateData.actualVelocity'.
'timeConstant':
- Time constant for PT1 smoothing.
- Time constant for averaging.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With NO, the filter functionality is deactivated.
With YES, the filter functionality is activated.
mode
Data type:

EnumAxisFilterMode

Changeable online:

Yes, active after restart

System default:

DEFAULT_MODE

Specifies criterion for actual value smoothing.

With 'DEFAULT_MODE', the ratio of interpolator cycle clock to position servo cycle clock is used.
With 'AVERAGING', an average over time is used.
With 'PT1', a filter set via 'timeConstant' is used.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisFilterMode

2-180

DEFAULT_MODE (0)

No filter

AVERAGING (1)

Form mean value

PT1 (2)

PT1 filter

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

ExternalEncoderType

StandStillSignal - ExternalEncoderType
The structure elements of 'StandStillSignal' specify the parameters for the velocity-dependent standstill signal.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
delayTimeToActivate
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Specifies the delay time to activation of the velocity-dependent standstill signal.

filterDegree
Data type:

UINT

Changeable online:

Yes, active immediately

System default:

Specifies the filter degree.

filterFrequency
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 Hz

Specifies the filter frequency.

maxVeloStandStill
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

50.0 mm/min

Specifies the velocity limit below which the velocity-dependent standstill signal is active.

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ExternalEncoderType

StepMotorMonitoringType - ExternalEncoderType
The structure elements belonging to 'StepMotorMonitoring' are used to set the rotation monitoring for
step motor operation.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
beroCycleDistance
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

2048

Specifies the maximum allowed deviation of motor steps per revolution.

beroCycleTolerance
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

2048

Specifies a tolerance range around beroCycleDistance.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the step motor monitoring.

EnumYesNo

2-182

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

ExternalEncoderType

StructAxisActualValueUpdateCounter - ExternalEncoderType
The structure elements of 'UpdateCounter' are used to set the parameters for evaluation of the actual
value update.
bitNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the first bit number of the update counter.

enableCounter
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the actual value update is evaluated.

With NO, the actual value update is not evaluated.
With YES, the actual value update is evaluated.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address of the update counter.

maxFailure
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of permissible value failures before an error is output.

quantityOfBits
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of bits in the update counter.

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ExternalEncoderType

updateCycle
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the ratio of the actual value update.

EnumYesNo

2-184

NO (91)

No

YES (173)

Yes

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ExternalEncoderType

StructAxisAnalogSensorErrorStateMonitoring - ExternalEncoderType
The structure elements of 'ErrorStateMonitoring' are used to set the parameters for evaluation of the
error bit.
bitNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the bit number of the error bit.

bitSemantics
Data type:

EnumTrueFalse

Changeable online:

Yes, active after restart

System default:

_TRUE

Specifies the evaluation of the error bit.

With TRUE, the error bit is evaluated as 1.
With FALSE, the error bit is evaluated as 0.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the error bit monitoring is performed.

With NO, the logical address is not used.
With YES, the logical address is used.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the error bit.

EnumTrueFalse
_TRUE (405)

true

_FALSE (406)

false

EnumYesNo
NO (91)

No

YES (173)

Yes

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ExternalEncoderType

StructAxisAnalogSensorReadyStateMonitoring - ExternalEncoderType
The structure elements of 'ReadyStateMonitoring' are used to set the parameters for evaluation of the
ready bit.
bitNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the bit number of the ready bit.

bitSemantics
Data type:

EnumTrueFalse

Changeable online:

Yes, active after restart

System default:

_TRUE

Specifies the evaluation of the ready bit.

With TRUE, the ready bit is evaluated as 1.
With FALSE, the ready bit is evaluated as 0.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the ready bit monitoring is performed.

With NO, the logical address is not used.
With YES, the logical address is used.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the ready bit.

EnumTrueFalse
_TRUE (405)

true

_FALSE (406)

false

EnumYesNo

2-186

NO (91)

No

YES (173)

Yes

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ExternalEncoderType

StructAxisDriveControlConfig - ExternalEncoderType
Settings for the drive are specified with the 'DriveControlConfig' configuration data.
dataAdaption
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

The 'dataAdaption' configuration data activates the adaptation of the drive data.
With 'YES', is the adaptation active.
With 'NO', is the adaptation deactivated.
pulsesEnabledEvaluation
Data type:

EnumAxisPulsesEnabledEvaluation

Changeable online:

Yes, active after restart

System default:

COMPATIBILITY_MODE

The 'PulsesEnabledEvaluation' configuration data describes the behavior of the axis for a drive-independent stop response.
With 'YES', the Pulses-Enabled bit is always processed.
With 'COMPATIBILITY_MODE', the Pulses-Enabled bit is only processed for selected safety data
block.
releaseDisableMode
Data type:

UDINT

Changeable online:

Yes, active immediately

System default:

127

The behavior of the drive during the RELEASE_DISABLE error response is specified with the 'releaseDisableMode' configuration data.
Specifies the values of bits 0 - 6 to be reset in the PROFIDrive protocol.
The bits are negated by the system and ANDed with the existing control word. The specified bits are
reset.
Meaning of the bits in the PROFIdrive protocol:
Bit0 - ON
Bit1 - No Coast Stop
Bit2 - No Quick Stop
Bit3 - Enable Operation
Bit4 - Enable Ramp Generator
Bit5 - Unfreeze Ramp Generator
Bit6 - Enable Setpoint

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ExternalEncoderType

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisPulsesEnabledEvaluation
YES (173)

Pulses-Enabled bit is always processed

COMPATIBILITY_MODE (959)

The Pulses-Enabled bit is only processed for

selected safety data block

Associated parameters (maximum):

pulsesEnabled
(StructAxisPulsesEnabledConfig)

2-188

Position of PulsesEnabled bit

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ExternalEncoderType

StructAxisDriveSafetyExtendedFunctionsInfoDataIn - ExternalEncoderType
Specifies the logical address for the communication with the drive.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data
in the cyclic message frame from the drive.

StructAxisNistDriverConfig - ExternalEncoderType
The parameters for the actual speed value hardware are specified with the structure elements for
'NistDriverConfig' .
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the actual speed value.

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ExternalEncoderType

StructAxisOperatingDataInInfo - ExternalEncoderType
Specifies the configuration of the operating character data block.
enableActivePower
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the effective power display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableActualCurrent
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the actual current value display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableActualTorqueOrForce
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the torque / force actual value display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableMotorTemperature
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the motor temperature display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableTorqueOrForceUtilization
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the torque utilization display.

With 'NO', the display is not activated.
With 'YES', the display is activated.

2-190

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ExternalEncoderType

logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data
in the cyclic message frame from the drive.
EnumYesNo
NO (91)

No

YES (173)

Yes

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ExternalEncoderType

StructAxisPulsesEnabledConfig - ExternalEncoderType
The bit position for pulsesEnable is defined with the configuration data in 'StructAxisPulsesEnabledConfig'.
bitNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

13

Specifies the bit number for pulse enable.

pzdNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the PZD number for pulse enable.

2-192

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ExternalEncoderType

StructAxisSpeedLimitation - ExternalEncoderType
Parameters for asymmetric manipulated variable limitation. This function is also referred to as a backstop.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the velocity range limit..

With 'NO', the velocity limit is not activated.
With 'YES', the velocity limit is activated.
maxSpeed
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 1/min

Specifies the upper limit for the manipulated variable range.

minSpeed
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 1/min

Specifies the lower limit for the manipulated variable range.

EnumYesNo
NO (91)

No

YES (173)

Yes

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ExternalEncoderType

StructAxisTechnologicalData - ExternalEncoderType
The structure elements belonging to TechnologicalData are used to specify addresses for additional
data exchange between drive and control unit.
driveSafetyExtendedFunctionsEnabled
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation status of the SINAMICS Safety Integrated Extended Functions data.
With 'NO', the data are not activated.
With 'YES', the data are activated.
enable
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation status of the technological data.

With 'NO', the technology data are not activated.
With 'YES', the technology data are activated.
EnumYesNo
NO (91)

No

YES (173)

Yes

Associated parameters (maximum):

2-194

DriveSafetyExtendedFunctionsInfoDataIn
(StructAxisDriveSafetyExtendedFunctionsInfoDataIn)

Drive interface for SINAMICS Safety Integrated

Extended Functions data

OperatingDataInInfo
(StructAxisOperatingDataInInfo)

Drive interface for operating characteristics

TechnologicalDataInInfo
(StructAxisTechnologicalDataInInfo)

Drive interface for specific actual values

TechnologicalDataOutInfo
(StructAxisTechnologicalDataOutInfo)

Drive interface for specific setpoints

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ExternalEncoderType

StructAxisTechnologicalDataInInfo - ExternalEncoderType
Specifies the logical address for the communication with the drive.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of specific parameters in the cyclical message frame from
the drive.

StructAxisTechnologicalDataOutInfo - ExternalEncoderType
Specifies the logical address for the communication with the drive.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of specific parameters in the cyclical message frame to
the drive.

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ExternalEncoderType

StructDriverInfoDirectIncremental - ExternalEncoderType
The parameters for the direct incremental encoder hardware are specified with the structure elements
for 'DriverInfoDirectIncremental' .
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the communication module.

resolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

16

Specifies the number of bits of the incremental encoder.

2-196

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ExternalEncoderType

StructExtrapolation - ExternalEncoderType
The structure elements belonging to 'Extrapolation' are used to set the extrapolation time on the master value axis.
extrapolatedVelocitySwitch
Data type:

EnumAxisExtrapolatedVelocitySwitch

Changeable online:

Yes, active immediately

System default:

DIFFERENTIATION

Used to select the velocity master value for master value extrapolation.
extrapolationTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time specification for extrapolation. With 0.0, there is no extrapolation.

EnumAxisExtrapolatedVelocitySwitch
DIFFERENTIATION (408)

Differentiation of extrapolated master value

TRANSFER (409)

Transfer of extrapolated velocity

Associated parameters (maximum):

ExtrapolationPositionFilter
(ExtrapolationPositionFilterType)

Filter for actual position

Filter
(StructExtrapolationFilter)

Filter for actual velocity

ToleranceRange
(StructToleranceRange)

Tolerance range

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ExternalEncoderType

StructExtrapolationFilter - ExternalEncoderType
The structure elements belonging to 'Filter' are used to set the filter for the actual velocity on the master value axis.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With 'NO', the filter functionality is deactivated.
With 'YES', the filter functionality is activated.
mode
Data type:

EnumAxisFilterMode

Changeable online:

Yes, active after restart

System default:

DEFAULT_MODE

Specifies criterion for actual value smoothing.

With 'DEFAULT_MODE', the actual speed is not smoothed.
With 'AVERAGING', an average over time is used.
With 'PT1', a filter set via 'timeConstant' is used.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisFilterMode

2-198

DEFAULT_MODE (0)

No filter

AVERAGING (1)

Form mean value

PT1 (2)

PT1 filter

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ExternalEncoderType

StructLogAddressIoBitType - ExternalEncoderType
The structure elements of 'LogAddress' are used to set the logical address.
bitNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the bit number of the measuring input input.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies whether the indicated logical address should be used.

With NO, the logical address is not used.
With YES, the logical address is used.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical base address of the measuring input input.

EnumYesNo
NO (91)

No

YES (173)

Yes

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ExternalEncoderType

StructSensorDriverInfo - ExternalEncoderType
The elements of this structure are used to configure the I/O module of the additional encoder.
errorToleranceTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1 s

Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Data type:

EnumActualValueFormat

Changeable online:

Yes, active after restart

System default:

VALUE_LEFT_MARGIN

Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the communication module.

maxValue
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

32511

Specifies the maximum digitalized measured value for the additional encoder.
minValue
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

-32512

Specifies the minimal digitalized measured value for the additional encoder.

2-200

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ExternalEncoderType

resolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

15

Specifies the number of relevant bits for the additional encoder.

EnumActualValueFormat
VALUE_RIGHT_MARGIN (0)

Right-justified

VALUE_LEFT_MARGIN (1)

Left-justified

VALUE_LEFT_MARGIN_WITHOUT_SIGN (2)

Left-justified without sign

VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3)

Right-justified without sign

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ExternalEncoderType

StructToleranceRange - ExternalEncoderType
The structure elements belonging to 'ToleranceRange' are used to set a tolerance window around the
actual position of the master value axis.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Activation of the tolerance range.

With 'NO', the tolerance range is deactivated.
With 'YES', the tolerance range is activated.
value
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the tolerance window around the actual position value of the master axis.
EnumYesNo

2-202

NO (91)

No

YES (173)

Yes

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ExternalEncoderType

TypeOfAxisInfo - ExternalEncoderType
The structure elements of 'TypeOfAxis' specify the axis parameters.
typeOfAxis
Data type:

EnumEncoderIdentification

Changeable online:

No

System default:

REAL_AXIS

Specifies the type of encoder configured.

With REAL_AXIS, the encoder is connected to a real process.
EnumEncoderIdentification
REAL_AXIS (0)

Real external encoder

Associated parameters (maximum):

ActualVelocityMonitoring
(ActualVelocityMonitoring)

Actual velocity monitoring

DecodingConfig
(DecodingConfig)

Command processing

DistributedMotion
(DistributedMotionInfo)

Distributed motion control

Encoder_1
(EncoderMain)

Measuring system

Extrapolation
(StructExtrapolation)

Actual value smoothing

Gear
(Gear)

Load gearbox

SmoothingFilter
(SmoothingFilter)

Actual value smoothing

StandStillSignal
(StandStillSignal)

Standstill signal

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ExternalEncoderType

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PosAxis
Associated parameters (maximum):
Execution (ExecutionConfigInfo)
LeadScrew (LeadScrewInfo)
Modulo (ModuloInfo)
Restart (RestartInfo)
RestartCondition (RestartConditionInfo)
Simulation (SimulationInfo)
TypeOfAxis (TypeOfAxisInfo)

AbsBackLash - PosAxis
The structure elements of 'AbsBackLash' specify the backlash compensation for the absolute encoder.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
_type
Data type:

EnumBackLashType

Changeable online:

Yes, active immediately

System default:

POSITIVE

Specifies the direction in which backlash compensation is calculated.

With 'POSITIVE', the backlash compensation is applied in the positive direction.
With 'NEGATIVE', the backlash compensation is applied in the negative direction.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the monitoring mode for backlash compensation on the absolute encoder.
With 'NO', the backlash compensation is not enabled.
With 'YES', the backlash compensation is enabled.
length
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the backlash compensation value.

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PosAxis

startUpDifference
Data type:

EnumBackLashDiff

Changeable online:

Yes, active immediately

System default:

DIFF_POSITIVE

Specifies the preferred orientation for backlash compensation.

With POSITIVE_DIRECTION, the backlash compensation is applied in the positive direction during
the first traversing motion.
With NEGATIVE_DIRECTION, the backlash compensation is applied in the negative direction during
the first traversing motion.
velocity
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm/s

Specifies the velocity at which backlash compensation is stopped. If the value is 0, the backlash is
calculated without limits.
EnumBackLashType
POSITIVE (0)

positive

NEGATIVE (1)

negative

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumBackLashDiff

3-206

DIFF_POSITIVE (0)

positive

DIFF_NEGATIVE (1)

negative

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PosAxis

AbsEncoder - PosAxis
The structure elements of 'AbsEncoder' specify the parameters for an absolute encoder.
Note
Further information about the following parameters and on fine resolution can be found in
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
or in the online help
absBaudRate
Data type:

EnumAbsBaudrate

Changeable online:

No

System default:

Baudrate_3

Specifies the baud rate data for detecting the actual value of the absolute encoder.
Baudrate_5 sets a baud rate of 3 Mbaud.
Baudrate_4 sets a baud rate of 1.5 Mbaud.
Baudrate_3 sets a baud rate of 750 Kbaud.
Baudrate_2 sets a baud rate of 375 Kbaud.
Baudrate_1 sets a baud rate of 187.5 Kbaud.
absDataLength
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

24

Specifies the number of data bits of the absolute encoder range (packet length).
The number of data bits is calculated from the number of steps per revolution multiplied by the number
of revolutions.
For example: 2048 incr./rev. * rev.= data bit length 23
absMessageFormat
Data type:

EnumAbsMsgFormat

Changeable online:

No

System default:

PINETREE

Specifies a message frame format for the absolute encoder.

With RIGHT_MARGIN, the protocol format is right-justified.
With PINETREE, the pine tree format is selected.
absMessageLength
Data type:

EnumAbsMsgLength

Changeable online:

No

System default:

LENGTH_25

Specifies the message frame length for detecting the actual value of the absolute encoder.
With LENGTH_13, a protocol length of 13 bits is selected.
With LENGTH_21, a protocol length of 21 bits is selected.
With LENGTH_25, a protocol length of 25 bits is selected.

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PosAxis

absResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

4096

Specifies the number of increments per encoder revolution specified on the encoder rating plate.
absResolutionMultiplierAbsolute
Data type:

UDINT

Changeable online:

No

System default:

Specifies the multiplication factor of the actual value of the absolute encoder.
Evaluation of the absolute encoder during request by the absolute encoder (GxIST2).
absResolutionMultiplierCyclic
Data type:

UDINT

Changeable online:

No

System default:

Specifies the multiplication factor of the cyclic actual value of the encoder.
Evaluation of the incremental signal of the absolute encoder during operation (GxIST1).
absState
Data type:

EnumAbsState

Changeable online:

No

System default:

GRAY_CODE

Specifies a protocol format for the actual value of the absolute encoder.
With BIN_CODE, a binary code is selected.
With GRAY_CODE, GRAY code is selected.

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PosAxis

enableAbsMonitoring
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

YES

Specifies the monitoring mode of the permissible changes of the actual value for the absolute encoder.
With YES (system default), monitoring of the permissible changes of the actual value for the absolute
encoder is activated.
Actual value changes of the absolute encoder greater than or equal to the possible change in accordance with the maximum velocity (maxVelocity.maximum) are limited to the change in accordance
with the current velocity, i.e. the velocity of the previous cycle.
Incorrect actual values, e.g. due to transmission errors, are adjusted.
If the actual value changes are impermissibly high in 5 subsequent cycles, alarm 20005, reason 0, is
issued.
With NO, monitoring of the permissible changes of the actual value for the absolute encoder is not
activated, i.e., incorrect actual values due to transmission errors, for example, are also not changed
and processed as they are.
No technological alarm is issued.
Note
Switch the monitoring function off at your own risk.
After the deactivation of the monitoring, it can no longer be guaranteed that the magnitude of the calculated velocity lies within the limits defined by the user.
The position and the velocity and all derived quantities are also displayed and processed also taking
account of any measured values recognized as being incorrect (control, stop ramps, interpolations,
positioning).
EnumAbsBaudrate
Baudrate_5 (16#01)

3 Mbaud

Baudrate_4 (16#02)

1.5 Mbaud

Baudrate_3 (16#04)

750 Kbaud

Baudrate_2 (16#08)

375 Kbaud

Baudrate_1 (16#10)

187.5 Kbaud

EnumAbsMsgFormat
RIGHT_MARGIN (0)

Right-justified

PINETREE (1)

Pine tree format

EnumAbsMsgLength
LENGTH_13 (13)

13 bits

LENGTH_21 (21)

21 bits

LENGTH_25 (25)

25 bits

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PosAxis

EnumAbsState
BIN_CODE (16#00)

Binary

GRAY_CODE (16#01)

Gray Code

EnumYesNo

3-210

NO (91)

No

YES (173)

Yes

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PosAxis

AbsHomingEncoder - PosAxis
The structure elements of 'AbsHomingEncoder' specify the synchronization data for an absolute encoder.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
absShift
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the offset of the absolute encoder.

setOffsetOfAbsoluteEncoder
Data type:

EnumAbsoluteRelative

Changeable online:

Yes, active after restart

System default:

RELATIVE

Specifies the effect of the absolute encoder offset set in the 'absshift' configuration data (V3.2 and higher).
With RELATIVE, the offset is set as an addition (default response).
Actual axis value = actual encoder value + (previous offset already in effect + absshift)
(new) offset = previous offset + absshift
'absshift' is added to the existing absolute encoder offset whenever the _homing() function is called.
With ABSOLUTE, the offset is set as an absolute value (V3.2 and higher).
'absshift' is set as the absolute encoder offset whenever the _homing() function is called.
Actual axis value = actual encoder value + absshift
EnumAbsoluteRelative
ABSOLUTE (1)

Absolute

RELATIVE (115)

Relative

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PosAxis

ActualAccelerationMonitoring - PosAxis
The structure elements of 'ActualAccelerationMonitoring' specify the monitoring of actual acceleration.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Activation of actual acceleration monitoring.

maximum
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 m/min

Maximum actual acceleration.

EnumYesNo

3-212

NO (91)

No

YES (173)

Yes

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PosAxis

ActualVelocityMonitoring - PosAxis
The structure elements of 'ActualVelocityMonitoring' specify the monitoring mode for the maximum
actual velocity.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the monitoring mode for the maximum actual velocity.

With NO, monitoring of the actual velocity does not take place.
With YES, the actual velocity is monitored for the maximum permissible value.
When the maximum value is exceeded, the system variable 'sensordata.sensormonitoring.velocity' is
output as 'limitexceeded'.
The velocity is not limited to this value.
maximum
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm/s

Specifies the maximum permissible actual velocity.

EnumYesNo
NO (91)

No

YES (173)

Yes

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PosAxis

AdaptDrive - PosAxis
The structure elements of 'AdaptDrive' specify the gear ratio parameters for drive-mounted encoders.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
denFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the denominator of the gear ratio for a measuring gear.

numFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the numerator of the gear ratio for a measuring gear.

AdaptExtern - PosAxis
The structure elements of 'AdaptExtern' specify the gear ratio parameters for the EXTERN mounting
type.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
denFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the denominator of the gear ratio for a measuring gear.

numFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the numerator of the gear ratio for a measuring gear.

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PosAxis

AdaptLoad - PosAxis
The structure elements of 'AdaptLoad' specify the gear ratio parameters for load-side encoders.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
denFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the denominator of the gear ratio for a measuring gear.

numFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the numerator of the gear ratio for a measuring gear.

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PosAxis

AdditionalSensorDriverInfo - PosAxis
The elements of this structure are used to configure the I/O module of an encoder.
errorToleranceTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1 s

Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Data type:

EnumActualValueFormat

Changeable online:

Yes, active after restart

System default:

VALUE_LEFT_MARGIN

Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the communication module.

maxValue
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

32511

Specifies the maximum digitalized measured value for the additional encoder.
minValue
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

-32512

Specifies the minimal digitalized measured value for the additional encoder.
resolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

15

Specifies the number of relevant bits for the additional encoder.

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PosAxis

EnumActualValueFormat
VALUE_RIGHT_MARGIN (0)

Right-justified

VALUE_LEFT_MARGIN (1)

Left-justified

VALUE_LEFT_MARGIN_WITHOUT_SIGN (2)

Left-justified without sign

VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3)

Right-justified without sign

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PosAxis

AdditionalSensorMain - PosAxis
The structure element 'AdditionalSensor' is used to configure an additional encoder.
additionalSensorType
Data type:

EnumAxisAdditionalSensorType

Changeable online:

No

System default:

STANDARD

Specifies the interpretation of the encoder values.

With STANDARD, the digitalized measured value is interpreted as an absolute actual force/pressure
value of an individual encoder.
With PRESSURE_DIFFERENCE_MEASUREMENT, the differential pressure measurement between
two different encoders is set.
With SET_ACTUAL_VALUE, the value is specified with a system variable.
interfaceActivation
Data type:

EnumAxisInterfaceActivationConfig

Changeable online:

No

System default:

STARTUP_ACTIVATED

Specification to activate the digitized measured values.

With STARTUP_ACTIVATED the driver is activated on the technology object following system startup.
With STARTUP_DEACTIVATED the driver is deactivated on the technology object following system
startup.
EnumAxisAdditionalSensorType
STANDARD (0)

Pressure measurement

PRESSURE_DIFFERENCE_MEASUREMENT
(1)

Differential pressure measurement

SET_ACTUAL_VALUE (2)

Actual pressure value via system variable

EnumAxisInterfaceActivationConfig
STARTUP_DEACTIVATED (942)

Deactivated after startup

STARTUP_ACTIVATED (943)

Active after startup

Associated parameters (maximum):

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ConversionData
(ConversionData)

Interpretation of the encoder values

DriverInfo
(AdditionalSensorDriverInfo)

Analog input module

Filter
(Filter)

Filter for actual value smoothing

PressureDifferenceMeasurement
(StructPressureDifferenceMeasurement)

Parameters for differential pressure measurement

Range
(Range)

Definition range of the encoder values

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PosAxis

AdditionalSensorNumber - PosAxis
The structure element 'AdditionalSensorNumber' is used to configure the assignment of data set to
additional encoder.
number
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the encoder number.

AnalogConversionDataType - PosAxis
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder
values read.
_type
Data type:

EnumConversionDataType

Changeable online:

No

System default:

LINEAR_CONVERSIONDATA

Specifies the interpretation type for the digitalized measured value.

factor
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

Specifies the weighting factor for the analog measured value. The weighting factor specifies the relation between distance/velocity per bit.
offset
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the offset for the analog measured value.

EnumConversionDataType
LINEAR_CONVERSIONDATA (1)

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Linear relationship

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PosAxis

AnalogSensorType - PosAxis
The structure elements of 'AnalogSensor' specify actual value smoothing.
Associated parameters (maximum):
ConversionData
(AnalogConversionDataType)

Conversion factors between analog input value

and actual position value

DriverInfo
(StructSensorDriverInfo)

Driver data

ErrorStateMonitoring
(StructAxisAnalogSensorErrorStateMonitoring)

Error-state monitoring

LogAddress
(StructLogAddressIoBitType)

Logical address of analog sensor

PositionFilter
(PositionFilterType)

Actual position value filter

ReadyStateMonitoring
(StructAxisAnalogSensorReadyStateMonitoring)

Ready-state monitoring

UpdateCounter
(StructAxisActualValueUpdateCounter)

Evaluation of actual value update

AssemblyBase - PosAxis
The structure elements of 'AssemblyBase' specify the parameters for the encoder mounting type.
assemblyBase
Data type:

EnumAxisEncoderAssemblyType

Changeable online:

Yes, active after restart

System default:

ASSEMBLY_BASE_DRIVE

Specifies the assembly base of the encoder.

With ASSEMBLY_BASE_DRIVE, the encoder is a drive-side assembly type.
With ASSEMBLY_BASE_LOAD, the encoder is a load-side assembly type.
With ASSEMBLY_BASE_EXTERN, the encoder is an external assembly type.
With ASSEMBLY_BASE_LINEAR, the encoder is a linear assembly type.
EnumAxisEncoderAssemblyType

3-220

ASSEMBLY_BASE_DRIVE (0)

Drive side

ASSEMBLY_BASE_LOAD (1)

Load side

ASSEMBLY_BASE_EXTERN (2)

External

ASSEMBLY_BASE_LINEAR (3)

Linear

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PosAxis

ClampingMonitoring - PosAxis
The structure elements of 'ClampingMonitoring' specify the clamping monitoring.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
followingErrorDeviation
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

20.0 mm

Specifies the required following error to detect the end stop.

positionTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 mm

Specifies the permissible deviation of the actual value from the setpoint in the clamped state.
recognitionMode
Data type:

EnumRecognitionMode

Changeable online:

Yes, active after restart

System default:

DO_NOT_CLAMP

Specifies the type of endstop detection.

With 'DO_NOT_CLAMP', the endstop detection is deactivated.
With 'CLAMP_BY_FOLLOWING_ERROR_DEVIATION' the endstop detection takes place when the
following error specified in 'followingErrorDeviation' is reached.
With 'CLAMP_WHEN_TORQUE_LIMIT_REACHED' the endstop detection takes place when the
force moment/torque limit value is reached.
EnumRecognitionMode
DO_NOT_CLAMP (0)

No detection

CLAMP_BY_FOLLOWING_ERROR_DEVIATI
ON (1)

By following error

CLAMP_WHEN_TORQUE_LIMIT_REACHED
(2)

By force moment/torque

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PosAxis

ControllerDynamic - PosAxis
The structure elements of 'ControllerDynamic' specify the reference model monitoring.
Note
The function of the 'ControllerDynamic' (monitoring of actual speed) configuration data element on a
drive axis can only be used when a message frame type that also supplies an actual position value to
the controller is used.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the reference model monitoring.

With 'NO', the monitoring is not activated.
With 'YES', the monitoring is activated.
maxVeloTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

2.0 %

Specifies the maximum deviation between model and process with reference to maximum velocity.
EnumYesNo

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NO (91)

No

YES (173)

Yes

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PosAxis

ControllerStruct - PosAxis
The structure elements of 'ControllerStruct' set the controller structure.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
conType
Data type:

EnumAxisControllerType

Changeable online:

No

System default:

PV

Specifies the controller type.

NODEF has no significance.
With PD, a PD controller is used.
With PV, a P controller with precontrol is used.
With PID, a PID controller is used.
With PID_ACTUAL, a PID controller with actual value-dependent D-component is used.
EnumAxisControllerType
NODEF (0)

No significance

DIRECT (1)

Control only

PD (2)

PID controller

PV (3)

PV controller

PID (4)

PID controller

PID_ACTUAL (5)

PID controller with actual value-dependent Dcomponent

Associated parameters (maximum):

PD_Controller
(PD_Controller)

PID controller

PID_Controller
(PID_ControllerPos)

PID controller

PV_Controller
(PV_Controller)

P-controller with precontrol

ControllerSwitchData - PosAxis
The structure elements for 'ControllerSwitchData' are used to configure digital inputs for force or pressure control.
Associated parameters (maximum):
NumberOfDigitalInputs
(NumberOfDigitalInputs)

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Digital inputs

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PosAxis

ConversionData - PosAxis
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder
values read.
Note
Further information is provided:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Supplementary Technology Objects Function Manual
Online help
_type
Data type:

EnumConversionDataType

Changeable online:

No

System default:

LINEAR_CONVERSIONDATA

Specifies the interpretation type for the digitalized measured value.

factor
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 Pa

Specifies the evaluation type for the digitalized measured value.

invert
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether or not the sign of the measured value should be inverted.
With NO, the sign is not inverted.
With YES, the sign is inverted.
offset
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 Pa

Specifies the offset for the digitalized measured value.

EnumConversionDataType
LINEAR_CONVERSIONDATA (1)

Linear relationship

EnumYesNo

3-224

NO (91)

No

YES (173)

Yes

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PosAxis

DataSetMain - PosAxis
The structure elements belonging to "DataSet_(n)" are used to set the data set (n).
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
Associated parameters (maximum):
AdditionalSensorNumber
(AdditionalSensorNumber)

Assignment of a force/pressure sensor to this

data record

ClampingMonitoring
(ClampingMonitoring)

Clamping monitoring

ControllerDynamic
(ControllerDynamic)

Reference model monitoring

ControllerStruct
(ControllerStruct)

Controller parameters

DynamicComp
(DynamicComp)

Dynamic compensation

DynamicData
(DynamicData)

Dynamic data of the cascaded control loop system

DynamicFollowing
(DynamicFollowing)

Dynamic following error monitoring

DynamicQFData
(StructPaxDynamicQFData)

Dynamic data of the hydraulic process

EncoderNumber
(EncoderNumber)

Assignment of an encoder to this data record

ForceControllerData
(ForceControllerData)

Force/pressure controller

ForceControllerDifference
(ForceControllerDifference)

System deviation monitoring of the force/pressure control loop

Gear
(Gear)

Ratio of the load gearbox

InvertQ
(StructAxisInvertQOutput)

Inversion of the Q-output in front of the characteristic curve

InvertSetPoint
(InvertSetPointHydraulicType)

Inversion of the Q-output behind the characteristic curve

ProcessModel
(ProcessModel)

Process model

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PosAxis

DecodingConfig - PosAxis
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
Note
Additional information is available at:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
SIMOTION MCC Motion Control Chart Programming and Operating Manual
Function Manual: Basic Functions
or in the online help
behaviourAtTheEndOfProfile
Data type:

EnumEndBehaviourOfProfile

Changeable online:

Yes, active immediately

System default:

STOP_WHEN_PROFILE_END_REACHED

Specifies the behavior at the end of the profile.

With MOVE_WITH_CONSTANT_SPEED, the axis moves at a constant velocity.
In terms of interpolation status, the final condition acts in the same way as the system function _move.
If the physical variable is not equal to 0, setpoint generation will not be completed.
With STOP_IN_PROFILE_END, the profile end is the target of the positioning movement, that is, at
the target, 'velocity:=0'.
With STOP_WHEN_PROFILE_END_REACHED, the axis is stopped only after the profile end has
been reached.
cyclicSetUpInForceLimiting
Data type:

EnumAxisCyclicSetUpInForceLimiting

Changeable online:

Yes, active immediately

System default:

NONE

Specifies how cyclic resetting to the setpoints should occur with active force/pressure limiting.
With 'NONE' cyclic resetting does not occur.
With 'POSITION_BASED' cyclic resetting is to the setpoint position after allowing for the pressure limiting component.
With 'POSITION_AND_DYNAMIC_BASED' cyclic resetting is to the setpoint position and setpoint
velocity after allowing for the pressure limiting component.
decodeSequentialMotionCommand
Data type:

EnumDecodeSequentialMotionCommand

Changeable online:

Yes, active immediately

System default:

IMMEDIATELY

Specifies the cycle in which the next 'SEQUENTIAL' or 'NEXT_MOTION' command is transferred to
the interpolator.

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PosAxis

directionDynamic
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the acceleration model used.

With NO, the non-direction-related acceleration model is used.
With YES, the direction-related acceleration model is used.
disableMotionOperation
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

YES

Specifies the behavior for motion commands stopped with 'stopMode := STOP_WITHOUT_ABORT'
after the enables have been removed.
With 'YES' the motion commands are canceled and cannot be resumed.
With 'NO' the motion commands are not canceled and can be resumed after the enables are reset.
numberOfImmediateCommands
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of commands, programmed with the IMMEDIATELY command parameter,
which can be active simultaneously on one axis.
numberOfMaxBufferedCommandId
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

100

Specifies the maximum number of command IDs active simultaneously whose status can be requested at the end of the relevant command.
A command ID is added to the list with the ST command '_bufferAxisCommandId'.
Removal from the list takes place with the ST command '_removeBufferedAxisCommandId'.
numberOfQueueCommands
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

Specifies the maximum number of commands which can be active simultaneously on one axis.

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PosAxis

profileDynamicsLimiting
Data type:

EnumProfileDynamicsLimiting

Changeable online:

Yes, active immediately

System default:

COMMAND_DYNAMICS

Specifies the active limits for dynamic parameters.

With 'COMMAND_DYNAMICS' the system ramps up to the profile or the values specified in the MotionIn vector using the minimum of the dynamic parameters specified in the command or the configured
maximum values in 'MaxJerk', 'MaxAcceleration', and 'MaxVelocity' and is then limited during the
course of the profile to the minimum of the programmed values and the configured maximum values.
With 'MAX_CONFIGURED_DYNAMICS' the system ramps up to the profile or the values specified in
the MotionIn vector using the minimum of the dynamic parameters specified in the command and the
configured maximum values in 'MaxJerk', 'MaxAcceleration', and 'MaxVelocity' and is then limited
during the course of the profile to the configured maximum values.
speedModeSetPointZero
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies how the axis is traversed to zero velocity when the enables are set.
With 'No', the axis is traversed to zero via a braking ramp with the maximum axis dynamic response.
With 'Yes', the velocity setpoint (and acceleration) is set directly to 0 without ramp.
stopWithJerk
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Details of the behavior for a local stop response. This configuration applies only to interpolatory stops.
With 'YES' the local stop response is executed with the value from 'Max.Jerk.maximum'.
With 'NO', the local stop response is executed without jerk limiting.
transferSuperimposedPosition
Data type:

EnumTransferSuperimposedPosition

Changeable online:

Yes, active after restart

System default:

TRANSFER_STANDSTILL

Specifies when the coordinate system of the superimposed motion is reset (to 0).
With 'TRANSFER_STANDSTILL' the position of the superimposed coordinate system is reset to 0
after termination of the setpoint generation of the axis or when programming a motion command with
mergeMode:=IMMEDIATELY or when the axis is reset.
With 'TRANSFER_MERGE' the position of the superimposed coordinate system is reset to 0 when
programming a motion command with mergeMode:=IMMEDIATELY or when the axis is reset.
With ''AXIS_RESET' the position of the superimposed coordinate system is reset to 0 when the axis
is reset.

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PosAxis

EnumEndBehaviourOfProfile
MOVE_WITH_CONSTANT_SPEED (0)

Motion at constant speed

STOP_IN_PROFILE_END (1)

Deceleration to the endpoint / velocity 0

STOP_WHEN_PROFILE_END_REACHED (2)

Deceleration after profile completed

EnumAxisCyclicSetUpInForceLimiting
NONE (0)

No cyclic resetting

POSITION_BASED (1)

Cyclic resetting to the setpoint position

POSITION_AND_DYNAMIC_BASED (2)

Cyclic resetting to the setpoint position and setpoint velocity

EnumDecodeSequentialMotionCommand
IMMEDIATELY (0)

Switch to next command immediately

NEXT_IPO_CYCLE (1)

Switch to next command in next cycle

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumProfileDynamicsLimiting
COMMAND_DYNAMICS (0)

Limiting of dynamic parameters using the minimum value of the configured and programmed
values

MAX_CONFIGURED_DYNAMICS (1)

Limiting of dynamic parameters using configured values

EnumTransferSuperimposedPosition
TRANSFER_STANDSTILL (0)

Switch to next command at standstill, reset, or

according to merge mode

TRANSFER_MERGE (1)

Switch to next command at reset, or according to

merge mode

TRANSFER_RESET (2)

Switch to next command at reset

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PosAxis

DigitalInputMain - PosAxis
The structure elements belonging to 'DigitalInput_(n)' are used to configure a digital input or to assign
it to the axis.
bitNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the I/O bit number within the I/O byte specified by the logical address.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address of the communication module.

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PosAxis

DistributedMotionInfo - PosAxis
The structure elements for 'DistributedMotion' set the sign-of-life failure tolerance.
enableDelayOfCommandValueOutput
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the master-side output delay.

With 'NO', the master-side output delay is deactivated.
With 'YES', the master-side output delay is activated.
enableLifeSignMonitoring
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies life sign monitoring.

With 'NO', the sign of life monitoring is deactivated.
With 'YES', the sign of life monitoring is activated.
enableOffsetCompensation
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies offset compensation.

With 'NO', the compensation of the cycle offset is deactivated.
With 'YES', the compensation of the cycle offset is activated.
numberOfLifeSignFailures
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the maximum number of life sign failures tolerated.

EnumYesNo
NO (91)

No

YES (173)

Yes

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PosAxis

Drift - PosAxis
The structure elements of 'Drift' specify drift compensation.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the activation status of drift compensation.

With 'NO', the drift compensation is not activated.
With 'YES', the drift compensation is activated.
EnumYesNo

3-232

NO (91)

No

YES (173)

Yes

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PosAxis

DriveData - PosAxis
The structure elements for 'DriveData' specify the key drive values.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
maxSpeed
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

3000.0 1/min

Specifies the maximum speed.

maxTorque
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

3.2 Nm

Specifies the maximum torque of the drive.

nominalSpeed
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

3000.0 1/min

Specifies the reference speed.

nominalTorque
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

3.2 Nm

Specifies the nominal torque of the drive.

speedReference
Data type:

EnumAxisReferenceMaxNominal

Changeable online:

Yes, active after restart

System default:

MAX_VALUE

Selection setting for scaling: reference speed or maximum speed.

torqueReductionGranularity
Data type:

EnumAxisTorqueForceReductionGranularity

Changeable online:

Yes, active after restart

System default:

BASIC

Specifies the fine resolution of the torque reduction.

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PosAxis

torqueReference
Data type:

EnumAxisReferenceMaxNominal

Changeable online:

Yes, active after restart

System default:

MAX_VALUE

Selection setting for scaling: Nominal torque or maximum torque.

EnumAxisReferenceMaxNominal
MAX_VALUE (0)

Maximum value

NOMINAL_VALUE (1)

Nominal value

EnumAxisTorqueForceReductionGranularity

3-234

STANDARD (0)

Resolution 1/100

BASIC (16)

Resolution 1/16384

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PosAxis

DriverInfo - PosAxis
The structure elements of 'DriverInfo' specify the parameters for the encoder hardware.
Note
Additional information is available at:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Technology Objects Synchronous Operation, Cam Function Manual
or in the online help
encoderNumberOnDevice
Data type:

DINT

Changeable online:

No

System default:

Specifies the number of the encoder actual value for message frames with several actual values, e.g.
DP_TEL106_611U_DSC_2_ENCODER.
lifeSignCheck
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies the monitoring mode for the PROFIBUS DP sign of life between nodes.
With 'NO', the sign of life monitoring is switched off.
With 'YES', the sign of life monitoring is activated.
logAddressIn
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the input data area.

logAddressOut
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the output data area.

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PosAxis

telegramType
Data type:

EnumAxisTelegramType

Changeable online:

No

System default:

DP_TEL102_611U_POSCTRL_1_ENCODER

Specifies a PROFIdrive message frame type.

With NO_TELEGRAM, a message frame is not specified.
With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set
up.
With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set
up.
With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one
encoder) is set up.
With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with
two encoders) is set up.
With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives
with one encoder and DSC) is set up.
With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled
drives with two encoders and DSC) is set up.
With DP_TEL81_STANDARD, the standard message frame 81, PZD-2/6 for an encoder is set up.
With DP_TEL82_STANDARD, the standard message frame 82, PZD-2/7 for an encoder is set up.
With DP_TEL83_STANDARD, the standard message frame 83, PZD-2/8 for an encoder is set up.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7
for velocity-controlled drives without encoders is set up.
With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for
velocity-controlled drives with one encoder is set up.
With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for
velocity-controlled drives with two encoders is set up.
With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for
velocity-controlled drives with one encoder and DSC is set up.
With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for
velocity-controlled drives with two encoders and DSC is set up.
EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisTelegramType

3-236

NO_TELEGRAM (0)

No message frame

DP_TEL1_STANDARD (1)

Standard message frame 1, PZD-2/2

DP_TEL2_STANDARD (2)

Standard message frame 2, PZD-4/4

DP_TEL3_STANDARD (3)

Standard message frame 3, PZD-5/9

DP_TEL4_STANDARD (4)

Standard message frame 4, PZD-6/14

DP_TEL5_STANDARD (5)

Standard message frame 5, PZD-9/9

DP_TEL6_STANDARD (6)

Standard message frame 6, PZD-10/14

DP_TEL81_STANDARD (81)

Standard message frame 81, PZD-2/6

DP_TEL83_STANDARD (83)

Standard message frame 83, PZD-2/8

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PosAxis

DP_TEL101_611U_VELCTRL_NO_ENCODER
(101)

SIEMENS message frame 101, PZD-6/7

DP_TEL102_611U_POSCTRL_1_ENCODER
(102)

SIEMENS message frame 102, PZD-6/10

DP_TEL103_611U_POSCTRL_2_ENCODER
(103)

SIEMENS message frame 103, PZD-7/15

DP_TEL105_611U_DSC_1_ENCODER (105)

SIEMENS message frame 105, PZD-10/10

DP_TEL106_611U_DSC_2_ENCODER (106)

SIEMENS message frame 106/107, PZD-11/15

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PosAxis

DynamicComp - PosAxis
The structure elements of 'DynamicComp' specify dynamic compensation.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
T1
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the first time constant.

T2
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the second time constant.

deadTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the dead time.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of compensation.

With 'NO', the compensation is not activated.
With 'YES', the compensation is activated.
EnumYesNo

3-238

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PosAxis

DynamicData - PosAxis
The structure elements of 'DynamicData' specify the dynamic data of the cascade control system.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
positionTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1 s

Specifies the equivalent time constant of the position control system.

torqueTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.00005 s

Not used.
velocityTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0005 s

Specifies the equivalent time constant of the velocity control system.

Note
This value can only be checked after download.

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PosAxis

DynamicFollowing - PosAxis
The structure elements of 'DynamicFollowing' set the dynamic following error monitoring system.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies the activation status of dynamic following error monitoring.

With 'NO', the monitoring is not activated.
With 'YES', the monitoring is activated.
maxPositionTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

100.0 mm

Specifies the maximum permissible following error at maximum axis velocity.

minPositionTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 mm

Specifies the maximum permissible following error for axis velocities between zero and the velocity
from which the maximum permissible following error begins to rise in proportion to velocity.
minVelocity
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 mm/s

Specifies the axis velocity from which the maximum permissible following error begins to rise in proportion to velocity.

3-240

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PosAxis

warningLimit
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

100.0 %

Specifies the percentage value, relative to the maximum permissible following error calculated, which
triggers a warning if exceeded.
EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

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3-241

PosAxis

EmergencyRampGenerator - PosAxis
The structure element of 'EmergencyRampGenerator' sets the parameter of the emergency stop ramp
generator.
maxDeceleration
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10000.0 m/s

Specifies the deceleration of the braking ramp.

3-242

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PosAxis

EncoderMain - PosAxis
The structure elements of 'Encoder' specify the parameters of the encoder.
dataAdaption
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Selects the behavior

For YES, the selected encoder configuration parameters will be modified by the drive.
For NO, the encoder configuration parameters are configured by the user.
encoderIdentification
Data type:

EnumAxisEncoderIdentification

Changeable online:

No

System default:

SIMULATION

Specifies the encoder identification (encoder interface).

With SIMULATION, the circuit between the motor and encoder is closed by means of software. Encoder measured values are calculated from the simulated actual speed or velocity of the axis. It is not
necessary to use a real encoder when simulating encoder operation.
With ONBOARD, the encoder is connected to an ONBOARD encoder interface of the controller (e.g.
C230, C240, etc.).
With DPMASTER, the encoder is connected to an external module. Encoder data is provided via the
DP interface.
With DIRECT, the encoder is connected to the inputs of a digital or analog input module.
With SET_ACTUAL_VALUE, the encoder measured value is provided via the 'sensorsetting.actualvalue' system variable. The measured value is updated cyclically in a user program.
encoderMode
Data type:

EnumAxisEncoderMode

Changeable online:

No

System default:

RECTANGLE_TTL

Specifies the encoder mode (encoder signal type).

RECTANGLE_TTL should be selected if the incremental position is to be measured by evaluating a
rectangular encoder signal.
SINUS_1VPP should be selected if the incremental position is to be measured by evaluating a sinusoidal encoder signal.
RESOLVER should be selected if the incremental position is to be measured by evaluating a resolver's encoder signal.
STEPMOT should be selected, if the incremental position is to be determined by taking a set incremental position for a stepper motor without an encoder.
INTERVAL_COUNTER should be selected if the velocity/speed is to be measured by using an additional module to count intervals between two pulses.
PROFIDRIVE_NIST_A should be selected if the velocity/speed is to be determined by reading actual
speed value data (16 bits wide) from the PROFIDrive message frame.
PROFIDRIVE_NIST_B should be selected if the velocity/speed is to be determined by reading actual
speed value data (32 bits wide) from the PROFIDrive message frame.
SSI_MODE should be selected if the incremental position is to be transferred to the controller in accordance with the specifications of the SSI protocol (absolute encoder).
ENDAT should be selected if the incremental position is to be transferred to the controller in accordance with the specifications of the EnDat protocol (incremental/absolute encoder).

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PosAxis

encoderSystem
Data type:

EnumAxisEncoderSystem

Changeable online:

No

System default:

ROTATORY_SYSTEM

Specifies the encoder system.

With ROTARY, a rotary encoder system is used.
With LINEAR, a linear encoder system is used.
encoderType
Data type:

EnumAxisEncoderType

Changeable online:

No

System default:

SENSOR_INCREMENTAL

Specifies the encoder type.

With SENSOR_INCREMENTAL, the encoder is treated as an incremental encoder.
With SENSOR_ABSOLUTE, the encoder is treated as an absolute encoder.
With SENSOR_CYCLIC_ABSOLUTE, the encoder is treated as an absolute encoder. The number of
encoder overflows is also stored in the controller after disabling.
With SENSOR_POSITION_DIFFERENCE_MEASUREMENT, an encoder is configured to allow differential measurement of position and velocity of two definable encoders.
encoderValueType
Data type:

EnumAxisEncoderValueType

Changeable online:

No

System default:

POSITION

Specifies the actual value type from which the encoder value is calculated.
With POSITION, the actual value is calculated for both the position and the velocity/speed.
With VELOCITY, the actual value for the velocity/speed is calculated.
With POSITION_AND_PROFIDRIVE_NIST_B, the actual value is calculated for the position and the
actual value of the velocity/speed is read from the PROFIDrive message frame.
With POSITION_AND_DIRECT_NIST_B, the actual value is calculated for the position, and the actual
value for the velocity/speed is read from an area to be addressed in the process image of the inputs
and outputs.
interfaceAllocation
Data type:

EnumAxisSensorInterfaceAllocationConfig

Changeable online:

No

System default:

EXCLUSIVE

Selects the interface behavior.

With EXCLUSIVE, the driver can only be used on this technology object.
With NON_EXCLUSIVE_AND_STARTUP_ACTIVATED, the driver can be used on this and any other
technology object. The driver is activated on the technology object after system startup.
With NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED, the driver can be used on this and any
other technology object. The driver is deactivated on the technology object after system startup.
EnumYesNo

3-244

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PosAxis

EnumAxisEncoderIdentification
SIMULATION (0)

Simulation

ONBOARD (1)

Onboard

DPMASTER (2)

DPMaster

DIRECT (4)

Encoder supplies the value directly

SET_ACTUAL_VALUE (5)

Actual value via system variable

EnumAxisEncoderMode
RECTANGLE_TTL (1)

Rectangle

SSI_MODE (2)

SSI

STEPMOTOR (3)

Stepper motor

ENDAT (4)

Endat

SINUS_1VPP (5)

Sine

RESOLVER (6)

Resolver

SENSOR_ANALOG (7)

Analog encoder

INTERVAL_COUNTER (8)

Encoder mode for interval counter

PROFIDRIVE_NIST_A (9)

Velocity value 16-bit

PROFIDRIVE_NIST_B (10)

Velocity value 32-bit

PROFIDRIVE (11)

PROFIdrive profile

EnumAxisEncoderSystem
ROTATORY_SYSTEM (0)

Rotary encoder system

LINEAR_SYSTEM (1)

Linear encoder system (linear scale)

EnumAxisEncoderType
SENSOR_INCREMENTAL (1)

Incremental encoder

SENSOR_ABSOLUTE (2)

Absolute encoder

SENSOR_CYCLIC_ABSOLUTE (3)

Absolute encoder cyclic absolute

SENSOR_POSITION_DIFFERENCE_MEASU
REMENT (4)

Differential position

EnumAxisEncoderValueType
POSITION (0)

Calculate actual position value

VELOCITY (1)

Calculate actual velocity value

POSITION_AND_PROFIDRIVE_NIST_B (2)

Calculate actual position values and velocity

from DP protocol

POSITION_AND_DIRECT_NIST_B (3)

Calculate actual position values and actual velocity value from I/O

POSITION_AND_PROFIDRIVE_ENCODER_N
IST_B (4)

Calculate actual position values and velocity

from DP protocol (standard message frame 83)

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PosAxis

EnumAxisSensorInterfaceAllocationConfig
EXCLUSIVE (939)

Exclusive

NON_EXCLUSIVE_AND_STARTUP_DEACTI
VATED (940)

Non-exclusive and deactivated

NON_EXCLUSIVE_AND_STARTUP_ACTIVAT
ED (941)

Non-exclusive and active

Associated parameters (maximum):

3-246

AbsBackLash
(AbsBackLash)

Backlash compensation for absolute measuring

system

AbsEncoder
(AbsEncoder)

Absolute encoder

AbsHomingEncoder
(AbsHomingEncoder)

Homing for absolute measuring system

AdaptDrive
(AdaptDrive)

Gear ratio of the measuring system for a driveside assembly type

AdaptExtern
(AdaptExtern)

Gear ratio of the measuring system for an external assembly type

AdaptLoad
(AdaptLoad)

Gear ratio of the measuring system for a loadside assembly type

AnalogSensor
(AnalogSensorType)

Analog measuring system

AssemblyBase
(AssemblyBase)

Assembly type of the measuring system

DriverInfo
(DriverInfo)

Actual value interface

DriverInfoDirectIncremental
(StructDriverInfoDirectIncremental)

Actual value interface of the direct incremental

encoder

Filter
(Filter)

Actual value filter

FrequencyLimit
(FrequencyLimit)

Limit frequency of the measuring system

IncBackLash
(IncBackLash)

Backlash compensation for incremental measuring system

IncEncoder
(IncEncoder)

Incremental encoder

IncHomingEncoder
(IncHomingEncoder)

Homing for incremental measuring system

IntervalCounterConversionData
(IntervalCounterConversionDataType)

Interval counter

InversCountDirection
(InversCountDirection)

Inverse count direction

NistDriverConfig
(StructAxisNistDriverConfig)

Actual speed value

PathPerRevolution
(PathPerRevolution)

Path per revolution

PositionDifferenceMeasurement
(StructPositionDifferenceMeasurement)

PositionDifferenceMeasurement

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PosAxis

PositionFilter
(PT2PositionFilterType)

Position filter

Resolution
(Resolution)

Resolution

SensorControlConfig
(SensorControlConfig)

Encoder error tolerance

SensorNist
(SensorNist)

Actual speed value extrapolation

SensorSetActualValue
(SensorSetActualValue)

Actual value via system variable

Slippage
(Slippage)

Slippage

StepMotorMonitoring
(StepMotorMonitoringType)

Stepper motor

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

3-247

PosAxis

EncoderNumber - PosAxis
The assignment between data record number and measuring system number of the position or velocity sensor is specified with the structure elements for 'EncoderNumber'.
EncoderNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies which encoder is assigned to this data set.

ExecutionConfigInfo - PosAxis
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
Note
Further information is provided:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Technology Objects Synchronous Operation, Cam Function Manual
Online help
executionlevel
Data type:

EnumToExecutionLevel

Changeable online:

Yes, active after restart

System default:

IPO

Specifies the task level at which the interpolator task of the technology object is running.
With IPO, the task is executed in the fast interpolator cycle clock.
With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel

3-248

IPO (0)

IPO

IPO_2 (1)

IPO_2

SERVO (2)

Servo

IPO_FAST (3)

IPO_fast

SERVO_FAST (4)

Servo_fast

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PosAxis

ExtrapolationPositionFilterType - PosAxis
The structure elements belonging to 'ExtrapolationPositionFilter' are used to set the filter for the actual
position on the master value axis.
T1
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant T1 of the filter for the actual position.

T2
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant T2 of the filter for the actual position.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the PT2 filter for the actual position.
EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

3-249

PosAxis

Filter - PosAxis
The structure elements of 'Filter' specify actual value smoothing.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With 'NO', the filter functionality is deactivated.
With 'YES', the filter functionality is activated.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo

3-250

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PosAxis

FineInterpolator - PosAxis
The structure element of 'FineInterpolator' specifies the parameter of the fine interpolator.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
_type
Data type:

EnumAxisFineInterpolatorMode

Changeable online:

Yes, active after restart

System default:

LINEAR_MODE

Specifies the type of fine interpolator used.

With DIRECT_MODE, fine interpolation does not take place.
With LINEAR_MODE, a linear fine interpolation takes place.
With CUBIC_MODE, acceleration-continuous setpoints are generated.
With QUADRATIC_MODE, velocity-continuous setpoints are generated.
EnumAxisFineInterpolatorMode
DIRECT_MODE (0)

No interpolation

LINEAR_MODE (1)

Linear interpolation

CUBIC_MODE (2)

Acceleration-continuous interpolation

QUADRATIC_MODE (3)

Velocity-continuous interpolation

ForceControlHeldValueMonitoring - PosAxis
The force/pressure final value monitoring is set with the structure elements for 'ForceControlHeldValueMonitoring'.
delayTimeToActivate
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the delay between the time when the actual value exceeds the tolerance window and activation of the message.
tolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

20.0 Pa

Specifies the permissible force/pressure value tolerance with a constant setpoint.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

3-251

PosAxis

ForceControlRunningInWindowMonitoring - PosAxis
The parameters of the force entry window monitoring are specified with the structure elements for
'ForceControlRunningIn WindowMonitoring'.
maxDelayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the delay time from the arrival of the force/pressure actual value in the tolerance window
until the activation of the force/pressure value monitoring.
tolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 Pa

Permissible deviation between setpoint and actual value.

winTolTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Specifies the delay time from the activation of the monitoring until the actual value reaches the tolerance window.

3-252

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PosAxis

ForceControllerData - PosAxis
The structure elements of 'ForceControllerData' parameterize the force controller.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
_type
Data type:

EnumForceControllerType

Changeable online:

Yes, active after restart

System default:

PID

Controller type for the force controller

invertControlValue
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

With YES, the manipulated variable of the force controller is inverted.

With NO, the manipulated variable of the force controller is not inverted.
typeOfSensorData
Data type:

EnumSensorDataType

Changeable online:

Yes, active after restart

System default:

UNI_DIRECTION

UNI_DIRECTION means that negative actual values cannot be measured.

BOTH_DIRECTION means negative actual values will be measured.
EnumForceControllerType
PID (1)

PID controller

PID_ACTUAL (2)

PID controller with actual value-dependent Dcomponent

EnumYesNo
NO (91)

No

YES (173)

Yes

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List Manual, 11/2010

3-253

PosAxis

EnumSensorDataType
UNI_DIRECTION (1)

Unidirectional

BOTH_DIRECTION (2)

Bidirectional

Associated parameters (maximum):

3-254

FilterForceControl
(StructAxisFilterForceControlConfig)

Manipulated variable limitation

OutputLimits
(OutputLimits)

Manipulated variable limitation

PID_Controller
(PID_ControllerForce)

Parameters for the PID controller

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PosAxis

ForceControllerDifference - PosAxis
The controller differential monitoring is set with the structure elements for 'ForceControllerDifference'.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

With 'YES', the control deviation monitoring of the force controller is activated.
With 'NO', the control deviation monitoring of the force controller remains deactivated (system default).
maxForceTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 Pa

Specifies the maximum permissible control deviation.

EnumYesNo
NO (91)

No

YES (173)

Yes

FrequencyLimit - PosAxis
The structure elements of 'FrequencyLimit' specify the frequency limit of the encoder.
encoderFrequencyLimit
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

400000.0 Hz

Specifies the frequency limit of the encoder.

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List Manual, 11/2010

3-255

PosAxis

Friction - PosAxis
The structure elements of 'Friction' specify the friction torque compensation.
amplitude
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

5.0 mm/s

Specifies the maximum value of the friction torque compensation characteristic.

decayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.05 s

Specifies the delay time constant.

delayTimeStandStill
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Specifies the delay time for activation of the standstill signal.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of friction torque compensation.

With NO, the friction torque compensation is not activated.
With YES, the friction torque compensation is activated.
maxVeloStandStill
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.2 mm/s

Specifies the maximum velocity at which the standstill signal is active.

EnumYesNo

3-256

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PosAxis

Gear - PosAxis
The structure elements of 'Gear' specify the gear ratio of the load gearbox. The gear ratio is only active
for the 'ASSEMBLY_DRIVE' mounting type.
denFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of load revolutions.

numFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of motor revolutions.

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PosAxis

HWEndPos - PosAxis
The structure elements of 'HWEndPos' are used to specify the monitoring mode of the hardware limit
switches.
bitNumberNegative
Data type:

UDINT

Changeable online:

No

System default:

Specifies the I/O bit number within the I/O byte specified by the logical address.
bitNumberPositive
Data type:

UDINT

Changeable online:

No

System default:

Specifies the I/O bit number within the I/O byte specified by the logical address.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the hardware limit switches.

For 'NO', the hardware limit switches are deactivated.
For 'YES', the hardware limit switches are activated.
interfaceActivation
Data type:

EnumAxisInterfaceActivationConfig

Changeable online:

No

System default:

STARTUP_ACTIVATED

Selects the interface behavior.

With STARTUP_DEACTIVATED the driver is deactivated on the technology object following system
startup.
With STARTUP_ACTIVATED the driver is activated on the technology object following system startup.
logAddressNegative
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address of the negative hardware limit switch.

3-258

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PosAxis

logAddressPositive
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address of the positive hardware limit switch.

mode
Data type:

EnumMountSwitch

Changeable online:

Yes, active after restart

System default:

END_MOUNTED_SWITCH

Specifies the position of the hardware limit switch relative to the axis traversing range.
With 'END_MOUNTED_SWITCH', the hardware limit switches outside of the permissible traversing
range are always active.
With 'FLEXIBLE_MOUNTED_SWITCH', the hardware limit switches can be crossed in the direction
of the impermissible traversing range.
EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisInterfaceActivationConfig
STARTUP_DEACTIVATED (942)

Deactivated after startup

STARTUP_ACTIVATED (943)

Active after startup

EnumMountSwitch
END_MOUNTED_SWITCH (0)

Limit switch outside of the permissible traversing

range always active

FLEXIBLE_MOUNTED_SWITCH (1)

Limit switch can be crossed

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List Manual, 11/2010

3-259

PosAxis

Homing - PosAxis
The structure elements of 'Homing' specify the parameters for homing the axis.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
beroDistance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the maximum distance from the current position to the homing cam or to the external zero
mark.
direction
Data type:

EnumDirectionType

Changeable online:

Yes, active immediately

System default:

POSITIVE

Specifies the direction of approach for active homing.

With POSITIVE, the approach direction for homing is selected in the positive direction.
With NEGATIVE, the approach direction for homing is selected in the negative direction.
enableBeroDistance
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the monitoring mode of the traversing path from the current position until the reference cam
or the external zero mark.
With NO, the monitoring is switched off.
With 'YES', the monitoring is activated.

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referencingNecessary
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies whether homing is necessary before commands with absolute position data. Commands
with absolute position data can always be traversed without homing.
With NO, homing is not necessary for commands with absolute position specifications.
With YES, homing is necessary for commands with absolute position specifications.
EnumDirectionType
POSITIVE (0)

Start in positive direction

NEGATIVE (1)

Start in negative direction

POSITIVE_ALL_HOMING (2)

Positive direction only

NEGATIVE_ALL_HOMING (3)

Negative direction only

EnumYesNo
NO (91)

No

YES (173)

Yes

Associated parameters (maximum):

ReverseCamNegative
(ReverseCamNegative)

Negative reversing cam

ReverseCamPositive
(ReverseCamPositive)

Positive reversing cam

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IncBackLash - PosAxis
The structure elements of 'IncBackLash' specify the backlash compensation for the incremental encoder.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
_type
Data type:

EnumBackLashType

Changeable online:

Yes, active immediately

System default:

POSITIVE

Specifies the direction in which backlash compensation is calculated.

With 'POSITIVE', the backlash compensation is applied in the positive direction.
With 'NEGATIVE', the backlash compensation is applied in the negative direction.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the activation status of backlash compensation for the incremental encoder.
With 'NO', the backlash compensation is not enabled.
With 'YES', the backlash compensation is enabled.
length
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the backlash compensation value.

velocity
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm/s

Specifies the velocity at which backlash compensation is stopped.

If the value is 0, the backlash is calculated without limits.
EnumBackLashType
POSITIVE (0)

positive

NEGATIVE (1)

negative

EnumYesNo

3-262

NO (91)

No

YES (173)

Yes

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PosAxis

IncEncoder - PosAxis
The structure elements of 'IncEncoder' specify the parameters for an incremental encoder.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enableZeroMonitoring
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of monitoring of the number of increments between two encoder zero
marks.
With 'NO', monitoring of the number of increments between two encoder zero marks is not activated.
With 'YES', monitoring of the number of increments between two encoder zero marks is activated.
incResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

2048

Specifies the number of increments per encoder revolution specified on the encoder rating plate.
incResolutionMultiplierCyclic
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the multiplication factor of the cyclic actual value.

EnumYesNo
NO (91)

No

YES (173)

Yes

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IncHomingEncoder - PosAxis
The structure elements of 'IncHomingEncoder' specify the parameters for an incremental encoder.
Note
Additional information is available at:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
SIMOTION MCC Motion Control Chart Programming and Operating Manual
or in the online help
approachDirection
Data type:

EnumAxisApproachDirection

Changeable online:

Yes, active immediately

System default:

APPROACH_NEGATIVE

Specifies the approach direction of the encoder zero mark with the following homing modes: 'homingMode:=MODE_ZM' or 'homingMode:=MODE_CAM_AND_ZM'.
With APPROACH_NEGATIVE, the encoder zero mark is approached in negative direction.
With APPROACH_POSITIVE, the encoder zero mark is approached in positive direction.
Specifies the edge and side of the external zero mark with the following homing modes: 'homingMode:=MODE_CAM' or 'homingMode:=MODE_REFERENCE_CAM_AND_EXTERNAL_ZM'.
With EDGE_POS_SIDE_NEG, homing is carried out with the positive edge on the negative side of the
external zero mark. Homing is therefore carried out when the external zero mark is crossed in positive
direction.
With EDGE_POS_SIDE_POS, homing is carried out with the positive edge on the positive side of the
external zero mark. Homing is therefore carried out when the external zero mark is crossed in negative
direction.
With EDGE_NEG_SIDE_POS, homing is carried out with the negative edge on the positive side of the
external zero mark. Homing is therefore carried out when the external zero mark is crossed in positive
direction.
With EDGE_NEG_SIDE_NEG, homing is carried out with the negative edge on the negative side of
the external zero mark. Homing is therefore carried out when the external zero mark is crossed in
negative direction.
With 'homingMode:=MODE_ZM', the encoder zero mark is approached immediately in the configured
direction.
With 'homingMode:=MODE_CAM_AND_ZM', the encoder zero mark is approached in the configured
direction after the approach of the reference cam.
With 'homingMode:=MODE_CAM' or 'homingMode:=MODE_REFERENCE_CAM_AND_EXTERNAL_ZM', the edge and side of the external zero
mark are evaluated.
bitNumberBero
Data type:

UDINT

Changeable online:

No

System default:

Specifies the bit number of the reference cam for homing mode CAM_AND_ZM or
MODE_REFERENCE_CAM_AND_EXTERNAL_ZM.

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enableZeroMarkDistance
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the monitoring mode for the path after leaving the reference cam until the encoder zero mark
is reached.
With NO, the monitoring of the path after leaving the reference cam until the encoder zero mark is reached is not activated.
With YES, the monitoring of the path after leaving the reference cam until the encoder zero mark is
reached is activated.
homingMode
Data type:

EnumAxisHomingMode

Changeable online:

Yes, active after restart

System default:

MODE_NO_REFERENCE

Specifies the homing mode.

With MODE_NO_REFERENCE, a homing mode is not selected.
With MODE_CAM_AND_ZM, the homing mode reference cam with encoder zero mark is selected.
With MODE_ZM, the homing mode with encoder zero mark only is selected.
With MODE_CAM, the homing mode with external zero mark only is selected.
MODE_REFERENCE_CAM_AND_EXTERNAL_ZM is not available.
logAddressBero
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address of the reference cam for homing mode CAM_AND_ZM or
MODE_REFERENCE_CAM_AND_EXTERNAL_ZM.

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passiveApproachDirection
Data type:

EnumAxisPassiveApproachDirection

Changeable online:

Yes, active immediately

System default:

ACTUAL_DIRECTION_PASSIVE

Specifies the expected approach direction for the passive homing.

For the setting 'passiveHomingMode:=ZM_PASSIVE' or 'passiveHomingMode:=CAM_AND_ZM_PASSIVE', this configuration data items specifies the approach direction of
the encoder zero mark.
With 'passiveHomingMode:=ZM_PASSIVE', the encoder zero mark is expected in the configured
direction.
With 'passiveHomingMode:=CAM_AND_ZM_PASSIVE', the encoder zero mark is expected in the
configured direction after the approach of the reference cam.
With APPROACH_NEGATIVE_PASSIVE, the negative approach direction is expected.
With APPROACH_POSITIVE_PASSIVE, the positive approach direction is expected.
With ACTUAL_DIRECTION_PASSIVE, both approach directions are possible.
With EDGE_POS_SIDE_NEG_PASSIVE, a rising edge on the negative side of the external zero mark
is expected.
With EDGE_POS_SIDE_POS_PASSIVE, a rising edge on the positive side of the external zero mark
is expected.
With EDGE_NEG_SIDE_POS_PASSIVE, a falling edge on the positive side of the external zero mark
is expected.
With EDGE_NEG_SIDE_NEG_PASSIVE, a falling edge on the negative side of the external zero
mark is expected.
passiveBitNumberBero
Data type:

UDINT

Changeable online:

No

System default:

Specifies the bit number of the reference cam during passive homing and for homing mode
CAM_AND_ZM_PASSIVE or REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE.
passiveHomingMode
Data type:

EnumAxisPassiveHomingMode

Changeable online:

Yes, active after restart

System default:

DEFAULT_PASSIVE

Specifies the homing mode.

With CAM_AND_ZM_PASSIVE, homing mode reference cam with encoder zero mark is selected.
With ZM_PASSIVE, the homing mode with encoder zero mark only is selected.
With CAM_PASSIVE, the homing mode with external zero mark only is selected.
With DEFAULT_PASSIVE, the homing mode ZM_PASSIVE or CAM_PASSIVE is preset with or without the encoder zero mark, depending on the encoder type.
REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE is not available.

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PosAxis

passiveLogAddressBero
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address of the reference cam during passive homing and for homing mode
CAM_AND_ZM_PASSIVE or REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE.
proceedShiftPos
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the home position offset.

referenceCamType
Data type:

EnumAxisReferenceCamType

Changeable online:

No

System default:

STANDARD

Selects the reference cam for referencing mode MODE_CAM_AND_ZM.

With HARDWARE_LIMIT_SWITCH_POSITIVE, the positive limit switch is used as the reference cam.
With HARDWARE_LIMIT_SWITCH_NEGATIVE, the negative limit switch is used as the reference
cam.
With STANDARD, the reference cam defined in "typeOfAxis.Encoder_x.incHomingEncoder" is used.
zeroMarkDistance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the maximum length of the path after leaving the reference cam until the encoder zero mode
is reached in homing mode MODE_CAM_AND_ZM.
Specifies the maximum length until the encoder zero mark in homing mode MODE_ZM.
EnumAxisApproachDirection
APPROACH_NEGATIVE (0)

Approach direction encoder zero mark negative

APPROACH_POSITIVE (1)

Approach direction encoder zero mark positive

EDGE_POS_SIDE_NEG (2)

Rising edge negative side external zero mark

EDGE_POS_SIDE_POS (3)

Rising edge positive side external zero mark

EDGE_NEG_SIDE_POS (4)

Falling edge positive side external zero mark

EDGE_NEG_SIDE_NEG (5)

Falling edge negative side external zero mark

EnumYesNo
NO (91)

No

YES (173)

Yes

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PosAxis

EnumAxisHomingMode
MODE_NO_REFERENCE (0)

No reference mode

MODE_CAM_AND_ZM (1)

Reference cam and encoder zero mark

MODE_ZM (2)

Encoder zero mark only

MODE_CAM (3)

External zero mark only

MODE_REFERENCE_CAM_AND_EXTERNAL
_ZM (4)

Reference cam and external zero mark

EnumAxisPassiveApproachDirection
APPROACH_NEGATIVE_PASSIVE (0)

Approach direction encoder zero mark negative

APPROACH_POSITIVE_PASSIVE (1)

Approach direction encoder zero mark positive

EDGE_POS_SIDE_NEG_PASSIVE (2)

Rising edge negative side external zero mark

EDGE_POS_SIDE_POS_PASSIVE (3)

Rising edge positive side external zero mark

EDGE_NEG_SIDE_POS_PASSIVE (4)

Falling edge positive side external zero mark

EDGE_NEG_SIDE_NEG_PASSIVE (5)

Falling edge negative side external zero mark

ACTUAL_DIRECTION_PASSIVE (6)

Next edge

EnumAxisPassiveHomingMode
CAM_AND_ZM_PASSIVE (1)

Reference cam and encoder zero mark

ZM_PASSIVE (2)

Encoder zero mark only

CAM_PASSIVE (3)

External zero mark only

DEFAULT_PASSIVE (4)

Default setting depends on encoder type

(with/without encoder zero mark)

REFERENCE_CAM_AND_EXTERNAL_ZM_P
ASSIVE (5)

Reference cam and external zero mark

EnumAxisReferenceCamType
STANDARD (358)

Reference cam

HARDWARE_LIMIT_SWITCH_POSITIVE (389)

Reference cam positive limit switch

HARDWARE_LIMIT_SWITCH_NEGATIVE
(390)

Reference cam negative limit switch

Associated parameters (maximum):

StateDriveExternalZeroMark
(StateDriveExternalZeroMark)

3-268

External zero mark status of digital drive

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PosAxis

IntervalCounterConversionDataType - PosAxis
The structure elements of 'IntervalCounterConversionData' are used to configure the encoder as an
interval counter.
The 'Interval counter' encoder type is used to determine the speed using an interval duration and the
number of intervals per encoder revolution.
An interval is the time between two successive encoder pulses that are recorded by an encoder
module.
The duration (interval) between the encoder pulses is measured by the module and provided in the
I/O area.
incResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the increments or the number of intervals or encoder pulses per encoder revolution.
referenceTime
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0005 ms

Specifies the reference time for the measurement of the interval duration.
The reference time is the time after which the counter in the encoder module used to determine the
interval duration is incremented by one (interval duration = count * reference time).
Associated parameters (maximum):
DriverInfo
(StructSensorDriverInfo)

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

AnalogDriverInfo (Only the logical address

'logAddress' of the reference value for the interval duration stored by the encoder module in the
I/O area has to be specified. The other elements
of the 'StructSensorDriverInfo' structure are not
taken into account for the configuration of the
interval counter.)

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PosAxis

InversCountDirection - PosAxis
The structure elements of 'InversCountDirection' specify the counting direction of the actual encoder
value.
encoderFeedbackPolarity
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the counting direction of the actual encoder value is inverted.
With NO, the count direction of the actual encoder value is not inverted. (System default)
With YES, the count direction of the actual encoder value is inverted.
EnumYesNo
NO (91)

No

YES (173)

Yes

InvertSetPoint - PosAxis
The inversion of actuating signal is specified with the structure elements for 'InvertSetPoint'.
With an electrical axis, this means the adaptation of the direction of rotation of the drive to the rotational direction of the machine.
With a hydraulic axis, this means the inversion of the F-output behind the characteristic curve.
invSetPoint
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the manipulated variable inversion.

With 'NO', the manipulated variable is output unchanged.
With 'YES', the manipulated variable is output inverted.
EnumYesNo

3-270

NO (91)

No

YES (173)

Yes

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PosAxis

InvertSetPointHydraulicType - PosAxis
The structure element for 'InvertSetPoint' specifies the inversion of the Q-output value after the characteristic.
invert
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the activation status.

With NO, the Q-output value behind the characteristic curve is output unchanged.
With YES, the Q-output value behind the characteristic curve is output inverted.
EnumYesNo
NO (91)

No

YES (173)

Yes

LeadScrewInfo - PosAxis
The structure elements of 'LeadScrew' set the leadscrew pitch.
efficiency
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

Efficiency of the spindle/nut combination.

pitchVal
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

10.0 mm/rot

Specifies the leadscrew pitch per spindle revolution.

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PosAxis

LinearMotorDriveData - PosAxis
The structure elements of 'LinearMotorDriveData' specify key drive values for linear motors.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
forceReductionGranularity
Data type:

EnumAxisTorqueForceReductionGranularity

Changeable online:

Yes, active after restart

System default:

BASIC

Specifies the fine resolution of the force reduction.

forceReference
Data type:

EnumAxisReferenceMaxNominal

Changeable online:

Yes, active after restart

System default:

MAX_VALUE

Selection setting for scaling: Reference force or maximum force.

maxForce
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1000.0 N

Specifies the maximum force.

maxSpeed
Data type:

LREAL

Changeable online:

No

System default:

3000.0 1/min

Specifies the maximum traversing velocity.

nominalForce
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1000.0 N

Specifies the maximum force.

nominalSpeed
Data type:

LREAL

Changeable online:

No

System default:

3000.0 1/min

Specifies the reference velocity.

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PosAxis

speedReference
Data type:

EnumAxisReferenceMaxNominal

Changeable online:

Yes, active after restart

System default:

MAX_VALUE

Selection setting for scaling: Reference velocity or maximum velocity.

EnumAxisTorqueForceReductionGranularity
STANDARD (0)

Resolution 1/100

BASIC (16)

Resolution 1/16384

EnumAxisReferenceMaxNominal
MAX_VALUE (0)

Maximum value

NOMINAL_VALUE (1)

Nominal value

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PosAxis

LinearStepMotorDriveDataType - PosAxis
The structure elements of 'LinearStepMotorDriveData' specify key drive values for stepper motors.
maxFrequency
Data type:

LREAL

Changeable online:

No

System default:

50000.0 Hz

Specifies the maximum frequency for motor steps.

stepMotorResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

1000

Specifies the number of motor steps per revolution.

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PosAxis

MaxAcceleration - PosAxis
The structure elements of 'MaxAcceleration' define the maximum permissible acceleration and the
monitoring mode for the change of the manipulated variable.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enableSetPointMonitoring
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the monitoring of the manipulated variable change
With 'NO', the monitoring is deactivated.
With 'YES', the monitoring is activated. The change of the manipulated variable is monitored but not
limited.
The value specified in 'maxAcceleration.maximum' is converted into the value for the maximum
change of the manipulated variable.
maximum
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10000.0 mm/s

Specifies the maximum permissible acceleration.

EnumYesNo
NO (91)

No

YES (173)

Yes

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PosAxis

MaxForceCommandData - PosAxis
The structure elements for 'MaxForceCommandData' are used to configure the type of setpoint generation.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
maximum
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1000.0

Specifies the maximum force/pressure setpoint.

maximumDerived
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10000.0

Specifies the maximum rise of the maximum force/pressure setpoint.

MaxJerk - PosAxis
The structure element of 'MaxJerk' defines the maximum permissible jerk.
Note
Further information is provided:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
SIMOTION Basic Functions Function Manual
Online help
maximum
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

200000.0 mm/s

Specifies the maximum possible jerk.

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PosAxis

MaxVelocity - PosAxis
The structure element of 'MaxVelocity' defines the maximum permissible velocity.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
maximum
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

500.0 mm/s

Specifies the maximum permissible velocity.

ModuloInfo - PosAxis
The structure elements of 'Modulo' specify the modulo information.
length
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

360.0

Specifies modulo length.

The minimum modulo length that can be set depends on the available resolution!
startValue
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Specifies the initial value.

state
Data type:

EnumActiveInactive

Changeable online:

Yes, active after restart

System default:

INACTIVE

Specifies modulo activation.

With ACTIVE, a modulo status is activated.
With INACTIVE, the modulo status is not activated.
EnumActiveInactive
ACTIVE (4)

Active

INACTIVE (61)

Inactive

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PosAxis

NeutralBand - PosAxis
The structure elements of 'NeutralBand' specify the parameters for neutral band compensation.
centreValue
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the center point of the neutral band.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of neutral band compensation.

With NO, the neutral band compensation is not activated.
With YES, the neutral band compensation is activated.
range
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the range of the neutral band.

EnumYesNo

3-278

NO (91)

No

YES (173)

Yes

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PosAxis

NumberOfAdditionalSensors - PosAxis
The structure elements for 'NumberOfAdditionalSensors' are used to configure the additional encoders.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
number
Data type:

UDINT

Changeable online:

No

System default:

Specifies the number of encoders for a force-controlled axis

Associated parameters (maximum):
AdditionalSensor_1
(AdditionalSensorMain)

Encoder 1

AdditionalSensor_2
(AdditionalSensorMain)

Encoder 2

AdditionalSensor_3
(AdditionalSensorMain)

Encoder 3

AdditionalSensor_4
(AdditionalSensorMain)

Encoder 4

AdditionalSensor_5
(AdditionalSensorMain)

Encoder 5

AdditionalSensor_6
(AdditionalSensorMain)

Encoder 6

AdditionalSensor_7
(AdditionalSensorMain)

Encoder 7

AdditionalSensor_8
(AdditionalSensorMain)

Encoder 8

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PosAxis

NumberOfDataSets - PosAxis
The structure elements for 'NumberOfDataSets' specify the number of data sets.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
changeMode
Data type:

EnumChangeMode

Changeable online:

Yes, active after restart

System default:

IN_POSITION

Specifies the mode for data set change.

With 'NEVER', data record switchover does not take place.
With 'IN_POSITION', the data record switchover takes place when the positioning window is reached.
With 'IN_STANDSTILL', the data record switchover takes place when the standstill signal is present.
With 'IMMEDIATELY', data record switchover takes place immediately.
initDataSet
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the initialization data set.

numberOfDataSets
Data type:

UDINT

Changeable online:

No

System default:

Specifies the number of data sets.

smoothingTimeByChangeDifference
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

The time constant parameterizes a PT1 element that smoothes abrupt changes in the manipulated
variable. Such jumps occur, for example, as a result of Kv changes.
This filter is not effective for changes in the Kv factor.
This filter is effective for data record changes.
EnumChangeMode

3-280

NEVER (0)

No switchover

IN_POSITION (1)

Switchover when axis in positioning window

IN_STANDSTILL (3)

Switchover when axis below standstill velocity

IMMEDIATELY (7)

Immediate switchover

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PosAxis

Associated parameters (maximum):

DataSet_1
(DataSetMain)

Data record 1

DataSet_10
(DataSetMain)

Data record 10

DataSet_11
(DataSetMain)

Data record 11

DataSet_12
(DataSetMain)

Data record 12

DataSet_13
(DataSetMain)

Data record 13

DataSet_14
(DataSetMain)

Data record 14

DataSet_15
(DataSetMain)

Data record 15

DataSet_16
(DataSetMain)

Data record 16

DataSet_2
(DataSetMain)

Data record 2

DataSet_3
(DataSetMain)

Data record 3

DataSet_4
(DataSetMain)

Data record 4

DataSet_5
(DataSetMain)

Data record 5

DataSet_6
(DataSetMain)

Data record 6

DataSet_7
(DataSetMain)

Data record 7

DataSet_8
(DataSetMain)

Data record 8

DataSet_9
(DataSetMain)

Data record 9

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NumberOfDigitalInputs - PosAxis
The structure elements of 'NumberOfDigitalInputs' are used to configure the number of digital inputs.
number
Data type:

UDINT

Changeable online:

No

System default:

Specifies the number of inputs.

Associated parameters (maximum):

3-282

DigitalInput_1
(DigitalInputMain)

Digital input 1

DigitalInput_2
(DigitalInputMain)

Digital input 2

DigitalInput_3
(DigitalInputMain)

Digital input 3

DigitalInput_4
(DigitalInputMain)

Digital input 4

DigitalInput_5
(DigitalInputMain)

Digital input 5

DigitalInput_6
(DigitalInputMain)

Digital input 6

DigitalInput_7
(DigitalInputMain)

Digital input 7

DigitalInput_8
(DigitalInputMain)

Digital input 8

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PosAxis

NumberOfEncoders - PosAxis
The structure element of 'NumberOfEncoders' sets the number of encoders.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
dscEncoderNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the DSC encoder.

numberOfEncoders
Data type:

UDINT

Changeable online:

No

System default:

Specifies the number of encoders.

Associated parameters (maximum):
Encoder_1
(EncoderMain)

Encoder 1

Encoder_2
(EncoderMain)

Encoder 2

Encoder_3
(EncoderMain)

Encoder 3

Encoder_4
(EncoderMain)

Encoder 4

Encoder_5
(EncoderMain)

Encoder 5

Encoder_6
(EncoderMain)

Encoder 6

Encoder_7
(EncoderMain)

Encoder 7

Encoder_8
(EncoderMain)

Encoder 8

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PosAxis

OutputLimits - PosAxis
The structure element 'OutputLimits' is used to configure the manipulated variable limitation.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
_max
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

500.0

Specifies the maximum output value for the force controller.

_min
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

-500.0

Specifies the minimum output value for the force controller.

PD_Controller - PosAxis
The structure elements of 'PD_Controller' specify the parameters of the PD controller.
decayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the delay time constant of the D component.

kd
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the D component gain.

kp
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 1/s

Specifies the P component gain.

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PosAxis

PID_ControllerForce - PosAxis
The structure element 'PID_Controller' is used to configure the PID controller.
decayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Delay time constant of D-action component

enableAntiWindup
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies the activation status of the integrator limitation.

With 'NO', the integrator limitation is not activated.
With 'YES', the integrator limitation is activated.
integratorFeedbackTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the time constant to deactivate the I component.

kd
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the D component gain.

ki
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the I component gain.

kp
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 1/s

Specifies the P component gain.

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kpc
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

100.0 %

Specifies the pre-control factor.

preCon
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the precontrol system.

With 'NO', the precontrol is not activated.
With 'YES', the precontrol is activated.
EnumYesNo

3-286

NO (91)

No

YES (173)

Yes

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PosAxis

PID_ControllerPos - PosAxis
The structure element 'PID_Controller' is used to configure the PID controller.
balanceFilterMode
Data type:

EnumBalanceFilterMode

Changeable online:

Yes, active after restart

System default:

MODE_1

Specifies the balancing filter.

decayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Specifies the delay time constant of the D component.

enableAntiWindup
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Activation of the integrator limitation.

kd
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the D component gain.

ki
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 1/s

Specifies the I component gain.

kp
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 1/s

Specifies the P component gain.

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PosAxis

kpc
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

100.0 %

Specifies the pre-control factor.

preCon
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the precontrol system.

With 'NO', the precontrol is not activated.
With 'YES', the precontrol is activated.
EnumBalanceFilterMode
OFF (0)

Balancing filter not active

MODE_1 (1)

Balancing filter active

MODE_2 (2)

Expanded balancing filter active

EnumYesNo

3-288

NO (91)

No

YES (173)

Yes

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PosAxis

PT2PositionFilterType - PosAxis
The structure elements of 'PositionFilter' specify the parameters of the position filter.
T1
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant T1 of the position filter.

T2
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant T2 of the position filter.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the position filter.

EnumYesNo
NO (91)

No

YES (173)

Yes

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PosAxis

PV_Controller - PosAxis
The structure elements of 'PV_Controller' specify the parameters of the P controller with precontrol.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
balanceFilterMode
Data type:

EnumBalanceFilterMode

Changeable online:

Yes, active after restart

System default:

MODE_1

Specifies the balancing filter type.

enableDSC
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of DSC.

With NO, DSC is not activated.
With YES, DSC is activated.
kpc
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

100.0 %

Specifies the pre-control factor.

kv
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 1/s

Specifies the gain factor of the position feedback loop.

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PosAxis

preCon
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the precontrol system.

With NO, the precontrol is not activated.
With YES, the precontrol is activated.
EnumBalanceFilterMode
OFF (0)

Balancing filter not active

MODE_1 (1)

Balancing filter active

MODE_2 (2)

Expanded balancing filter active

EnumYesNo
NO (91)

No

YES (173)

Yes

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PosAxis

PathPerRevolution - PosAxis
The structure elements of 'PathPerRevolution' specify the distance of one revolution for the EXTERN
assembly base.
length
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

100.0 mm

Specifies the path length of an encoder revolution for EXTERNAL mount type.

PathSyncAxisPosTolerance - PosAxis
The setting of the setpoint differential monitoring on the synchronous axis is specified with the structure elements for 'PathSyncAxisPosTolerance'.
Note
"Further information can be found in the Path Interpolation Technology Object Function Manual and
in online help."
commandValueTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 mm

Specifies the permissible setpoint deviation. An alarm is output if the value is exceeded.
enableCommandValue
Data type:

EnumAxisPathPosToleranceCommandValue

Changeable online:

Yes, active immediately

System default:

WITHOUT_JERK

Specifies the activation status of the setpoint tolerance monitoring system.

With NO_ACTIVATE, the tolerance monitoring of the setpoints is not activated.
With WITHOUT_JERK, the tolerance monitoring of the setpoints is activated without inclusion of the
jerk. An alarm is output if the setpoints are exceeded.
With WITH_JERK, the tolerance monitoring of the setpoints is activated with inclusion of the jerk. An
alarm is output if the setpoints are exceeded.
EnumAxisPathPosToleranceCommandValue

3-292

NO_ACTIVATE (0)

No

WITHOUT_JERK (1)

Without jerk

WITH_JERK (2)

With jerk

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PosAxis

PositionFilterType - PosAxis
The structure elements of 'PositionFilter' specify actual value smoothing. The settings take effect on
the actual position values in the servo cycle clock.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With 'NO', the filter functionality is deactivated.
With 'YES', the filter functionality is activated.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo
NO (91)

No

YES (173)

Yes

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PosAxis

PositionMonitoring - PosAxis
The structure elements of 'PositionMonitoring' specify position monitoring.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
posWinTolDelayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1 s

Specifies the delay between the time when the actual value reaches the tolerance window and activation of zero speed monitoring.
posWinTolTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Specifies the delay between activation of monitoring and the time when the actual value reaches the
tolerance window.
tolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm

Specifies the width of the positioning window.

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PosAxis

ProcessModel - PosAxis
The structure elements of 'ProcessModel' set the parameters for the process model.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
T1
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.003 s

Specifies the first time constant.

T2
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0001 s

Specifies the second time constant.

ks
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.00000095367431640625

Specifies the transmission factor.

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PosAxis

Range - PosAxis
The 'Range' structure elements are used to configure the definition range of the read encoder values.
_max
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10000.0

Specifies the maximum value.

_min
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

-10000.0

Specifies the minimum value.

Resolution - PosAxis
'Resolution' is used to configure the parameters of a linear encoder system (linear scale).
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
distance
Data type:

LREAL

Changeable online:

No

System default:

0.001 mm

Distance between two encoder increments.

Note
The minimum value that can be set results from the maximum resolution of the TO axis or TO external
encoder. Consequently, for an excessive lower limit, the unit for the 'Increments/Position' physical
quantity must be varied appropriately.
multiplierCyclic
Data type:

UDINT

Changeable online:

No

System default:

Incremental resolution

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PosAxis

RestartConditionInfo - PosAxis
'RestartConditionInfo' is used to set the state in which axis restart is possible.
restartAxisCondition
Data type:

EnumRestartAxisCondition

Changeable online:

Yes, active after restart

System default:

AXIS_DISABLED

Specifies the condition for restart.

With 'NO_CONSTRAINTS', restart takes place irrespective of the axis state.
With 'STANDSTILL', restart takes place only when a standstill signal is present.
With 'AXIS_DISABLED', restart only takes place if there are no enables set on the axis.
EnumRestartAxisCondition
NO_CONSTRAINTS (0)

Restart without constraints

STANDSTILL (1)

Restart during standstill

AXIS_DISABLED (2)

Restart only when no enables are set

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PosAxis

RestartInfo - PosAxis
'RestartInfo' is used to enable technology object restart with system variables and/or by command or
just by command.
behaviorInvalidSysvarAccess
Data type:

EnumToInvalidSysvarAccess

Changeable online:

No

System default:

LAST_VALUE

If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP
mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology
object is restarted or deactivated.
The values stored in the image are supplied when system variables are accessed during the technology object restart or deactivation phase.
restartActivationSetting
Data type:

EnumToRestartActivationSetting

Changeable online:

Yes, active after restart

System default:

RESTART_BY_SYSVAR_AND_COMMAND

With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with

system variables and/or by command.
With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
DEFAULT_VALUE (2)

Supply substitute value from default value

STOP_DEVICE (3)

No substitute value, switch to STOP mode

LAST_VALUE (338)

Supply substitute value from last valid value

EnumToRestartActivationSetting

3-298

RESTART_BY_SYSVAR_AND_COMMAND (0)

Allow restart via system variable and/or command

RESTART_BY_COMMAND (1)

Allow restart only via command

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PosAxis

ReverseCamNegative - PosAxis
The structure elements of 'ReverseCamNegative' specify the parameters for a negative reversing
cam.
_type
Data type:

EnumAxisHomingReverseCamType

Changeable online:

No

System default:

NONE

Specifies the reversing cam selection.

With NONE, a negative reversing cam is not present.
With SPECIFIC, the reversing cam is defined by an address and bit number.
With HARDWARE_LIMIT_SWITCH, the negative hardware limit switch is used as the reversing cam.
bitNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the bit umber of the negative reversing cam for the selection SPECIFIC.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address of the negative reversing cam for the selection SPECIFIC.
EnumAxisHomingReverseCamType
NONE (93)

No reversing cam

SPECIFIC (387)

Newly defined reversing cam

HARDWARE_LIMIT_SWITCH (388)

Hardware limit switch as reversing cam

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PosAxis

ReverseCamPositive - PosAxis
The structure elements of 'ReverseCamPositive' specify the parameters for a positive reversing cam.
_type
Data type:

EnumAxisHomingReverseCamType

Changeable online:

No

System default:

NONE

Specifies the reversing cam selection.

With NONE, a positive reversing cam is not present.
With SPECIFIC, the reversing cam is defined by an address and bit number.
With HARDWARE_LIMIT_SWITCH, the positive hardware limit switch is used as the reversing cam.
bitNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the bit number of the positive reversing cam for the selection SPECIFIC.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address of the positive reversing cam for the selection SPECIFIC.
EnumAxisHomingReverseCamType

3-300

NONE (93)

No reversing cam

SPECIFIC (387)

Newly defined reversing cam

HARDWARE_LIMIT_SWITCH (388)

Hardware limit switch as reversing cam

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PosAxis

SensorControlConfig - PosAxis
The tolerance of an encoder error is specified with the structure elements for 'SensorControlConfig'.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
tolerateSensorDefect
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether a failure of an encoder not involved in the closed-loop control should be tolerated.
With 'NO', a failure is not tolerated.
With 'YES', a failure is tolerated.
EnumYesNo
NO (91)

No

YES (173)

Yes

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PosAxis

SensorNist - PosAxis
The structure elements of 'SensorNist' specify the parameters for the actual speed value from the I/O
area.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address of the actual speed value in the I/O area.
referenceValue
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

3000.0

Specifies the reference time for the interval measurement.

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PosAxis

SensorSetActualValue - PosAxis
The structure elements of 'SensorSetActualValue' specify the parameters for actual value read-in via
system variable.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
maxFailures
Data type:

UDINT

Changeable online:

Yes, active immediately

System default:

Specifies the number of permissible failures with reference to the update cycle.
updateCycle
Data type:

EnumAxisUpdateCycle

Changeable online:

Yes, active after restart

System default:

IPO

Specifies the actual value update cycle via system variable.

EnumAxisUpdateCycle
IPO (0)

IPO

IPO_2 (1)

IPO_2

SERVO (2)

Servo

IPO_FAST (3)

IPO_fast

SERVO_FAST (4)

Servo_fast

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PosAxis

SetPointDriverInfo - PosAxis
The structure elements of 'SetPointDriverInfo' specify the driver information for the drive interface.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
actorType
Data type:

EnumAxisDioActorType

Changeable online:

No

System default:

NO_TYPE

Specifies the type of drive.

With NO_TYPE, there is no interface specification.
With 'ANALOG', the interface is configured for analog drives.
With 'STEPMOTOR', the interface is configured for stepper motors.
interfaceAllocation
Data type:

EnumAxisActuatorInterfaceAllocationConfig

Changeable online:

No

System default:

EXCLUSIVE

Selects the interface behavior.

With EXCLUSIVE, the driver can only be used on this technology object.
With NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED, the driver can be used on this or any
other technology object. The driver is deactivated on the technology object after system startup.
With NON_EXCLUSIVE_AND_STARTUP_ACTIVATED, the driver can be used on this or any other
technology object. The driver is activated on the technology object after system startup.
lifeSignCheck
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies the activation status of life sign monitoring.

With NO, the sign of life monitoring is not activated.
With YES, the sign of life monitoring is activated.
logAddressIn
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the input data area.

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PosAxis

logAddressOut
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the output data area.

maxSetPointVoltage
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

10.0 V

Specifies the standard voltage with which the analog drive reaches its rated speed.
mode
Data type:

EnumAxisDriverMode

Changeable online:

No

System default:

SIMULATION

Specifies the type of drive interface.

With SIMULATION, actuator and encoder are short-circuited via a delay element.
With ONBOARD, the ONBOARD interfaces are used.
With DPMASTER, the drive coupling is performed via PROFIBUS DP.
.
motorType
Data type:

EnumAxisMotorType

Changeable online:

No

System default:

STANDARD_MOTORTYPE

Specifies the motor type.

With STANDARD_MOTORTYPE, operation with a standard motor is configured.
With LINEAR_MOTORTYPE, operation with a linear motor is configured.
outputNumberOnDevice
Data type:

UDINT

Changeable online:

No

System default:

Not used

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PosAxis

telegramType
Data type:

EnumAxisTelegramType

Changeable online:

No

System default:

DP_TEL102_611U_POSCTRL_1_ENCODER

Specifies the PROFIBUS message frame type.

With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set
up.
With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set
up.
With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one
encoder) is set up.
With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with
two encoders) is set up.
With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives
with one encoder and DSC) is set up.
With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled
drives with two encoders and DSC) is set up.
The message frames DP_TEL81_STANDARD (81) to DP_TEL83_STANDARD (83) are not relevant
for DriveAxis.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7
for velocity-controlled drives without encoders is set up.
With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for
velocity-controlled drives with one encoder is set up.
With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for
velocity-controlled drives with two encoders is set up.
With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for
velocity-controlled drives with one encoder and DSC is set up.
With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for
velocity-controlled drives with two encoders and DSC is set up.
The message frames DP_TEL125_SIEM_DSC_1_ENCODER_SPLINE (125) and
DP_TEL126_SIEM_DSC_2_ENCODER_SPLINE (126) are not supported for he SIMOTION Version
V4.2.
EnumAxisDioActorType
NO_TYPE (0)

No type

ANALOG (1)

Analog

STEPMOTOR (2)

Step mode

EnumAxisActuatorInterfaceAllocationConfig
EXCLUSIVE (939)

Technology object (TO) exclusive

NON_EXCLUSIVE_AND_STARTUP_DEACTI
VATED (940)

TO non-exclusive and deactivated

NON_EXCLUSIVE_AND_STARTUP_ACTIVAT
ED (941)

TO non-exclusive and active

EnumYesNo

3-306

NO (91)

No

YES (173)

Yes

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PosAxis

EnumAxisDriverMode
SIMULATION (0)

Simulation

ONBOARD (1)

Onboard

DPMASTER (2)

DP Master

EnumAxisMotorType
STANDARD_MOTORTYPE (0)

Standard motor

LINEAR_MOTORTYPE (1)

Linear motor

EnumAxisTelegramType
NO_TELEGRAM (0)

No message frame

DP_TEL1_STANDARD (1)

Standard message frame 1, PZD-2/2

DP_TEL2_STANDARD (2)

Standard message frame 2, PZD-4/4

DP_TEL3_STANDARD (3)

Standard message frame 3, PZD-5/9

DP_TEL4_STANDARD (4)

Standard message frame 4, PZD-6/14

DP_TEL5_STANDARD (5)

Standard message frame 5, PZD-9/9

DP_TEL6_STANDARD (6)

Standard message frame 6, PZD-10/14

DP_TEL81_STANDARD (81)

Standard message frame 81, PZD-2/6

DP_TEL83_STANDARD (83)

Standard message frame 83, PZD-2/8

DP_TEL101_611U_VELCTRL_NO_ENCODER
(101)

SIEMENS message frame 101, PZD-6/7

DP_TEL102_611U_POSCTRL_1_ENCODER
(102)

SIEMENS message frame 102, PZD-6/10

DP_TEL103_611U_POSCTRL_2_ENCODER
(103)

SIEMENS message frame 103, PZD-7/15

DP_TEL105_611U_DSC_1_ENCODER (105)

SIEMENS message frame 105, PZD-10/10

DP_TEL106_611U_DSC_2_ENCODER (106)

SIEMENS message frame 106/107, PZD-11/15

Associated parameters (maximum):

DriveData
(DriveData)

Drive characteristics for standard motors

InvertSetPoint
(InvertSetPoint)

Direction of rotation adaptation

LinearMotorDriveData
(LinearMotorDriveData)

Drive characteristics for linear motors

LinearStepMotorDriveData
(LinearStepMotorDriveDataType)

Drive characteristics for stepper motors

StepMotorDriveData
(StepMotorDriveDataType)

Drive characteristics for stepper motors

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PosAxis

SimulationInfo - PosAxis
The structure elements of 'SimulationInfo' are used to set a process interface. Simulation mode is not
available at present.
simulationMode
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Simulation mode activation.

With 'Simulation mode = NO', process connection is set.
'Simulation mode = YES' is not available.
EnumYesNo
NO (91)

No

YES (173)

Yes

Slippage - PosAxis
Not functional.
slippageLimit

3-308

Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

1000 mm

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PosAxis

SmoothingFilter - PosAxis
The structure elements for 'SmoothingFilter' specify actual velocity filtering. The filtered actual velocity
is displayed in 'motionStateData.actualVelocity'.
'timeConstant':
- Time constant for PT1 smoothing.
- Time constant for averaging.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With NO, the filter functionality is deactivated.
With YES, the filter functionality is activated.
mode
Data type:

EnumAxisFilterMode

Changeable online:

Yes, active after restart

System default:

DEFAULT_MODE

Specifies criterion for actual value smoothing.

With 'DEFAULT_MODE', the ratio of interpolator cycle clock to position servo cycle clock is used.
With 'AVERAGING', an average over time is used.
With 'PT1', a filter set via 'timeConstant' is used.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisFilterMode
DEFAULT_MODE (0)

No filter

AVERAGING (1)

Form mean value

PT1 (2)

PT1 filter

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PosAxis

StandStillMonitoring - PosAxis
The structure elements of 'StandStillMonitoring' specify zero speed monitoring.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
delayTimeToActivate
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the delay between the time at which the monitoring window is reached and activation of the
message.
stillStandTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm

Specifies the maximum position tolerance at standstill.

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PosAxis

StandStillSignal - PosAxis
The structure elements of 'StandStillSignal' specify the parameters for the velocity-dependent standstill signal.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
delayTimeToActivate
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Specifies the delay time to activation of the velocity-dependent standstill signal.

filterDegree
Data type:

UINT

Changeable online:

Yes, active immediately

System default:

Specifies the filter degree.

filterFrequency
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 Hz

Specifies the filter frequency.

maxVeloStandStill
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

50.0 mm/min

Specifies the velocity limit below which the velocity-dependent standstill signal is active.

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PosAxis

StateDriveExternalZeroMark - PosAxis
The structure elements of 'StateDriveExternalZeroMark' specify the parameters for the status of an
external zero mark for a digital drive.
available
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies that the external zero mark status for a digital drive is available.
bitNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the bit number of the external zero mark for a digital drive.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address of the external zero mark for a digital drive.
EnumYesNo
NO (91)

No

YES (173)

Yes

StepMotorDriveDataType - PosAxis
The structure elements of 'StepMotorDriveData' specify key drive values for stepper motors.
maxFrequency
Data type:

LREAL

Changeable online:

No

System default:

50000.0 Hz

Specifies the maximum frequency for motor steps.

stepMotorResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

1000

Specifies the number of motor steps per revolution.

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PosAxis

StepMotorMonitoringType - PosAxis
The structure elements belonging to 'StepMotorMonitoring' are used to set the rotation monitoring for
step motor operation.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
beroCycleDistance
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

2048

Specifies the maximum allowed deviation of motor steps per revolution.

beroCycleTolerance
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

2048

Specifies a tolerance range around beroCycleDistance.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the step motor monitoring.

EnumYesNo
NO (91)

No

YES (173)

Yes

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PosAxis

StructAxisActualValueUpdateCounter - PosAxis
The structure elements of 'UpdateCounter' are used to set the parameters for evaluation of the actual
value update.
bitNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the first bit number of the update counter.

enableCounter
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the actual value update is evaluated.

With NO, the actual value update is not evaluated.
With YES, the actual value update is evaluated.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address of the update counter.

maxFailure
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of permissible value failures before an error is output.

quantityOfBits
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of bits in the update counter.

3-314

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PosAxis

updateCycle
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the ratio of the actual value update.

EnumYesNo
NO (91)

No

YES (173)

Yes

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PosAxis

StructAxisAdditionalOffset - PosAxis
The structure elements belonging to 'AdditionalOffset' are used to set the offset application for traversal of the axis with motion/force control.
The offset is applied during traversal of the axis with motion control related to the velocity setpoint.
For force/pressure specification, the offset application is based on the actual velocity value.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the offset application.

With NO, the offset application is not activated.
With YES , the offset application is activated.
forceControlLowerLimit
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm/s

Specifies the activation threshold for 'offsetForceControlPositive/Negative'.

The offset acts when the 'forceControlLowerLimit' value has been exceeded.
offsetForceControlNegative
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm/s

Specifies the offset for traversal with force specification and negative direction of movement.
offsetForceControlPositive
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm/s

Specifies the offset for traversal with force control and positive direction of movement.
offsetMotionControlNegative
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm/s

Specifies the offset for traversal with motion control and negative direction of movement.

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PosAxis

offsetMotionControlPositive
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm/s

Specifies the offset for traversal with motion control and positive direction of movement.
EnumYesNo
NO (91)

No

YES (173)

Yes

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PosAxis

StructAxisAnalogSensorErrorStateMonitoring - PosAxis
The structure elements of 'ErrorStateMonitoring' are used to set the parameters for evaluation of the
error bit.
bitNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the bit number of the error bit.

bitSemantics
Data type:

EnumTrueFalse

Changeable online:

Yes, active after restart

System default:

_TRUE

Specifies the evaluation of the error bit.

With TRUE, the error bit is evaluated as 1.
With FALSE, the error bit is evaluated as 0.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the error bit monitoring is performed.

With NO, the logical address is not used.
With YES, the logical address is used.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the error bit.

EnumTrueFalse
_TRUE (405)

true

_FALSE (406)

false

EnumYesNo

3-318

NO (91)

No

YES (173)

Yes

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PosAxis

StructAxisAnalogSensorReadyStateMonitoring - PosAxis
The structure elements of 'ReadyStateMonitoring' are used to set the parameters for evaluation of the
ready bit.
bitNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the bit number of the ready bit.

bitSemantics
Data type:

EnumTrueFalse

Changeable online:

Yes, active after restart

System default:

_TRUE

Specifies the evaluation of the ready bit.

With TRUE, the ready bit is evaluated as 1.
With FALSE, the ready bit is evaluated as 0.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the ready bit monitoring is performed.

With NO, the logical address is not used.
With YES, the logical address is used.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the ready bit.

EnumTrueFalse
_TRUE (405)

true

_FALSE (406)

false

EnumYesNo
NO (91)

No

YES (173)

Yes

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PosAxis

StructAxisDriveControlConfig - PosAxis
Settings for the drive are specified with the 'DriveControlConfig' configuration data.
dataAdaption
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

The 'dataAdaption' configuration data activates the adaptation of the drive data.
With 'YES', is the adaptation active.
With 'NO', is the adaptation deactivated.
pulsesEnabledEvaluation
Data type:

EnumAxisPulsesEnabledEvaluation

Changeable online:

Yes, active after restart

System default:

COMPATIBILITY_MODE

The 'PulsesEnabledEvaluation' configuration data describes the behavior of the axis for a drive-independent stop response.
With 'YES', the Pulses-Enabled bit is always processed.
With 'COMPATIBILITY_MODE', the Pulses-Enabled bit is only processed for selected safety data
block.
releaseDisableMode
Data type:

UDINT

Changeable online:

Yes, active immediately

System default:

127

The behavior of the drive during the RELEASE_DISABLE error response is specified with the 'releaseDisableMode' configuration data.
Specifies the values of bits 0 - 6 to be reset in the PROFIDrive protocol.
The bits are negated by the system and ANDed with the existing control word. The specified bits are
reset.
Meaning of the bits in the PROFIdrive protocol:
Bit0 - ON
Bit1 - No Coast Stop
Bit2 - No Quick Stop
Bit3 - Enable Operation
Bit4 - Enable Ramp Generator
Bit5 - Unfreeze Ramp Generator
Bit6 - Enable Setpoint
EnumYesNo

3-320

NO (91)

No

YES (173)

Yes

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PosAxis

EnumAxisPulsesEnabledEvaluation
YES (173)

Pulses-Enabled bit is always processed

COMPATIBILITY_MODE (959)

The Pulses-Enabled bit is only processed for

selected safety data block

Associated parameters (maximum):

pulsesEnabled
(StructAxisPulsesEnabledConfig)

SIMOTION Technology Packages Configuration Data

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Position of PulsesEnabled bit

3-321

PosAxis

StructAxisDriveSafetyExtendedFunctionsInfoDataIn - PosAxis
Specifies the logical address for the communication with the drive.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data
in the cyclic message frame from the drive.

3-322

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PosAxis

StructAxisFilterForceControlConfig - PosAxis
The filter at the output of the force controller is configured with the structure element 'FilterForceControl'.
T1
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Specifies the T1 time constant of the PT2 filter.

T2
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Specifies the T2 time constant of the PT2 filter.

_type
Data type:

EnumForceControllerFilterType

Changeable online:

Yes, active after restart

System default:

PT2

With 'PT2', a PT2 filter is selected.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

This data element activates the filter

EnumForceControllerFilterType
PT2 (909)

PT2

EnumYesNo
NO (91)

No

YES (173)

Yes

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PosAxis

StructAxisInvertFOutput - PosAxis
The structure element for 'InvertF' specifies the inversion of the F-output value in front of the characteristic.
invSetPoint
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status.

With 'NO', the F output value in front of the characteristic curve (logical manipulated variable) is output
unchanged.
With 'YES', the F output value in front of the characteristic curve (logical manipulated variable) is output inverted.
EnumYesNo
NO (91)

No

YES (173)

Yes

StructAxisInvertQOutput - PosAxis
The structure element for 'InvertQ' specifies the inversion of the Q-output value in front of the characteristic.
invSetPoint
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status.

With 'NO', the Q output value in front of the characteristic curve (logical manipulated variable) is output
unchanged.
With 'YES', the Q output value in front of the characteristic curve (logical manipulated variable) is output inverted.
EnumYesNo

3-324

NO (91)

No

YES (173)

Yes

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PosAxis

StructAxisNistDriverConfig - PosAxis
The parameters for the actual speed value hardware are specified with the structure elements for
'NistDriverConfig' .
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the actual speed value.

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PosAxis

StructAxisOperatingDataInInfo - PosAxis
Specifies the configuration of the operating character data block.
enableActivePower
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the effective power display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableActualCurrent
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the actual current value display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableActualTorqueOrForce
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the torque / force actual value display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableMotorTemperature
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the motor temperature display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableTorqueOrForceUtilization
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the torque utilization display.

With 'NO', the display is not activated.
With 'YES', the display is activated.

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PosAxis

logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data
in the cyclic message frame from the drive.
EnumYesNo
NO (91)

No

YES (173)

Yes

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PosAxis

StructAxisPulsesEnabledConfig - PosAxis
The bit position for pulsesEnable is defined with the configuration data in 'StructAxisPulsesEnabledConfig'.
bitNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

13

Specifies the bit number for pulse enable.

pzdNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the PZD number for pulse enable.

StructAxisServoMonitoringConfig - PosAxis
The structure elements for 'ServoMonitoring' are used to set the activation status of the control loop
monitoring for activated limitation by the Q/P valve.
motionMonitoringWhenExternalForceLimiting
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Activation of the control loop monitoring with an active pressure limiting command.
With 'YES', the monitoring is active.
With 'NO', the monitoring is not active.
EnumYesNo

3-328

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PosAxis

StructAxisSetpointFilter - PosAxis
The 'setpointFilter' structure element is used to configure a PT1 filter in the manipulated variable
branch.
T1
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the T1 time constant of the PT1 filter.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

This data element activates the filter

EnumYesNo
NO (91)

No

YES (173)

Yes

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PosAxis

StructAxisSlidingFriction - PosAxis
The structure elements of 'Sliding Friction' specify sliding friction compensation.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of friction torque compensation.

With 'NO', the sliding friction compensation is not activated.
With 'YES', the sliding friction compensation is activated.
factorForceControl
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01

Factor for the sliding friction compensation relative to the actual velocity when
traversing via force/pressure control.
factorMotionControl
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01

Factor for the sliding friction compensation relative to the setpoint velocity when
traversing via motion control.
maxSlidingFrictionForceControl
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the upper limit for the sliding friction component for pressure control.
EnumYesNo

3-330

NO (91)

No

YES (173)

Yes

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PosAxis

StructAxisSpeedLimitation - PosAxis
Parameters for asymmetric manipulated variable limitation. This function is also referred to as a backstop.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the velocity range limit..

With 'NO', the velocity limit is not activated.
With 'YES', the velocity limit is activated.
maxSpeed
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 1/min

Specifies the upper limit for the manipulated variable range.

minSpeed
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 1/min

Specifies the lower limit for the manipulated variable range.

EnumYesNo
NO (91)

No

YES (173)

Yes

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PosAxis

StructAxisSwLimitConfig - PosAxis
The structure elements for 'SwLimit' are used to parameterize the efficiency and the approach functionality of the software limit switch.
modeSpecificMonitoring
Data type:

EnumAxisSwLimitModeSpecificMonitoring

Changeable online:

Yes, active after restart

System default:

IN_CLOSED_LOOP_POSITION_CONTROL

Specifies the approach behavior at the software limit switch.

monitoringAtMotionStart
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies whether a restriction to the software limit switch should take place at the motion start.
With a 'YES' setting, a check is performed at the beginning of the motion initiated by the command to
determine whether a software limit switch is crossed, and then the target position is adapted to the
software limit switch.
With a 'NO' setting, a check is not performed at the motion start.
relieveWindow
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Tolerance window for the retraction from/via the software limit switch.
EnumAxisSwLimitModeSpecificMonitoring
IN_CLOSED_LOOP_POSITION_CONTROL
(0)

Stop on the software limit switch only during

position-controlled traversing

IN_ALL_CONTROL_MODES (1)

Stop on the software limit switch in all operating

modes with mandatory switchover to position
control

EnumYesNo

3-332

NO (91)

No

YES (173)

Yes

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PosAxis

StructAxisSystemDeadTimeData - PosAxis
The structure elements belonging to 'SystemDeadTimeData' allow the correction of system-related
dead times.
additionalTime
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0 s

Correction value for system-related dead times.

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3-333

PosAxis

StructAxisTechnologicalData - PosAxis
The structure elements belonging to TechnologicalData are used to specify addresses for additional
data exchange between drive and control unit.
driveSafetyExtendedFunctionsEnabled
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation status of the SINAMICS Safety Integrated Extended Functions data.
With 'NO', the data are not activated.
With 'YES', the data are activated.
enable
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation status of the technological data.

With 'NO', the technology data are not activated.
With 'YES', the technology data are activated.
EnumYesNo
NO (91)

No

YES (173)

Yes

Associated parameters (maximum):

3-334

DriveSafetyExtendedFunctionsInfoDataIn
(StructAxisDriveSafetyExtendedFunctionsInfoDataIn)

Drive interface for SINAMICS Safety Integrated

Extended Functions data

OperatingDataInInfo
(StructAxisOperatingDataInInfo)

Drive interface for operating characteristics

TechnologicalDataInInfo
(StructAxisTechnologicalDataInInfo)

Drive interface for specific actual values

TechnologicalDataOutInfo
(StructAxisTechnologicalDataOutInfo)

Drive interface for specific setpoints

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PosAxis

StructAxisTechnologicalDataInInfo - PosAxis
Specifies the logical address for the communication with the drive.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of specific parameters in the cyclical message frame from
the drive.

StructAxisTechnologicalDataOutInfo - PosAxis
Specifies the logical address for the communication with the drive.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of specific parameters in the cyclical message frame to
the drive.

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3-335

PosAxis

StructCommandValueQuantization - PosAxis
The structure elements of 'CommandValueQuantization' are used to set the quantization filter.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the quantization filter.

With 'NO', the quantization filter is not activated.
With 'YES', the quantization filter is activated.
mode
Data type:

EnumCommandValueQuantizationMode

Changeable online:

No

System default:

REFER_TO_ACTUAL_SENSOR_VALUE_RES
OLUTION

Specifies the quantization mode.

With 'REFER_TO_ACTUAL_SENSOR_VALUE_RESOLUTION', the resolution of the current encoder
is the base value for quantization.
With 'DIRECT', the value specified in 'value' is the base value for quantization.
value
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0e-12 mm

Specifies the manipulated variable quantization.

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumCommandValueQuantizationMode

3-336

DIRECT (40)

Quantization to input value

REFER_TO_ACTUAL_SENSOR_VALUE_RES
OLUTION (936)

Quantization to current sensor

SIMOTION Technology Packages Configuration Data

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PosAxis

StructControllerOutput - PosAxis
Configures the controller for a hydraulic axis.
outputType
Data type:

EnumAxisControllerOutput

Changeable online:

No

System default:

DIRECT_OUTPUT

Type of output interface.

With 'DIRECT_OUTPUT', the output takes place via the analog interface.
With 'DRIVE_INTERFACE', the output takes place via the onboard interface or via PROFIdrive.
EnumAxisControllerOutput
DIRECT_OUTPUT (1)

Analog interface

DRIVE_INTERFACE (2)

Onboard interface or PROFIdrive

Associated parameters (maximum):

DirectOutputDriverInfo
(StructDirectOutputDriverInfo)

Parameters of the analog driver

DriveInterfaceDriverInfo
(StructDriveInterfaceDriverInfo)

Parameters of the driver for the drive interface

EnableBit
(StructEnableBit)

Enable bit

InvertF
(StructAxisInvertFOutput)

Inversion of the F-output in front of the characteristic curve

InvertFOutput
(InvertSetPoint)

Inversion of the F-output behind the characteristic curve

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PosAxis

StructDirectOutputDriverInfo - PosAxis
The structure elements of 'DirectOutputDriverInfo' are used to configure the controller for a hydraulic
axis.
format
Data type:

EnumActualValueFormat

Changeable online:

Yes, active after restart

System default:

VALUE_LEFT_MARGIN

Specifies the format of the actual value.

logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address.

maxOutputVoltage
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

10.0 V

Not used
resolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

15

Specifies the number of relevant bits.

EnumActualValueFormat

3-338

VALUE_RIGHT_MARGIN (0)

Right-justified

VALUE_LEFT_MARGIN (1)

Left-justified

VALUE_LEFT_MARGIN_WITHOUT_SIGN (2)

Left-justified without sign

VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3)

Right-justified without sign

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PosAxis

StructDriveInterfaceDriverInfo - PosAxis
The structure elements of 'DriveInterfaceDriverInfo' are used to configure the controller for a hydraulic
axis.
actorType
Data type:

EnumAxisDioActorType

Changeable online:

No

System default:

NO_TYPE

Specifies the type of drive.

With NO_TYPE, there is no interface specification.
With ANALOG, the interface is configured for analog drives.
With STEPMOTOR, the interface is configured for stepper motors.
lifeSignCheck
Data type:

EnumYesNo

Changeable online:

No

System default:

YES

Specifies the activation status of life sign monitoring.

With 'NO', the sign of life monitoring is not activated.
With 'YES', the sign of life monitoring is activated.
logAddressIn
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the input data area.

logAddressOut
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the output data area.

maxOutputVoltage
Data type:

LREAL

Changeable online:

No

System default:

10.0 V

Specifies the standard voltage on which the analog drive reaches its maximum speed.

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PosAxis

mode
Data type:

EnumAxisDriverMode

Changeable online:

No

System default:

SIMULATION

Specifies the type of drive interface.

With 'ONBOARD', an onboard analog interface is used.
With 'DPMASTER', an onboard PROFIBUS DP interface is used.
With 'SIMULATION', a drive interface is simulated.
outputNumberOnDevice
Data type:

DINT

Changeable online:

No

System default:

Reserved
telegramType
Data type:

EnumAxisTelegramType

Changeable online:

No

System default:

DP_TEL102_611U_POSCTRL_1_ENCODER

Specifies the PROFIBUS message frame type.

With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set
up.
With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set
up.
With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one
encoder) is set up.
With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with
two encoders) is set up.
With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives
with one encoder and DSC) is set up.
With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled
drives with two encoders and DSC) is set up.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7
for velocity-controlled drives without encoders is set up.
With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for
velocity-controlled drives with one encoder is set up.
With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for
velocity-controlled drives with two encoders is set up.
With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for
velocity-controlled drives with one encoder and DSC is set up.
With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for
velocity-controlled drives with two encoders and DSC is set up.
EnumAxisDioActorType

3-340

NO_TYPE (0)

No type

ANALOG (1)

Analog

STEPMOTOR (2)

Step mode

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PosAxis

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisDriverMode
SIMULATION (0)

Simulation

ONBOARD (1)

Onboard

DPMASTER (2)

DP Master

EnumAxisTelegramType
NO_TELEGRAM (0)

No message frame

DP_TEL1_STANDARD (1)

Standard message frame 1, PZD-2/2

DP_TEL2_STANDARD (2)

Standard message frame 2, PZD-4/4

DP_TEL3_STANDARD (3)

Standard message frame 3, PZD-5/9

DP_TEL4_STANDARD (4)

Standard message frame 4, PZD-6/14

DP_TEL5_STANDARD (5)

Standard message frame 5, PZD-9/9

DP_TEL6_STANDARD (6)

Standard message frame 6, PZD-10/14

DP_TEL81_STANDARD (81)

Standard message frame 81, PZD-2/6

DP_TEL83_STANDARD (83)

Standard message frame 83, PZD-2/8

DP_TEL101_611U_VELCTRL_NO_ENCODER
(101)

SIEMENS message frame 101, PZD-6/7

DP_TEL102_611U_POSCTRL_1_ENCODER
(102)

SIEMENS message frame 102, PZD-6/10

DP_TEL103_611U_POSCTRL_2_ENCODER
(103)

SIEMENS message frame 103, PZD-7/15

DP_TEL105_611U_DSC_1_ENCODER (105)

SIEMENS message frame 105, PZD-10/10

DP_TEL106_611U_DSC_2_ENCODER (106)

SIEMENS message frame 106/107, PZD-11/15

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PosAxis

StructDriverInfoDirectIncremental - PosAxis
The parameters for the direct incremental encoder hardware are specified with the structure elements
for 'DriverInfoDirectIncremental' .
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the communication module.

resolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

16

Specifies the number of bits of the incremental encoder.

3-342

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PosAxis

StructEnableBit - PosAxis
The structure elements for 'EnableBit' can be used to configure an output bit for indicating the enables.
bitNumberOnDevice
Data type:

UDINT

Changeable online:

No

System default:

Specifies the I/O bit number within the I/O byte specified by the logical address.
enable
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies whether the output cam result is output.

With 'NO', the output bit is not used to display the enables.
With 'YES', the output bit is used to display the enables.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address.

EnumYesNo
NO (91)

No

YES (173)

Yes

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PosAxis

StructExtrapolation - PosAxis
The structure elements belonging to 'Extrapolation' are used to set the extrapolation time on the master value axis.
extrapolatedVelocitySwitch
Data type:

EnumAxisExtrapolatedVelocitySwitch

Changeable online:

Yes, active immediately

System default:

DIFFERENTIATION

Used to select the velocity master value for master value extrapolation.
extrapolationTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time specification for extrapolation. With 0.0, there is no extrapolation.

EnumAxisExtrapolatedVelocitySwitch
DIFFERENTIATION (408)

Differentiation of extrapolated master value

TRANSFER (409)

Transfer of extrapolated velocity

Associated parameters (maximum):

3-344

ExtrapolationPositionFilter
(ExtrapolationPositionFilterType)

Filter for actual position

Filter
(StructExtrapolationFilter)

Filter for actual velocity

ToleranceRange
(StructToleranceRange)

Tolerance range

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PosAxis

StructExtrapolationFilter - PosAxis
The structure elements belonging to 'Filter' are used to set the filter for the actual velocity on the master value axis.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With 'NO', the filter functionality is deactivated.
With 'YES', the filter functionality is activated.
mode
Data type:

EnumAxisFilterMode

Changeable online:

Yes, active after restart

System default:

DEFAULT_MODE

Specifies criterion for actual value smoothing.

With 'DEFAULT_MODE', the actual speed is not smoothed.
With 'AVERAGING', an average over time is used.
With 'PT1', a filter set via 'timeConstant' is used.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisFilterMode
DEFAULT_MODE (0)

No filter

AVERAGING (1)

Form mean value

PT1 (2)

PT1 filter

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PosAxis

StructLogAddressIoBitType - PosAxis
The structure elements of 'LogAddress' are used to set the logical address.
bitNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the bit number of the measuring input input.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies whether the indicated logical address should be used.

With NO, the logical address is not used.
With YES, the logical address is used.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical base address of the measuring input input.

EnumYesNo

3-346

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PosAxis

StructPaxDynamicQFData - PosAxis
The structure elements belonging to 'DynamicQFData' specify the dynamic data of the cascade control system.
positionTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1 s

Specifies the equivalent time constant of the position control system.

qOutputTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.00005 s

Specifies the equivalent time constant of the torque control system.

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PosAxis

StructPositionDifferenceMeasurement - PosAxis
The 'PositionDifferenceMeasurement' structure element is used to configure the parameters for the
differential position measurement.
invert
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies whether the sign of the differential value should be inverted.

With NO, the sign is not inverted.
With YES, the sign is inverted.
numberEncoderA
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the encoder number for detecting the A actual position.

numberEncoderB
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the encoder number for detecting the B actual position.

offset
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies an offset for the calculation with the difference value.

EnumYesNo
NO (91)

No

YES (173)

Yes

Associated parameters (maximum):

3-348

Filter
(Filter)

Differential value smoothing

Range
(Range)

Differential value limitation

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PosAxis

StructPressureDifferenceMeasurement - PosAxis
The structure element 'PressureDifferenceMeasurement' is used to configure the parameters for the
differential pressure measurement.
areaA
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

Specifies the area parameter for pressure sensor A.

areaB
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

Specifies the area parameter for pressure sensor B.

factor
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0

Specifies a normalization factor for the determined difference value.

invert
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the sign of the differential value should be inverted.

With NO, the sign is not inverted.
With YES, the sign is inverted.
numberSensorA
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the sensor number for detecting the pA pressure.

numberSensorB
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the sensor number for detecting the pB pressure.

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PosAxis

EnumYesNo
NO (91)

No

YES (173)

Yes

Associated parameters (maximum):

3-350

Filter
(Filter)

Differential value smoothing

Range
(Range)

Differential value limitation

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PosAxis

StructSensorDriverInfo - PosAxis
The elements of this structure are used to configure the I/O module of the additional encoder.
errorToleranceTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1 s

Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Data type:

EnumActualValueFormat

Changeable online:

Yes, active after restart

System default:

VALUE_LEFT_MARGIN

Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the communication module.

maxValue
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

32511

Specifies the maximum digitalized measured value for the additional encoder.
minValue
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

-32512

Specifies the minimal digitalized measured value for the additional encoder.

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PosAxis

resolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

15

Specifies the number of relevant bits for the additional encoder.

EnumActualValueFormat

3-352

VALUE_RIGHT_MARGIN (0)

Right-justified

VALUE_LEFT_MARGIN (1)

Left-justified

VALUE_LEFT_MARGIN_WITHOUT_SIGN (2)

Left-justified without sign

VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3)

Right-justified without sign

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PosAxis

StructToleranceRange - PosAxis
The structure elements belonging to 'ToleranceRange' are used to set a tolerance window around the
actual position of the master value axis.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Activation of the tolerance range.

With 'NO', the tolerance range is deactivated.
With 'YES', the tolerance range is activated.
value
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the tolerance window around the actual position value of the master axis.
EnumYesNo
NO (91)

No

YES (173)

Yes

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PosAxis

TypeOfAxisInfo - PosAxis
The structure elements of 'TypeOfAxis' specify the axis parameters.
typeOfAxis
Data type:

EnumAxisIdentification

Changeable online:

No

System default:

REAL_AXIS

Specifies the type of axis configured.

With REAL_AXIS, the axis is connected to a real process.
REAL_QFAXIS corresponds to an axis with quantity and force control.
REAL_QFAXIS_WITH_OPEN_LOOP_FORCE_CONTROL corresponds to an axis with open-loop
force control by way of a separate force/pressure limitation valve.
REAL_QFAXIS_WITH_CLOSED_LOOP_FORCE_CONTROL corresponds to an axis with closedloop force/pressure specification via Q-valve.
EnumAxisIdentification
REAL_AXIS (0)

Real electric axis

VIRTUAL_AXIS (1)

Virtual axis

REAL_AXIS_WITH_FORCE_CONTROL (2)

Real electric axis with force/pressure control

REAL_QFAXIS (3)

Real hydraulic axis (Q-valve)

REAL_QFAXIS_WITH_OPEN_LOOP_FORCE
_CONTROL (4)

Real hydraulic axis with force/pressure specification (Q-valve and P-valve)

REAL_QFAXIS_WITH_CLOSED_LOOP_FOR
CE_CONTROL (5)

Real hydraulic axis with force/pressure control

(Q-valve)

REAL_QFAXIS_WITH_OPEN_LOOP_FORCE
_CONTROL_ONLY (6)

Real hydraulic axis with force/pressure specification (P-valve)

REAL_AXIS_WITH_SIGNAL_OUTPUT (7)

Real electric axis with master value output via

encoder signal simulation

Associated parameters (maximum):

3-354

ActualAccelerationMonitoring
(ActualAccelerationMonitoring)

Actual acceleration monitoring

ActualVelocityMonitoring
(ActualVelocityMonitoring)

Actual velocity monitoring

AdditionalOffset
(StructAxisAdditionalOffset)

Offset injection for axis traversing with

motion/force control

CommandValueQuantization
(StructCommandValueQuantization)

Quantization filter

ControllerSwitchData
(ControllerSwitchData)

Digital inputs for pressure control

DecodingConfig
(DecodingConfig)

Command processing

DistributedMotion
(DistributedMotionInfo)

Distributed motion control

Drift
(Drift)

Drift compensation

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PosAxis

DriveControlConfig
(StructAxisDriveControlConfig)

Drive-related settings

EmergencyRampGenerator
(EmergencyRampGenerator)

Emergency ramp generator

Extrapolation
(StructExtrapolation)

Actual value smoothing

FOutput
(StructControllerOutput)

Manipulated variable interface for F output

FineInterpolator
(FineInterpolator)

Fine interpolator

ForceControlHeldValueMonitoring
(ForceControlHeldValueMonitoring)

Force/pressure end value monitoring

ForceControlRunningInWindowMonitoring
(ForceControlRunningInWindowMonitoring)

Force/pressure entry monitoring

Friction
(Friction)

Friction torque compensation

HWEndPos
(HWEndPos)

Hardware limit switches

Homing
(Homing)

Homing

MaxAcceleration
(MaxAcceleration)

Maximum acceleration

MaxForceCommandData
(MaxForceCommandData)

Limitations for force/pressure setpoint

MaxJerk
(MaxJerk)

Maximum jerk

MaxVelocity
(MaxVelocity)

Maximum velocity

NeutralBand
(NeutralBand)

Neutral band compensation

NumberOfAdditionalSensors
(NumberOfAdditionalSensors)

Configured encoder of a force-controlled axis

NumberOfDataSets
(NumberOfDataSets)

Data records for the controller configuration

NumberOfEncoders
(NumberOfEncoders)

Configured encoder

PathSyncAxisPosTolerance
(PathSyncAxisPosTolerance)

Setpoint differential monitoring of synchronous

axis

PositionMonitoring
(PositionMonitoring)

Position monitoring

QOutput
(StructControllerOutput)

Manipulated variable interface for Q output

ServoMonitoring
(StructAxisServoMonitoringConfig)

Activate control loop monitoring with active pressure limiting command

SetPointDriverInfo
(SetPointDriverInfo)

Drive interface

SetpointFilter
(StructAxisSetpointFilter)

Manipulated variable filter

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PosAxis

3-356

SlidingFriction
(StructAxisSlidingFriction)

Sliding friction compensation

SmoothingFilter
(SmoothingFilter)

Actual value smoothing

SpeedLimitation
(StructAxisSpeedLimitation)

Manipulated variable limitation

StandStillMonitoring
(StandStillMonitoring)

Standstill monitoring

StandStillSignal
(StandStillSignal)

Standstill signal

SwLimit
(StructAxisSwLimitConfig)

Software limit switches

SystemDeadTimeData
(StructAxisSystemDeadTimeData)

System-dependent dead times

TechnologicalData
(StructAxisTechnologicalData)

Drive interface for specific parameters

VelocityPositionProfile
(VelocityPositionProfile)

Settings for the v(s) profile

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PosAxis

VelocityPositionProfile - PosAxis
The structure elements for 'VelocityPositionProfile' set properties in velocity-position profiles.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
endPositionTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Tolerance for profile end detection.

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PosAxis

3-358

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MeasuringInputType
Associated parameters (maximum):
DecodingConfig (DecodingConfigInfo)
LogAddress (StructMeasuringInputLogAddress)
MeasuringRange (StructMeasuringRange)
MipBaseCfg (MipBaseCfgInfo)
MipInputCfg (MipInputCfgInfo)
Restart (RestartInfo)
TimeStampConfig (StructMeasuringInputTimeStampConfig)

DecodingConfigInfo - MeasuringInputType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
Note
"Further information can be found in the TO Synchronous Operation, Cam Function Manual and in the
online help."
numberOfMaxBufferedCommandId
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

10

Specifies the maximum number of command IDs active simultaneously whose status can be requested at the end of the relevant command.
A command ID is added to the list with the ST command '_bufferCommandId'.
Removal from the list takes place with the ST command '_removeBufferedCommandId'.

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MeasuringInputType

MipBaseCfgInfo - MeasuringInputType
The time classification of the measuring input is specified with the structure element for 'MipBaseConfig'.
inputAccess
Data type:

EnumMeasuringInputAccess

Changeable online:

Yes, active after restart

System default:

DIRECT

Specifies which input of the measuring input is to be used for the measurement.
With DIRECT, the configured input of the measuring input of the technology object is used.
With TO_INTERFACE, the input of the measuring input interconnected via the EventIn interface is
used.
inputType
Data type:

EnumMeasuringInputInputType

Changeable online:

Yes, active after restart

System default:

STANDARD

Specifies whether the signals at the input of the measuring input are to be assigned a time stamp.
tasklevel
Data type:

EnumMeasuringInputTaskLevel

Changeable online:

Yes, active after restart

System default:

IPO

Specifies the task level for displaying the measurement results of the measuring input.
With IPO, the measuring results are displayed in the fast interpolator cycle clock.
With IPO_2, the measuring results are displayed in the interpolator cycle.
With SERVO, the measuring results are displayed in the controller cycle.
EnumMeasuringInputAccess
DIRECT (40)

The input of the measuring input of the technology object is used

TO_INTERFACE (382)

EventIn interface of the TO is used

EnumMeasuringInputInputType
STANDARD (0)

Standard

TIME_STAMP (1)

With time stamp

EnumMeasuringInputTaskLevel

4-360

IPO (0)

IPO

IPO_2 (1)

IPO_2

SERVO (2)

Servo

IPO_FAST (3)

IPO_fast

SERVO_FAST (4)

Servo_fast

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

MeasuringInputType

MipInputCfgInfo - MeasuringInputType
The structure elements of 'MipInputCfg' specify the measuring input of the measuring system in use.
checkProbeState
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the monitoring mode of the measuring input signal before a measurement task is activated.
With NO, the measurement task is activated immediately.
With YES, the measurement task is only activated on an edge from LOW to HIGH (rising edge) when
the signal of the measuring input is LOW.
With YES, the measurement task is only activated on an edge from HIGH to LOW (falling edge) when
the signal of the measuring input is HIGH.
measuringInputNumber
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

Specifies the number of the measuring input to be used.

sensorSystemNumber
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

Specifies the number of the encoder on the assigned axis.

EnumYesNo
NO (91)

No

YES (173)

Yes

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MeasuringInputType

RestartInfo - MeasuringInputType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or
just by command.
behaviorInvalidSysvarAccess
Data type:

EnumToInvalidSysvarAccess

Changeable online:

No

System default:

LAST_VALUE

If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP
mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology
object is restarted or deactivated.
The values stored in the image are supplied when system variables are accessed during the technology object restart or deactivation phase.
restartActivationSetting
Data type:

EnumToRestartActivationSetting

Changeable online:

Yes, active after restart

System default:

RESTART_BY_SYSVAR_AND_COMMAND

With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with

system variables and/or by command.
With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
DEFAULT_VALUE (2)

Supply substitute value from default value

STOP_DEVICE (3)

No substitute value, switch to STOP mode

LAST_VALUE (338)

Supply substitute value from last valid value

EnumToRestartActivationSetting

4-362

RESTART_BY_SYSVAR_AND_COMMAND (0)

Allow restart via system variable and/or command

RESTART_BY_COMMAND (1)

Allow restart only via command

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

MeasuringInputType

StructMeasuringInputLogAddress - MeasuringInputType
The structure elements of 'LogAddress' are used to set the logical address of the measuring input.
bitNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the bit number of the input of the measuring input.

logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address of the input of the measuring input.

StructMeasuringInputTimeStampConfig - MeasuringInputType
Delay times during the measuring process can be compensated with the structure elements for 'timeStampConfig'.
correctionTime
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0 s

If this value is greater than 0, the measuring input supplies axis values that are "older" by the amount
of the correction time.

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MeasuringInputType

StructMeasuringRange - MeasuringInputType
The structure elements belonging to 'MeasuringRange' are used to increase the dynamic response of
the ON/OFF of the measuring range.
activationTime
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0 s

The specified actuation time is used for the ON/OFF of the measuring range. For example, the runtimes can be compensated during activation via PROFIBUS and the drive.

4-364

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

OutputCamType
Associated parameters (maximum):
DecodingConfig (DecodingConfigInfo)
LogAddress (LogAddressInfo)
OcaBaseCfg (OcaBaseCfgInfo)
OcaType (OcaTypeInfo)
Restart (RestartInfo)

DecodingConfigInfo - OutputCamType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
numberOfMaxBufferedCommandId
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

10

Specifies the maximum number of command IDs active simultaneously whose status can be requested at the end of the relevant command.
A command ID is added to the list with the ST command '_bufferCommandId'.
Removal from the list takes place with the ST command '_removeBufferedCommandId'.
timeCamDeactivationTime
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the actuation time/delay for the time-based cam is taken into account on the switchoff edge.
With NO, the actuation time/delay is not taken into account.
With YES, the actuation time/delay is taken into account.
EnumYesNo
NO (91)

No

YES (173)

Yes

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OutputCamType

LogAddressInfo - OutputCamType
The structure elements of 'LogAddressInfo' are used to set the logical address of the output cam signal.
bitNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the bit number of the output cam signal.

enableOutput
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the output cam result is output.

With NO, an output cam result is not output.
With YES, an output cam result is output.
logAddressOut
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical base address of the output cam signal.

logicOperation
Data type:

EnumLogicOperation

Changeable online:

Yes, active after restart

System default:

OPERATION_OR

Specifies the type of logic operation of the output cam signals.

Several Output Cam technology objects can be assigned to one output.
With 'OPERATION_OR', the system combines all output cams.
With 'OPERATION_AND', the result is linked to the output cam.
EnumYesNo
NO (91)

No

YES (173)

Yes

EnumLogicOperation

5-366

OPERATION_OR (0)

Logical OR

OPERATION_AND (1)

Logical AND

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

OutputCamType

OcaBaseCfgInfo - OutputCamType
The structure elements for 'OcaBaseCfg' set the output cam base configuration.
hwTimer
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of timer interrupt-based signal output (output cam-independent).
With NO, the hardware-supported signal output is not used.
With YES, the hardware-supported signal output as of V 1.1 is used for the configured logical address.
Several TO output cams can use the same address. In this case, the output cams must be calculated
in the same task. The output cams are ORed.
outputType
Data type:

EnumOutputCamOutputType

Changeable online:

Yes, active after restart

System default:

STANDARD

Specifies whether the signals at the output cam output are to be assigned a time stamp.
posvaluetype
Data type:

EnumPosValue

Changeable online:

Yes, active after restart

System default:

RATED

Specifies the type of position value.

With RATED, the setpoints of the interpolator (position/velocity) are used for establishing the switching
result.
With ACTUAL, the actual values of the position controller (position/velocity) are used for establishing
the switching result.
tasklevel
Data type:

EnumOutputCamTaskLevel

Changeable online:

Yes, active after restart

System default:

IPO

Specifies the task level for output cam calculation.

With IPO, the output cam is calculated in the fast interpolator cycle and subject to the setting in 'hwTimer'.
With IPO_2, the output cam is calculated in the interpolator cycle and subject to the setting in 'hwTimer'.
With SERVO, the output cam is calculated in the servo cycle clock when posvaluetype:=ACTUAL and
subject to the setting in 'hwTimer'.
With SERVO, the output cam is calculated in the interpolator cycle clock when posvaluetype:=RATED
and output in the servo cycle clock subject to the setting in 'hwTimer'.
EnumYesNo
NO (91)

No

YES (173)

Yes

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OutputCamType

EnumOutputCamOutputType
STANDARD (0)

Standard

TIME_STAMP (1)

With time stamp

EnumPosValue
RATED (0)

Setpoints

ACTUAL (1)

Actual values

EnumOutputCamTaskLevel

5-368

IPO (0)

IPO

IPO_2 (1)

IPO_2

SERVO (2)

Servo

IPO_FAST (3)

IPO_fast

SERVO_FAST (4)

Servo_fast

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

OutputCamType

OcaTypeInfo - OutputCamType
The structure element of 'OcaType' specifies the output cam type.
_type
Data type:

EnumOutputCamType

Changeable online:

Yes, active after restart

System default:

TYPE_WAY

Specifies the output cam type.

With WAY, the output cam is limited by the output cam beginning and end (position-based cam).
With TIME, the output cam is limited by the output cam beginning and an ON duration (time-based
cam).
With SWITCH, the output cam is defined by a switch-on position. The output cam remains activated
even if the switch-on position is crossed several times (switching output cam). The SWITCH output
cam can only be reset by calling enableOutputCam or ResetOutputCam.
With REVERSE, the output cam is limited by the output cam beginning and end (as with WAY). The
output cam remains active from the time it is started until it leaves the starting area, regardless of the
effective direction and direction of movement.
EnumOutputCamType
TYPE_WAY (0)

Position-based cam

TYPE_TIME (1)

Time-based cam

TYPE_SWITCH (2)

Unidirectional output cam

TYPE_REVERSE (3)

Reversing cam

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OutputCamType

RestartInfo - OutputCamType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or
just by command.
behaviorInvalidSysvarAccess
Data type:

EnumToInvalidSysvarAccess

Changeable online:

No

System default:

LAST_VALUE

If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP
mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology
object is restarted or deactivated.
The values stored in the image are supplied when system variables are accessed during the technology object restart or deactivation phase.
restartActivationSetting
Data type:

EnumToRestartActivationSetting

Changeable online:

Yes, active after restart

System default:

RESTART_BY_SYSVAR_AND_COMMAND

With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with

system variables and/or by command.
With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
DEFAULT_VALUE (2)

Supply substitute value from default value

STOP_DEVICE (3)

No substitute value, switch to STOP mode

LAST_VALUE (338)

Supply substitute value from last valid value

EnumToRestartActivationSetting

5-370

RESTART_BY_SYSVAR_AND_COMMAND (0)

Allow restart via system variable and/or command

RESTART_BY_COMMAND (1)

Allow restart only via command

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

CamTrackType
Associated parameters (maximum):
DecodingConfig (DecodingConfigInfo)
LogAddress (LogAddressInfo)
OctBaseCfg (OctBaseCfgInfo)
OctTechnologicalCfg (OctTechnologicalCfgInfo)
OctType (OctTypeInfo)
Restart (RestartInfo)

DecodingConfigInfo - CamTrackType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
Note
"Further information can be found in the TO Synchronous Operation, Cam Function Manual and in the
online help."
numberOfMaxBufferedCommandId
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

10

Specifies the maximum number of command IDs active simultaneously whose status can be requested at the end of the relevant command.
A command ID is added to the list with the ST command '_bufferCommandId'.
Removal from the list takes place with the ST command '_removeBufferedCommandId'.

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CamTrackType

LogAddressInfo - CamTrackType
The structure elements of 'LogAddressInfo' are used to set the logical address of the output cam signal.
bitNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the bit number of the output cam signal.

enableOutput
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the output cam result is output.

With NO, an output cam result is not output.
With YES, an output cam result is output.
logAddressOut
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical base address of the output cam signal.

EnumYesNo

6-372

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

CamTrackType

OctBaseCfgInfo - CamTrackType
The structure elements for 'OctBaseCfg' set the output cam base configuration.
hwTimer
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the timer-interrupt-supported signal output (irrespective of cam
track).
With NO, the hardware-supported signal output is not used.
With YES, the hardware-supported signal output as of V 1.1 is used for the configured logical address.
Several TO cam tracks can use the same address. In this case, the cam tracks must be calculated in
the same task. The cam tracks are ORed.
keepEnabledOutOfTrackRange
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Non-cyclic activated cam track can be activated outside the track range.
With NO, the cam track is deactivated when leaving the cam track range.
With YES, the cam track remains active when leaving the cam track range.
outputType
Data type:

EnumCamTrackOutputType

Changeable online:

Yes, active after restart

System default:

STANDARD

Specifies the cam track output via TM15/TM17

With TIME_STAMP, the cam track output via TM15/TM17 takes place by means of a time stamp; with
STANDARD, standard cam track output via TM15/TM17 takes place.
positionReference
Data type:

EnumCamTrackPositionReference

Changeable online:

Yes, active after restart

System default:

COMMAND_VALUE

Specifies the type of position value.

With COMMAND_VALUE, the setpoints of the interpolator (position/velocity) are used for establishing
the switching result.
With ACTUAL_VALUE, the actual values of the position controller (position/velocity) are used for establishing the switching result.

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CamTrackType

taskLevel
Data type:

EnumCamTrackTaskLevel

Changeable online:

Yes, active after restart

System default:

IPO

Specifies the task level for the cam track calculation.

With IPO, the cam track is calculated in the fast interpolator cycle and subject to the setting in 'hwTimer'.
With IPO_2, the cam track is calculated in the interpolator cycle and subject to the setting in 'hwTimer'.
With SERVO, the cam track is calculated in the servo cycle clock when posvaluetype:=ACTUAL and
output subject to the setting in 'hwTimer'.
With SERVO, the cam track is calculated in the interpolator cycle clock when posvaluetype:=RATED
and output in the servo cycle clock subject to the setting in 'hwTimer'.
EnumYesNo
NO (91)

No

YES (173)

Yes

EnumCamTrackOutputType
STANDARD (0)

Standard

TIME_STAMP (1)

With time stamp

EnumCamTrackPositionReference
COMMAND_VALUE (0)

Setpoints

ACTUAL_VALUE (1)

Actual values

EnumCamTrackTaskLevel

6-374

IPO (0)

IPO

IPO_2 (1)

IPO_2

SERVO (2)

Servo

IPO_FAST (3)

IPO_fast

SERVO_FAST (4)

Servo_fast

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

CamTrackType

OctTechnologicalCfgInfo - CamTrackType
invertOutput
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the inversion of the cam track output.

With YES, the output of the cam track is inverted; with NO, there is no inversion.
EnumYesNo
NO (91)

No

YES (173)

Yes

OctTypeInfo - CamTrackType
The structure element of 'OctType' specifies the output cam type.
camTrackType
Data type:

EnumCamTrackType

Changeable online:

Yes, active after restart

System default:

TYPE_WAY

Specifies the output cam type.

With WAY, the output cam is limited by the output cam beginning and end (position-based cam).
With TIME, the output cam is limited by the output cam beginning and an ON duration (time-based
cam).
With TIME_WITH_MAX_LENGTH, the output cam is limited by the output cam beginning, the output
cam end, and an ON duration (time-based cam with maximum time length).
EnumCamTrackType
TYPE_WAY (0)

Position-based cam

TYPE_TIME (1)

Time-based cam

TYPE_TIME_WITH_MAX_LENGTH (4)

Time-based cam with max. activation length

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CamTrackType

RestartInfo - CamTrackType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or
just by command.
behaviorInvalidSysvarAccess
Data type:

EnumToInvalidSysvarAccess

Changeable online:

No

System default:

LAST_VALUE

If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP
mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology
object is restarted or deactivated.
The values stored in the image are supplied when system variables are accessed during the technology object restart or deactivation phase.
restartActivationSetting
Data type:

EnumToRestartActivationSetting

Changeable online:

Yes, active after restart

System default:

RESTART_BY_SYSVAR_AND_COMMAND

With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with

system variables and/or by command.
With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
DEFAULT_VALUE (2)

Supply substitute value from default value

STOP_DEVICE (3)

No substitute value, switch to STOP mode

LAST_VALUE (338)

Supply substitute value from last valid value

EnumToRestartActivationSetting

6-376

RESTART_BY_SYSVAR_AND_COMMAND (0)

Allow restart via system variable and/or command

RESTART_BY_COMMAND (1)

Allow restart only via command

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis
Associated parameters (maximum):
Execution (ExecutionConfigInfo)
LeadScrew (LeadScrewInfo)
Modulo (ModuloInfo)
Restart (RestartInfo)
RestartCondition (RestartConditionInfo)
Simulation (SimulationInfo)
TypeOfAxis (TypeOfAxisInfo)

AbsBackLash - FollowingAxis
The structure elements of 'AbsBackLash' specify the backlash compensation for the absolute encoder.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
_type
Data type:

EnumBackLashType

Changeable online:

Yes, active immediately

System default:

POSITIVE

Specifies the direction in which backlash compensation is calculated.

With 'POSITIVE', the backlash compensation is applied in the positive direction.
With 'NEGATIVE', the backlash compensation is applied in the negative direction.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the monitoring mode for backlash compensation on the absolute encoder.
With 'NO', the backlash compensation is not enabled.
With 'YES', the backlash compensation is enabled.
length
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the backlash compensation value.

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FollowingAxis

startUpDifference
Data type:

EnumBackLashDiff

Changeable online:

Yes, active immediately

System default:

DIFF_POSITIVE

Specifies the preferred orientation for backlash compensation.

With POSITIVE_DIRECTION, the backlash compensation is applied in the positive direction during
the first traversing motion.
With NEGATIVE_DIRECTION, the backlash compensation is applied in the negative direction during
the first traversing motion.
velocity
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm/s

Specifies the velocity at which backlash compensation is stopped. If the value is 0, the backlash is
calculated without limits.
EnumBackLashType
POSITIVE (0)

positive

NEGATIVE (1)

negative

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumBackLashDiff

7-378

DIFF_POSITIVE (0)

positive

DIFF_NEGATIVE (1)

negative

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

AbsEncoder - FollowingAxis
The structure elements of 'AbsEncoder' specify the parameters for an absolute encoder.
Note
Further information about the following parameters and on fine resolution can be found in
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
or in the online help
absBaudRate
Data type:

EnumAbsBaudrate

Changeable online:

No

System default:

Baudrate_3

Specifies the baud rate data for detecting the actual value of the absolute encoder.
Baudrate_5 sets a baud rate of 3 Mbaud.
Baudrate_4 sets a baud rate of 1.5 Mbaud.
Baudrate_3 sets a baud rate of 750 Kbaud.
Baudrate_2 sets a baud rate of 375 Kbaud.
Baudrate_1 sets a baud rate of 187.5 Kbaud.
absDataLength
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

24

Specifies the number of data bits of the absolute encoder range (packet length).
The number of data bits is calculated from the number of steps per revolution multiplied by the number
of revolutions.
For example: 2048 incr./rev. * rev.= data bit length 23
absMessageFormat
Data type:

EnumAbsMsgFormat

Changeable online:

No

System default:

PINETREE

Specifies a message frame format for the absolute encoder.

With RIGHT_MARGIN, the protocol format is right-justified.
With PINETREE, the pine tree format is selected.
absMessageLength
Data type:

EnumAbsMsgLength

Changeable online:

No

System default:

LENGTH_25

Specifies the message frame length for detecting the actual value of the absolute encoder.
With LENGTH_13, a protocol length of 13 bits is selected.
With LENGTH_21, a protocol length of 21 bits is selected.
With LENGTH_25, a protocol length of 25 bits is selected.

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FollowingAxis

absResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

4096

Specifies the number of increments per encoder revolution specified on the encoder rating plate.
absResolutionMultiplierAbsolute
Data type:

UDINT

Changeable online:

No

System default:

Specifies the multiplication factor of the actual value of the absolute encoder.
Evaluation of the absolute encoder during request by the absolute encoder (GxIST2).
absResolutionMultiplierCyclic
Data type:

UDINT

Changeable online:

No

System default:

Specifies the multiplication factor of the cyclic actual value of the encoder.
Evaluation of the incremental signal of the absolute encoder during operation (GxIST1).
absState
Data type:

EnumAbsState

Changeable online:

No

System default:

GRAY_CODE

Specifies a protocol format for the actual value of the absolute encoder.
With BIN_CODE, a binary code is selected.
With GRAY_CODE, GRAY code is selected.

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FollowingAxis

enableAbsMonitoring
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

YES

Specifies the monitoring mode of the permissible changes of the actual value for the absolute encoder.
With YES (system default), monitoring of the permissible changes of the actual value for the absolute
encoder is activated.
Actual value changes of the absolute encoder greater than or equal to the possible change in accordance with the maximum velocity (maxVelocity.maximum) are limited to the change in accordance
with the current velocity, i.e. the velocity of the previous cycle.
Incorrect actual values, e.g. due to transmission errors, are adjusted.
If the actual value changes are impermissibly high in 5 subsequent cycles, alarm 20005, reason 0, is
issued.
With NO, monitoring of the permissible changes of the actual value for the absolute encoder is not
activated, i.e., incorrect actual values due to transmission errors, for example, are also not changed
and processed as they are.
No technological alarm is issued.
Note
Switch the monitoring function off at your own risk.
After the deactivation of the monitoring, it can no longer be guaranteed that the magnitude of the calculated velocity lies within the limits defined by the user.
The position and the velocity and all derived quantities are also displayed and processed also taking
account of any measured values recognized as being incorrect (control, stop ramps, interpolations,
positioning).
EnumAbsBaudrate
Baudrate_5 (16#01)

3 Mbaud

Baudrate_4 (16#02)

1.5 Mbaud

Baudrate_3 (16#04)

750 Kbaud

Baudrate_2 (16#08)

375 Kbaud

Baudrate_1 (16#10)

187.5 Kbaud

EnumAbsMsgFormat
RIGHT_MARGIN (0)

Right-justified

PINETREE (1)

Pine tree format

EnumAbsMsgLength
LENGTH_13 (13)

13 bits

LENGTH_21 (21)

21 bits

LENGTH_25 (25)

25 bits

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FollowingAxis

EnumAbsState
BIN_CODE (16#00)

Binary

GRAY_CODE (16#01)

Gray Code

EnumYesNo

7-382

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

AbsHomingEncoder - FollowingAxis
The structure elements of 'AbsHomingEncoder' specify the synchronization data for an absolute encoder.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
absShift
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the offset of the absolute encoder.

setOffsetOfAbsoluteEncoder
Data type:

EnumAbsoluteRelative

Changeable online:

Yes, active after restart

System default:

RELATIVE

Specifies the effect of the absolute encoder offset set in the 'absshift' configuration data (V3.2 and higher).
With RELATIVE, the offset is set as an addition (default response).
Actual axis value = actual encoder value + (previous offset already in effect + absshift)
(new) offset = previous offset + absshift
'absshift' is added to the existing absolute encoder offset whenever the _homing() function is called.
With ABSOLUTE, the offset is set as an absolute value (V3.2 and higher).
'absshift' is set as the absolute encoder offset whenever the _homing() function is called.
Actual axis value = actual encoder value + absshift
EnumAbsoluteRelative
ABSOLUTE (1)

Absolute

RELATIVE (115)

Relative

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FollowingAxis

ActualAccelerationMonitoring - FollowingAxis
The structure elements of 'ActualAccelerationMonitoring' specify the monitoring of actual acceleration.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Activation of actual acceleration monitoring.

maximum
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 m/min

Maximum actual acceleration.

EnumYesNo

7-384

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

ActualVelocityMonitoring - FollowingAxis
The structure elements of 'ActualVelocityMonitoring' specify the monitoring mode for the maximum
actual velocity.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the monitoring mode for the maximum actual velocity.

With NO, monitoring of the actual velocity does not take place.
With YES, the actual velocity is monitored for the maximum permissible value.
When the maximum value is exceeded, the system variable 'sensordata.sensormonitoring.velocity' is
output as 'limitexceeded'.
The velocity is not limited to this value.
maximum
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm/s

Specifies the maximum permissible actual velocity.

EnumYesNo
NO (91)

No

YES (173)

Yes

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FollowingAxis

AdaptDrive - FollowingAxis
The structure elements of 'AdaptDrive' specify the gear ratio parameters for drive-mounted encoders.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
denFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the denominator of the gear ratio for a measuring gear.

numFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the numerator of the gear ratio for a measuring gear.

AdaptExtern - FollowingAxis
The structure elements of 'AdaptExtern' specify the gear ratio parameters for the EXTERN mounting
type.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
denFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the denominator of the gear ratio for a measuring gear.

numFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the numerator of the gear ratio for a measuring gear.

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FollowingAxis

AdaptLoad - FollowingAxis
The structure elements of 'AdaptLoad' specify the gear ratio parameters for load-side encoders.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
denFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the denominator of the gear ratio for a measuring gear.

numFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the numerator of the gear ratio for a measuring gear.

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FollowingAxis

AdditionalSensorDriverInfo - FollowingAxis
The elements of this structure are used to configure the I/O module of an encoder.
errorToleranceTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1 s

Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Data type:

EnumActualValueFormat

Changeable online:

Yes, active after restart

System default:

VALUE_LEFT_MARGIN

Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the communication module.

maxValue
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

32511

Specifies the maximum digitalized measured value for the additional encoder.
minValue
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

-32512

Specifies the minimal digitalized measured value for the additional encoder.
resolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

15

Specifies the number of relevant bits for the additional encoder.

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FollowingAxis

EnumActualValueFormat
VALUE_RIGHT_MARGIN (0)

Right-justified

VALUE_LEFT_MARGIN (1)

Left-justified

VALUE_LEFT_MARGIN_WITHOUT_SIGN (2)

Left-justified without sign

VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3)

Right-justified without sign

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FollowingAxis

AdditionalSensorMain - FollowingAxis
The structure element 'AdditionalSensor' is used to configure an additional encoder.
additionalSensorType
Data type:

EnumAxisAdditionalSensorType

Changeable online:

No

System default:

STANDARD

Specifies the interpretation of the encoder values.

With STANDARD, the digitalized measured value is interpreted as an absolute actual force/pressure
value of an individual encoder.
With PRESSURE_DIFFERENCE_MEASUREMENT, the differential pressure measurement between
two different encoders is set.
With SET_ACTUAL_VALUE, the value is specified with a system variable.
interfaceActivation
Data type:

EnumAxisInterfaceActivationConfig

Changeable online:

No

System default:

STARTUP_ACTIVATED

Specification to activate the digitized measured values.

With STARTUP_ACTIVATED the driver is activated on the technology object following system startup.
With STARTUP_DEACTIVATED the driver is deactivated on the technology object following system
startup.
EnumAxisAdditionalSensorType
STANDARD (0)

Pressure measurement

PRESSURE_DIFFERENCE_MEASUREMENT
(1)

Differential pressure measurement

SET_ACTUAL_VALUE (2)

Actual pressure value via system variable

EnumAxisInterfaceActivationConfig
STARTUP_DEACTIVATED (942)

Deactivated after startup

STARTUP_ACTIVATED (943)

Active after startup

Associated parameters (maximum):

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ConversionData
(ConversionData)

Interpretation of the encoder values

DriverInfo
(AdditionalSensorDriverInfo)

Analog input module

Filter
(Filter)

Filter for actual value smoothing

PressureDifferenceMeasurement
(StructPressureDifferenceMeasurement)

Parameters for differential pressure measurement

Range
(Range)

Definition range of the encoder values

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FollowingAxis

AdditionalSensorNumber - FollowingAxis
The structure element 'AdditionalSensorNumber' is used to configure the assignment of data set to
additional encoder.
number
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the encoder number.

AnalogConversionDataType - FollowingAxis
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder
values read.
_type
Data type:

EnumConversionDataType

Changeable online:

No

System default:

LINEAR_CONVERSIONDATA

Specifies the interpretation type for the digitalized measured value.

factor
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

Specifies the weighting factor for the analog measured value. The weighting factor specifies the relation between distance/velocity per bit.
offset
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the offset for the analog measured value.

EnumConversionDataType
LINEAR_CONVERSIONDATA (1)

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Linear relationship

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FollowingAxis

AnalogSensorType - FollowingAxis
The structure elements of 'AnalogSensor' specify actual value smoothing.
Associated parameters (maximum):
ConversionData
(AnalogConversionDataType)

Conversion factors between analog input value

and actual position value

DriverInfo
(StructSensorDriverInfo)

Driver data

ErrorStateMonitoring
(StructAxisAnalogSensorErrorStateMonitoring)

Error-state monitoring

LogAddress
(StructLogAddressIoBitType)

Logical address of analog sensor

PositionFilter
(PositionFilterType)

Actual position value filter

ReadyStateMonitoring
(StructAxisAnalogSensorReadyStateMonitoring)

Ready-state monitoring

UpdateCounter
(StructAxisActualValueUpdateCounter)

Evaluation of actual value update

AssemblyBase - FollowingAxis
The structure elements of 'AssemblyBase' specify the parameters for the encoder mounting type.
assemblyBase
Data type:

EnumAxisEncoderAssemblyType

Changeable online:

Yes, active after restart

System default:

ASSEMBLY_BASE_DRIVE

Specifies the assembly base of the encoder.

With ASSEMBLY_BASE_DRIVE, the encoder is a drive-side assembly type.
With ASSEMBLY_BASE_LOAD, the encoder is a load-side assembly type.
With ASSEMBLY_BASE_EXTERN, the encoder is an external assembly type.
With ASSEMBLY_BASE_LINEAR, the encoder is a linear assembly type.
EnumAxisEncoderAssemblyType

7-392

ASSEMBLY_BASE_DRIVE (0)

Drive side

ASSEMBLY_BASE_LOAD (1)

Load side

ASSEMBLY_BASE_EXTERN (2)

External

ASSEMBLY_BASE_LINEAR (3)

Linear

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FollowingAxis

ClampingMonitoring - FollowingAxis
The structure elements of 'ClampingMonitoring' specify the clamping monitoring.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
followingErrorDeviation
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

20.0 mm

Specifies the required following error to detect the end stop.

positionTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 mm

Specifies the permissible deviation of the actual value from the setpoint in the clamped state.
recognitionMode
Data type:

EnumRecognitionMode

Changeable online:

Yes, active after restart

System default:

DO_NOT_CLAMP

Specifies the type of endstop detection.

With 'DO_NOT_CLAMP', the endstop detection is deactivated.
With 'CLAMP_BY_FOLLOWING_ERROR_DEVIATION' the endstop detection takes place when the
following error specified in 'followingErrorDeviation' is reached.
With 'CLAMP_WHEN_TORQUE_LIMIT_REACHED' the endstop detection takes place when the
force moment/torque limit value is reached.
EnumRecognitionMode
DO_NOT_CLAMP (0)

No detection

CLAMP_BY_FOLLOWING_ERROR_DEVIATI
ON (1)

By following error

CLAMP_WHEN_TORQUE_LIMIT_REACHED
(2)

By force moment/torque

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FollowingAxis

ControllerDynamic - FollowingAxis
The structure elements of 'ControllerDynamic' specify the reference model monitoring.
Note
The function of the 'ControllerDynamic' (monitoring of actual speed) configuration data element on a
drive axis can only be used when a message frame type that also supplies an actual position value to
the controller is used.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the reference model monitoring.

With 'NO', the monitoring is not activated.
With 'YES', the monitoring is activated.
maxVeloTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

2.0 %

Specifies the maximum deviation between model and process with reference to maximum velocity.
EnumYesNo

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NO (91)

No

YES (173)

Yes

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FollowingAxis

ControllerStruct - FollowingAxis
The structure elements of 'ControllerStruct' set the controller structure.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
conType
Data type:

EnumAxisControllerType

Changeable online:

No

System default:

PV

Specifies the controller type.

NODEF has no significance.
With PD, a PD controller is used.
With PV, a P controller with precontrol is used.
With PID, a PID controller is used.
With PID_ACTUAL, a PID controller with actual value-dependent D-component is used.
EnumAxisControllerType
NODEF (0)

No significance

DIRECT (1)

Control only

PD (2)

PID controller

PV (3)

PV controller

PID (4)

PID controller

PID_ACTUAL (5)

PID controller with actual value-dependent Dcomponent

Associated parameters (maximum):

PD_Controller
(PD_Controller)

PID controller

PID_Controller
(PID_ControllerPos)

PID controller

PV_Controller
(PV_Controller)

P-controller with precontrol

ControllerSwitchData - FollowingAxis
The structure elements for 'ControllerSwitchData' are used to configure digital inputs for force or pressure control.
Associated parameters (maximum):
NumberOfDigitalInputs
(NumberOfDigitalInputs)

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Digital inputs

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FollowingAxis

ConversionData - FollowingAxis
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder
values read.
Note
Further information is provided:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Supplementary Technology Objects Function Manual
Online help
_type
Data type:

EnumConversionDataType

Changeable online:

No

System default:

LINEAR_CONVERSIONDATA

Specifies the interpretation type for the digitalized measured value.

factor
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 Pa

Specifies the evaluation type for the digitalized measured value.

invert
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether or not the sign of the measured value should be inverted.
With NO, the sign is not inverted.
With YES, the sign is inverted.
offset
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 Pa

Specifies the offset for the digitalized measured value.

EnumConversionDataType
LINEAR_CONVERSIONDATA (1)

Linear relationship

EnumYesNo

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NO (91)

No

YES (173)

Yes

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FollowingAxis

DataSetMain - FollowingAxis
The structure elements belonging to "DataSet_(n)" are used to set the data set (n).
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
Associated parameters (maximum):
AdditionalSensorNumber
(AdditionalSensorNumber)

Assignment of a force/pressure sensor to this

data record

ClampingMonitoring
(ClampingMonitoring)

Clamping monitoring

ControllerDynamic
(ControllerDynamic)

Reference model monitoring

ControllerStruct
(ControllerStruct)

Controller parameters

DynamicComp
(DynamicComp)

Dynamic compensation

DynamicData
(DynamicData)

Dynamic data of the cascaded control loop system

DynamicFollowing
(DynamicFollowing)

Dynamic following error monitoring

DynamicQFData
(StructPaxDynamicQFData)

Dynamic data of the hydraulic process

EncoderNumber
(EncoderNumber)

Assignment of an encoder to this data record

ForceControllerData
(ForceControllerData)

Force/pressure controller

ForceControllerDifference
(ForceControllerDifference)

System deviation monitoring of the force/pressure control loop

Gear
(Gear)

Ratio of the load gearbox

InvertQ
(StructAxisInvertQOutput)

Inversion of the Q-output in front of the characteristic curve

InvertSetPoint
(InvertSetPointHydraulicType)

Inversion of the Q-output behind the characteristic curve

ProcessModel
(ProcessModel)

Process model

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FollowingAxis

DecodingConfig - FollowingAxis
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
Note
Additional information is available at:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
SIMOTION MCC Motion Control Chart Programming and Operating Manual
Function Manual: Basic Functions
or in the online help
behaviourAtTheEndOfProfile
Data type:

EnumEndBehaviourOfProfile

Changeable online:

Yes, active immediately

System default:

STOP_WHEN_PROFILE_END_REACHED

Specifies the behavior at the end of the profile.

With MOVE_WITH_CONSTANT_SPEED, the axis moves at a constant velocity.
In terms of interpolation status, the final condition acts in the same way as the system function _move.
If the physical variable is not equal to 0, setpoint generation will not be completed.
With STOP_IN_PROFILE_END, the profile end is the target of the positioning movement, that is, at
the target, 'velocity:=0'.
With STOP_WHEN_PROFILE_END_REACHED, the axis is stopped only after the profile end has
been reached.
cyclicSetUpInForceLimiting
Data type:

EnumAxisCyclicSetUpInForceLimiting

Changeable online:

Yes, active immediately

System default:

NONE

Specifies how cyclic resetting to the setpoints should occur with active force/pressure limiting.
With 'NONE' cyclic resetting does not occur.
With 'POSITION_BASED' cyclic resetting is to the setpoint position after allowing for the pressure limiting component.
With 'POSITION_AND_DYNAMIC_BASED' cyclic resetting is to the setpoint position and setpoint
velocity after allowing for the pressure limiting component.
decodeSequentialMotionCommand
Data type:

EnumDecodeSequentialMotionCommand

Changeable online:

Yes, active immediately

System default:

IMMEDIATELY

Specifies the cycle in which the next 'SEQUENTIAL' or 'NEXT_MOTION' command is transferred to
the interpolator.

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FollowingAxis

directionDynamic
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the acceleration model used.

With NO, the non-direction-related acceleration model is used.
With YES, the direction-related acceleration model is used.
disableMotionOperation
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

YES

Specifies the behavior for motion commands stopped with 'stopMode := STOP_WITHOUT_ABORT'
after the enables have been removed.
With 'YES' the motion commands are canceled and cannot be resumed.
With 'NO' the motion commands are not canceled and can be resumed after the enables are reset.
numberOfImmediateCommands
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of commands, programmed with the IMMEDIATELY command parameter,
which can be active simultaneously on one axis.
numberOfMaxBufferedCommandId
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

100

Specifies the maximum number of command IDs active simultaneously whose status can be requested at the end of the relevant command.
A command ID is added to the list with the ST command '_bufferAxisCommandId'.
Removal from the list takes place with the ST command '_removeBufferedAxisCommandId'.
numberOfQueueCommands
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

Specifies the maximum number of commands which can be active simultaneously on one axis.

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FollowingAxis

profileDynamicsLimiting
Data type:

EnumProfileDynamicsLimiting

Changeable online:

Yes, active immediately

System default:

COMMAND_DYNAMICS

Specifies the active limits for dynamic parameters.

With 'COMMAND_DYNAMICS' the system ramps up to the profile or the values specified in the MotionIn vector using the minimum of the dynamic parameters specified in the command or the configured
maximum values in 'MaxJerk', 'MaxAcceleration', and 'MaxVelocity' and is then limited during the
course of the profile to the minimum of the programmed values and the configured maximum values.
With 'MAX_CONFIGURED_DYNAMICS' the system ramps up to the profile or the values specified in
the MotionIn vector using the minimum of the dynamic parameters specified in the command and the
configured maximum values in 'MaxJerk', 'MaxAcceleration', and 'MaxVelocity' and is then limited
during the course of the profile to the configured maximum values.
speedModeSetPointZero
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies how the axis is traversed to zero velocity when the enables are set.
With 'No', the axis is traversed to zero via a braking ramp with the maximum axis dynamic response.
With 'Yes', the velocity setpoint (and acceleration) is set directly to 0 without ramp.
stopWithJerk
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Details of the behavior for a local stop response. This configuration applies only to interpolatory stops.
With 'YES' the local stop response is executed with the value from 'Max.Jerk.maximum'.
With 'NO', the local stop response is executed without jerk limiting.
transferSuperimposedPosition
Data type:

EnumTransferSuperimposedPosition

Changeable online:

Yes, active after restart

System default:

TRANSFER_STANDSTILL

Specifies when the coordinate system of the superimposed motion is reset (to 0).
With 'TRANSFER_STANDSTILL' the position of the superimposed coordinate system is reset to 0
after termination of the setpoint generation of the axis or when programming a motion command with
mergeMode:=IMMEDIATELY or when the axis is reset.
With 'TRANSFER_MERGE' the position of the superimposed coordinate system is reset to 0 when
programming a motion command with mergeMode:=IMMEDIATELY or when the axis is reset.
With ''AXIS_RESET' the position of the superimposed coordinate system is reset to 0 when the axis
is reset.

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FollowingAxis

EnumEndBehaviourOfProfile
MOVE_WITH_CONSTANT_SPEED (0)

Motion at constant speed

STOP_IN_PROFILE_END (1)

Deceleration to the endpoint / velocity 0

STOP_WHEN_PROFILE_END_REACHED (2)

Deceleration after profile completed

EnumAxisCyclicSetUpInForceLimiting
NONE (0)

No cyclic resetting

POSITION_BASED (1)

Cyclic resetting to the setpoint position

POSITION_AND_DYNAMIC_BASED (2)

Cyclic resetting to the setpoint position and setpoint velocity

EnumDecodeSequentialMotionCommand
IMMEDIATELY (0)

Switch to next command immediately

NEXT_IPO_CYCLE (1)

Switch to next command in next cycle

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumProfileDynamicsLimiting
COMMAND_DYNAMICS (0)

Limiting of dynamic parameters using the minimum value of the configured and programmed
values

MAX_CONFIGURED_DYNAMICS (1)

Limiting of dynamic parameters using configured values

EnumTransferSuperimposedPosition
TRANSFER_STANDSTILL (0)

Switch to next command at standstill, reset, or

according to merge mode

TRANSFER_MERGE (1)

Switch to next command at reset, or according to

merge mode

TRANSFER_RESET (2)

Switch to next command at reset

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FollowingAxis

DigitalInputMain - FollowingAxis
The structure elements belonging to 'DigitalInput_(n)' are used to configure a digital input or to assign
it to the axis.
bitNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the I/O bit number within the I/O byte specified by the logical address.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address of the communication module.

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FollowingAxis

DistributedMotionInfo - FollowingAxis
The structure elements for 'DistributedMotion' set the sign-of-life failure tolerance.
enableDelayOfCommandValueOutput
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the master-side output delay.

With 'NO', the master-side output delay is deactivated.
With 'YES', the master-side output delay is activated.
enableLifeSignMonitoring
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies life sign monitoring.

With 'NO', the sign of life monitoring is deactivated.
With 'YES', the sign of life monitoring is activated.
enableOffsetCompensation
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies offset compensation.

With 'NO', the compensation of the cycle offset is deactivated.
With 'YES', the compensation of the cycle offset is activated.
numberOfLifeSignFailures
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the maximum number of life sign failures tolerated.

EnumYesNo
NO (91)

No

YES (173)

Yes

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FollowingAxis

Drift - FollowingAxis
The structure elements of 'Drift' specify drift compensation.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the activation status of drift compensation.

With 'NO', the drift compensation is not activated.
With 'YES', the drift compensation is activated.
EnumYesNo

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NO (91)

No

YES (173)

Yes

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FollowingAxis

DriveData - FollowingAxis
The structure elements for 'DriveData' specify the key drive values.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
maxSpeed
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

3000.0 1/min

Specifies the maximum speed.

maxTorque
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

3.2 Nm

Specifies the maximum torque of the drive.

nominalSpeed
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

3000.0 1/min

Specifies the reference speed.

nominalTorque
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

3.2 Nm

Specifies the nominal torque of the drive.

speedReference
Data type:

EnumAxisReferenceMaxNominal

Changeable online:

Yes, active after restart

System default:

MAX_VALUE

Selection setting for scaling: reference speed or maximum speed.

torqueReductionGranularity
Data type:

EnumAxisTorqueForceReductionGranularity

Changeable online:

Yes, active after restart

System default:

BASIC

Specifies the fine resolution of the torque reduction.

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FollowingAxis

torqueReference
Data type:

EnumAxisReferenceMaxNominal

Changeable online:

Yes, active after restart

System default:

MAX_VALUE

Selection setting for scaling: Nominal torque or maximum torque.

EnumAxisReferenceMaxNominal
MAX_VALUE (0)

Maximum value

NOMINAL_VALUE (1)

Nominal value

EnumAxisTorqueForceReductionGranularity

7-406

STANDARD (0)

Resolution 1/100

BASIC (16)

Resolution 1/16384

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FollowingAxis

DriverInfo - FollowingAxis
The structure elements of 'DriverInfo' specify the parameters for the encoder hardware.
Note
Additional information is available at:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Technology Objects Synchronous Operation, Cam Function Manual
or in the online help
encoderNumberOnDevice
Data type:

DINT

Changeable online:

No

System default:

Specifies the number of the encoder actual value for message frames with several actual values, e.g.
DP_TEL106_611U_DSC_2_ENCODER.
lifeSignCheck
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies the monitoring mode for the PROFIBUS DP sign of life between nodes.
With 'NO', the sign of life monitoring is switched off.
With 'YES', the sign of life monitoring is activated.
logAddressIn
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the input data area.

logAddressOut
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the output data area.

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FollowingAxis

telegramType
Data type:

EnumAxisTelegramType

Changeable online:

No

System default:

DP_TEL102_611U_POSCTRL_1_ENCODER

Specifies a PROFIdrive message frame type.

With NO_TELEGRAM, a message frame is not specified.
With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set
up.
With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set
up.
With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one
encoder) is set up.
With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with
two encoders) is set up.
With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives
with one encoder and DSC) is set up.
With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled
drives with two encoders and DSC) is set up.
With DP_TEL81_STANDARD, the standard message frame 81, PZD-2/6 for an encoder is set up.
With DP_TEL82_STANDARD, the standard message frame 82, PZD-2/7 for an encoder is set up.
With DP_TEL83_STANDARD, the standard message frame 83, PZD-2/8 for an encoder is set up.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7
for velocity-controlled drives without encoders is set up.
With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for
velocity-controlled drives with one encoder is set up.
With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for
velocity-controlled drives with two encoders is set up.
With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for
velocity-controlled drives with one encoder and DSC is set up.
With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for
velocity-controlled drives with two encoders and DSC is set up.
EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisTelegramType

7-408

NO_TELEGRAM (0)

No message frame

DP_TEL1_STANDARD (1)

Standard message frame 1, PZD-2/2

DP_TEL2_STANDARD (2)

Standard message frame 2, PZD-4/4

DP_TEL3_STANDARD (3)

Standard message frame 3, PZD-5/9

DP_TEL4_STANDARD (4)

Standard message frame 4, PZD-6/14

DP_TEL5_STANDARD (5)

Standard message frame 5, PZD-9/9

DP_TEL6_STANDARD (6)

Standard message frame 6, PZD-10/14

DP_TEL81_STANDARD (81)

Standard message frame 81, PZD-2/6

DP_TEL83_STANDARD (83)

Standard message frame 83, PZD-2/8

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

DP_TEL101_611U_VELCTRL_NO_ENCODER
(101)

SIEMENS message frame 101, PZD-6/7

DP_TEL102_611U_POSCTRL_1_ENCODER
(102)

SIEMENS message frame 102, PZD-6/10

DP_TEL103_611U_POSCTRL_2_ENCODER
(103)

SIEMENS message frame 103, PZD-7/15

DP_TEL105_611U_DSC_1_ENCODER (105)

SIEMENS message frame 105, PZD-10/10

DP_TEL106_611U_DSC_2_ENCODER (106)

SIEMENS message frame 106/107, PZD-11/15

SIMOTION Technology Packages Configuration Data

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7-409

FollowingAxis

DynamicComp - FollowingAxis
The structure elements of 'DynamicComp' specify dynamic compensation.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
T1
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the first time constant.

T2
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the second time constant.

deadTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the dead time.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of compensation.

With 'NO', the compensation is not activated.
With 'YES', the compensation is activated.
EnumYesNo

7-410

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

DynamicData - FollowingAxis
The structure elements of 'DynamicData' specify the dynamic data of the cascade control system.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
positionTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1 s

Specifies the equivalent time constant of the position control system.

torqueTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.00005 s

Not used.
velocityTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0005 s

Specifies the equivalent time constant of the velocity control system.

Note
This value can only be checked after download.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

7-411

FollowingAxis

DynamicFollowing - FollowingAxis
The structure elements of 'DynamicFollowing' set the dynamic following error monitoring system.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies the activation status of dynamic following error monitoring.

With 'NO', the monitoring is not activated.
With 'YES', the monitoring is activated.
maxPositionTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

100.0 mm

Specifies the maximum permissible following error at maximum axis velocity.

minPositionTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 mm

Specifies the maximum permissible following error for axis velocities between zero and the velocity
from which the maximum permissible following error begins to rise in proportion to velocity.
minVelocity
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 mm/s

Specifies the axis velocity from which the maximum permissible following error begins to rise in proportion to velocity.

7-412

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

warningLimit
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

100.0 %

Specifies the percentage value, relative to the maximum permissible following error calculated, which
triggers a warning if exceeded.
EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

7-413

FollowingAxis

EmergencyRampGenerator - FollowingAxis
The structure element of 'EmergencyRampGenerator' sets the parameter of the emergency stop ramp
generator.
maxDeceleration
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10000.0 m/s

Specifies the deceleration of the braking ramp.

7-414

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

EncoderMain - FollowingAxis
The structure elements of 'Encoder' specify the parameters of the encoder.
dataAdaption
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Selects the behavior

For YES, the selected encoder configuration parameters will be modified by the drive.
For NO, the encoder configuration parameters are configured by the user.
encoderIdentification
Data type:

EnumAxisEncoderIdentification

Changeable online:

No

System default:

SIMULATION

Specifies the encoder identification (encoder interface).

With SIMULATION, the circuit between the motor and encoder is closed by means of software. Encoder measured values are calculated from the simulated actual speed or velocity of the axis. It is not
necessary to use a real encoder when simulating encoder operation.
With ONBOARD, the encoder is connected to an ONBOARD encoder interface of the controller (e.g.
C230, C240, etc.).
With DPMASTER, the encoder is connected to an external module. Encoder data is provided via the
DP interface.
With DIRECT, the encoder is connected to the inputs of a digital or analog input module.
With SET_ACTUAL_VALUE, the encoder measured value is provided via the 'sensorsetting.actualvalue' system variable. The measured value is updated cyclically in a user program.
encoderMode
Data type:

EnumAxisEncoderMode

Changeable online:

No

System default:

RECTANGLE_TTL

Specifies the encoder mode (encoder signal type).

RECTANGLE_TTL should be selected if the incremental position is to be measured by evaluating a
rectangular encoder signal.
SINUS_1VPP should be selected if the incremental position is to be measured by evaluating a sinusoidal encoder signal.
RESOLVER should be selected if the incremental position is to be measured by evaluating a resolver's encoder signal.
STEPMOT should be selected, if the incremental position is to be determined by taking a set incremental position for a stepper motor without an encoder.
INTERVAL_COUNTER should be selected if the velocity/speed is to be measured by using an additional module to count intervals between two pulses.
PROFIDRIVE_NIST_A should be selected if the velocity/speed is to be determined by reading actual
speed value data (16 bits wide) from the PROFIDrive message frame.
PROFIDRIVE_NIST_B should be selected if the velocity/speed is to be determined by reading actual
speed value data (32 bits wide) from the PROFIDrive message frame.
SSI_MODE should be selected if the incremental position is to be transferred to the controller in accordance with the specifications of the SSI protocol (absolute encoder).
ENDAT should be selected if the incremental position is to be transferred to the controller in accordance with the specifications of the EnDat protocol (incremental/absolute encoder).

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

7-415

FollowingAxis

encoderSystem
Data type:

EnumAxisEncoderSystem

Changeable online:

No

System default:

ROTATORY_SYSTEM

Specifies the encoder system.

With ROTARY, a rotary encoder system is used.
With LINEAR, a linear encoder system is used.
encoderType
Data type:

EnumAxisEncoderType

Changeable online:

No

System default:

SENSOR_INCREMENTAL

Specifies the encoder type.

With SENSOR_INCREMENTAL, the encoder is treated as an incremental encoder.
With SENSOR_ABSOLUTE, the encoder is treated as an absolute encoder.
With SENSOR_CYCLIC_ABSOLUTE, the encoder is treated as an absolute encoder. The number of
encoder overflows is also stored in the controller after disabling.
With SENSOR_POSITION_DIFFERENCE_MEASUREMENT, an encoder is configured to allow differential measurement of position and velocity of two definable encoders.
encoderValueType
Data type:

EnumAxisEncoderValueType

Changeable online:

No

System default:

POSITION

Specifies the actual value type from which the encoder value is calculated.
With POSITION, the actual value is calculated for both the position and the velocity/speed.
With VELOCITY, the actual value for the velocity/speed is calculated.
With POSITION_AND_PROFIDRIVE_NIST_B, the actual value is calculated for the position and the
actual value of the velocity/speed is read from the PROFIDrive message frame.
With POSITION_AND_DIRECT_NIST_B, the actual value is calculated for the position, and the actual
value for the velocity/speed is read from an area to be addressed in the process image of the inputs
and outputs.
interfaceAllocation
Data type:

EnumAxisSensorInterfaceAllocationConfig

Changeable online:

No

System default:

EXCLUSIVE

Selects the interface behavior.

With EXCLUSIVE, the driver can only be used on this technology object.
With NON_EXCLUSIVE_AND_STARTUP_ACTIVATED, the driver can be used on this and any other
technology object. The driver is activated on the technology object after system startup.
With NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED, the driver can be used on this and any
other technology object. The driver is deactivated on the technology object after system startup.
EnumYesNo

7-416

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

EnumAxisEncoderIdentification
SIMULATION (0)

Simulation

ONBOARD (1)

Onboard

DPMASTER (2)

DPMaster

DIRECT (4)

Encoder supplies the value directly

SET_ACTUAL_VALUE (5)

Actual value via system variable

EnumAxisEncoderMode
RECTANGLE_TTL (1)

Rectangle

SSI_MODE (2)

SSI

STEPMOTOR (3)

Stepper motor

ENDAT (4)

Endat

SINUS_1VPP (5)

Sine

RESOLVER (6)

Resolver

SENSOR_ANALOG (7)

Analog encoder

INTERVAL_COUNTER (8)

Encoder mode for interval counter

PROFIDRIVE_NIST_A (9)

Velocity value 16-bit

PROFIDRIVE_NIST_B (10)

Velocity value 32-bit

PROFIDRIVE (11)

PROFIdrive profile

EnumAxisEncoderSystem
ROTATORY_SYSTEM (0)

Rotary encoder system

LINEAR_SYSTEM (1)

Linear encoder system (linear scale)

EnumAxisEncoderType
SENSOR_INCREMENTAL (1)

Incremental encoder

SENSOR_ABSOLUTE (2)

Absolute encoder

SENSOR_CYCLIC_ABSOLUTE (3)

Absolute encoder cyclic absolute

SENSOR_POSITION_DIFFERENCE_MEASU
REMENT (4)

Differential position

EnumAxisEncoderValueType
POSITION (0)

Calculate actual position value

VELOCITY (1)

Calculate actual velocity value

POSITION_AND_PROFIDRIVE_NIST_B (2)

Calculate actual position values and velocity

from DP protocol

POSITION_AND_DIRECT_NIST_B (3)

Calculate actual position values and actual velocity value from I/O

POSITION_AND_PROFIDRIVE_ENCODER_N
IST_B (4)

Calculate actual position values and velocity

from DP protocol (standard message frame 83)

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

7-417

FollowingAxis

EnumAxisSensorInterfaceAllocationConfig
EXCLUSIVE (939)

Exclusive

NON_EXCLUSIVE_AND_STARTUP_DEACTI
VATED (940)

Non-exclusive and deactivated

NON_EXCLUSIVE_AND_STARTUP_ACTIVAT
ED (941)

Non-exclusive and active

Associated parameters (maximum):

7-418

AbsBackLash
(AbsBackLash)

Backlash compensation for absolute measuring

system

AbsEncoder
(AbsEncoder)

Absolute encoder

AbsHomingEncoder
(AbsHomingEncoder)

Homing for absolute measuring system

AdaptDrive
(AdaptDrive)

Gear ratio of the measuring system for a driveside assembly type

AdaptExtern
(AdaptExtern)

Gear ratio of the measuring system for an external assembly type

AdaptLoad
(AdaptLoad)

Gear ratio of the measuring system for a loadside assembly type

AnalogSensor
(AnalogSensorType)

Analog measuring system

AssemblyBase
(AssemblyBase)

Assembly type of the measuring system

DriverInfo
(DriverInfo)

Actual value interface

DriverInfoDirectIncremental
(StructDriverInfoDirectIncremental)

Actual value interface of the direct incremental

encoder

Filter
(Filter)

Actual value filter

FrequencyLimit
(FrequencyLimit)

Limit frequency of the measuring system

IncBackLash
(IncBackLash)

Backlash compensation for incremental measuring system

IncEncoder
(IncEncoder)

Incremental encoder

IncHomingEncoder
(IncHomingEncoder)

Homing for incremental measuring system

IntervalCounterConversionData
(IntervalCounterConversionDataType)

Interval counter

InversCountDirection
(InversCountDirection)

Inverse count direction

NistDriverConfig
(StructAxisNistDriverConfig)

Actual speed value

PathPerRevolution
(PathPerRevolution)

Path per revolution

PositionDifferenceMeasurement
(StructPositionDifferenceMeasurement)

PositionDifferenceMeasurement

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

PositionFilter
(PT2PositionFilterType)

Position filter

Resolution
(Resolution)

Resolution

SensorControlConfig
(SensorControlConfig)

Encoder error tolerance

SensorNist
(SensorNist)

Actual speed value extrapolation

SensorSetActualValue
(SensorSetActualValue)

Actual value via system variable

Slippage
(Slippage)

Slippage

StepMotorMonitoring
(StepMotorMonitoringType)

Stepper motor

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

7-419

FollowingAxis

EncoderNumber - FollowingAxis
The assignment between data record number and measuring system number of the position or velocity sensor is specified with the structure elements for 'EncoderNumber'.
EncoderNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies which encoder is assigned to this data set.

ExecutionConfigInfo - FollowingAxis
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
Note
Further information is provided:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Technology Objects Synchronous Operation, Cam Function Manual
Online help
executionlevel
Data type:

EnumToExecutionLevel

Changeable online:

Yes, active after restart

System default:

IPO

Specifies the task level at which the interpolator task of the technology object is running.
With IPO, the task is executed in the fast interpolator cycle clock.
With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel

7-420

IPO (0)

IPO

IPO_2 (1)

IPO_2

SERVO (2)

Servo

IPO_FAST (3)

IPO_fast

SERVO_FAST (4)

Servo_fast

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

ExtrapolationPositionFilterType - FollowingAxis
The structure elements belonging to 'ExtrapolationPositionFilter' are used to set the filter for the actual
position on the master value axis.
T1
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant T1 of the filter for the actual position.

T2
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant T2 of the filter for the actual position.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the PT2 filter for the actual position.
EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

7-421

FollowingAxis

Filter - FollowingAxis
The structure elements of 'Filter' specify actual value smoothing.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With 'NO', the filter functionality is deactivated.
With 'YES', the filter functionality is activated.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo

7-422

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

FineInterpolator - FollowingAxis
The structure element of 'FineInterpolator' specifies the parameter of the fine interpolator.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
_type
Data type:

EnumAxisFineInterpolatorMode

Changeable online:

Yes, active after restart

System default:

LINEAR_MODE

Specifies the type of fine interpolator used.

With DIRECT_MODE, fine interpolation does not take place.
With LINEAR_MODE, a linear fine interpolation takes place.
With CUBIC_MODE, acceleration-continuous setpoints are generated.
With QUADRATIC_MODE, velocity-continuous setpoints are generated.
EnumAxisFineInterpolatorMode
DIRECT_MODE (0)

No interpolation

LINEAR_MODE (1)

Linear interpolation

CUBIC_MODE (2)

Acceleration-continuous interpolation

QUADRATIC_MODE (3)

Velocity-continuous interpolation

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

7-423

FollowingAxis

ForceControlHeldValueMonitoring - FollowingAxis
The force/pressure final value monitoring is set with the structure elements for 'ForceControlHeldValueMonitoring'.
delayTimeToActivate
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the delay between the time when the actual value exceeds the tolerance window and activation of the message.
tolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

20.0 Pa

Specifies the permissible force/pressure value tolerance with a constant setpoint.

ForceControlRunningInWindowMonitoring - FollowingAxis
The parameters of the force entry window monitoring are specified with the structure elements for
'ForceControlRunningIn WindowMonitoring'.
maxDelayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the delay time from the arrival of the force/pressure actual value in the tolerance window
until the activation of the force/pressure value monitoring.
tolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 Pa

Permissible deviation between setpoint and actual value.

winTolTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Specifies the delay time from the activation of the monitoring until the actual value reaches the tolerance window.

7-424

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

ForceControllerData - FollowingAxis
The structure elements of 'ForceControllerData' parameterize the force controller.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
_type
Data type:

EnumForceControllerType

Changeable online:

Yes, active after restart

System default:

PID

Controller type for the force controller

invertControlValue
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

With YES, the manipulated variable of the force controller is inverted.

With NO, the manipulated variable of the force controller is not inverted.
typeOfSensorData
Data type:

EnumSensorDataType

Changeable online:

Yes, active after restart

System default:

UNI_DIRECTION

UNI_DIRECTION means that negative actual values cannot be measured.

BOTH_DIRECTION means negative actual values will be measured.
EnumForceControllerType
PID (1)

PID controller

PID_ACTUAL (2)

PID controller with actual value-dependent Dcomponent

EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

7-425

FollowingAxis

EnumSensorDataType
UNI_DIRECTION (1)

Unidirectional

BOTH_DIRECTION (2)

Bidirectional

Associated parameters (maximum):

7-426

FilterForceControl
(StructAxisFilterForceControlConfig)

Manipulated variable limitation

OutputLimits
(OutputLimits)

Manipulated variable limitation

PID_Controller
(PID_ControllerForce)

Parameters for the PID controller

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

ForceControllerDifference - FollowingAxis
The controller differential monitoring is set with the structure elements for 'ForceControllerDifference'.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

With 'YES', the control deviation monitoring of the force controller is activated.
With 'NO', the control deviation monitoring of the force controller remains deactivated (system default).
maxForceTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 Pa

Specifies the maximum permissible control deviation.

EnumYesNo
NO (91)

No

YES (173)

Yes

FrequencyLimit - FollowingAxis
The structure elements of 'FrequencyLimit' specify the frequency limit of the encoder.
encoderFrequencyLimit
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

400000.0 Hz

Specifies the frequency limit of the encoder.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

7-427

FollowingAxis

Friction - FollowingAxis
The structure elements of 'Friction' specify the friction torque compensation.
amplitude
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

5.0 mm/s

Specifies the maximum value of the friction torque compensation characteristic.

decayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.05 s

Specifies the delay time constant.

delayTimeStandStill
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Specifies the delay time for activation of the standstill signal.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of friction torque compensation.

With NO, the friction torque compensation is not activated.
With YES, the friction torque compensation is activated.
maxVeloStandStill
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.2 mm/s

Specifies the maximum velocity at which the standstill signal is active.

EnumYesNo

7-428

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

Gear - FollowingAxis
The structure elements of 'Gear' specify the gear ratio of the load gearbox. The gear ratio is only active
for the 'ASSEMBLY_DRIVE' mounting type.
denFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of load revolutions.

numFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of motor revolutions.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

7-429

FollowingAxis

GearingPosTolerance - FollowingAxis
The structure elements of 'GearingPosTolerance' specify the synchronization monitoring setting on
the slave axis.
Note
"Further information can be found in the TO Synchronous Operation, Cam Function Manual and in the
online help."
actualValueTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the permissible actual value deviation. An alarm is output if the value is exceeded.
commandValueTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 mm

Specifies the permissible setpoint deviation. An alarm is output if the value is exceeded.
enableActualValue
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the activation status of the actual value tolerance monitoring system.
With NO, the tolerance monitoring of the actual values is not activated.
With YES, the tolerance monitoring of the actual values is activated.
enableCommandValue
Data type:

EnumGearingPosToleranceCommandValue

Changeable online:

Yes, active immediately

System default:

WITHOUT_JERK

Specifies the activation status of the setpoint tolerance monitoring system.

With NO_ACTIVATE, the tolerance monitoring of the setpoints is not activated.
With WITHOUT_JERK, the tolerance monitoring of the setpoints is activated without inclusion of the
jerk. Alarm 40201 is output if the setpoint tolerance is exceeded.
With WITH_JERK, the tolerance monitoring of the setpoints is activated with inclusion of the jerk.
Alarm 40201 is output if the setpoint tolerance is exceeded. The jerk on the axis is also monitored.

7-430

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

enableErrorReporting
Data type:

EnumErrorReporting

Changeable online:

Yes, active after restart

System default:

NO_REPORTING

Specifies which tolerance violation signals are transmitted to the master.

With NO_REPORTING, no 'tolerance exceeded' messages are sent.
With COMMAND_VALUE_TOLERANCE, a report is sent when the specified setpoint tolerance is
exceeded.
With ACTUAL_VALUE_TOLERANCE, a report is sent when the specified actual value tolerance is
exceeded.
With ALL_ERRORS_WITH_ABORT_SYNCHRONIZATION, all errors that cause cancelation of the
synchronous operation coupling are reported.
EnumYesNo
NO (91)

No

YES (173)

Yes

EnumGearingPosToleranceCommandValue
NO_ACTIVATE (0)

No

WITHOUT_JERK (1)

Without jerk

WITH_JERK (2)

With jerk

EnumErrorReporting
NO_REPORTING (0)

No

COMMAND_VALUE_TOLERANCE (1)

Setpoints

ACTUAL_VALUE_TOLERANCE (2)

Actual values

ALL_ERRORS_WITH_ABORT_SYNCHRONIZ
ATION (3)

All errors

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FollowingAxis

HWEndPos - FollowingAxis
The structure elements of 'HWEndPos' are used to specify the monitoring mode of the hardware limit
switches.
bitNumberNegative
Data type:

UDINT

Changeable online:

No

System default:

Specifies the I/O bit number within the I/O byte specified by the logical address.
bitNumberPositive
Data type:

UDINT

Changeable online:

No

System default:

Specifies the I/O bit number within the I/O byte specified by the logical address.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the hardware limit switches.

For 'NO', the hardware limit switches are deactivated.
For 'YES', the hardware limit switches are activated.
interfaceActivation
Data type:

EnumAxisInterfaceActivationConfig

Changeable online:

No

System default:

STARTUP_ACTIVATED

Selects the interface behavior.

With STARTUP_DEACTIVATED the driver is deactivated on the technology object following system
startup.
With STARTUP_ACTIVATED the driver is activated on the technology object following system startup.
logAddressNegative
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address of the negative hardware limit switch.

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FollowingAxis

logAddressPositive
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address of the positive hardware limit switch.

mode
Data type:

EnumMountSwitch

Changeable online:

Yes, active after restart

System default:

END_MOUNTED_SWITCH

Specifies the position of the hardware limit switch relative to the axis traversing range.
With 'END_MOUNTED_SWITCH', the hardware limit switches outside of the permissible traversing
range are always active.
With 'FLEXIBLE_MOUNTED_SWITCH', the hardware limit switches can be crossed in the direction
of the impermissible traversing range.
EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisInterfaceActivationConfig
STARTUP_DEACTIVATED (942)

Deactivated after startup

STARTUP_ACTIVATED (943)

Active after startup

EnumMountSwitch
END_MOUNTED_SWITCH (0)

Limit switch outside of the permissible traversing

range always active

FLEXIBLE_MOUNTED_SWITCH (1)

Limit switch can be crossed

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FollowingAxis

Homing - FollowingAxis
The structure elements of 'Homing' specify the parameters for homing the axis.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
beroDistance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the maximum distance from the current position to the homing cam or to the external zero
mark.
direction
Data type:

EnumDirectionType

Changeable online:

Yes, active immediately

System default:

POSITIVE

Specifies the direction of approach for active homing.

With POSITIVE, the approach direction for homing is selected in the positive direction.
With NEGATIVE, the approach direction for homing is selected in the negative direction.
enableBeroDistance
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the monitoring mode of the traversing path from the current position until the reference cam
or the external zero mark.
With NO, the monitoring is switched off.
With 'YES', the monitoring is activated.
referencingNecessary
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies whether homing is necessary before commands with absolute position data. Commands
with absolute position data can always be traversed without homing.
With NO, homing is not necessary for commands with absolute position specifications.
With YES, homing is necessary for commands with absolute position specifications.

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FollowingAxis

EnumDirectionType
POSITIVE (0)

Start in positive direction

NEGATIVE (1)

Start in negative direction

POSITIVE_ALL_HOMING (2)

Positive direction only

NEGATIVE_ALL_HOMING (3)

Negative direction only

EnumYesNo
NO (91)

No

YES (173)

Yes

Associated parameters (maximum):

ReverseCamNegative
(ReverseCamNegative)

Negative reversing cam

ReverseCamPositive
(ReverseCamPositive)

Positive reversing cam

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FollowingAxis

IncBackLash - FollowingAxis
The structure elements of 'IncBackLash' specify the backlash compensation for the incremental encoder.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
_type
Data type:

EnumBackLashType

Changeable online:

Yes, active immediately

System default:

POSITIVE

Specifies the direction in which backlash compensation is calculated.

With 'POSITIVE', the backlash compensation is applied in the positive direction.
With 'NEGATIVE', the backlash compensation is applied in the negative direction.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the activation status of backlash compensation for the incremental encoder.
With 'NO', the backlash compensation is not enabled.
With 'YES', the backlash compensation is enabled.
length
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the backlash compensation value.

velocity
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm/s

Specifies the velocity at which backlash compensation is stopped.

If the value is 0, the backlash is calculated without limits.
EnumBackLashType
POSITIVE (0)

positive

NEGATIVE (1)

negative

EnumYesNo

7-436

NO (91)

No

YES (173)

Yes

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FollowingAxis

IncEncoder - FollowingAxis
The structure elements of 'IncEncoder' specify the parameters for an incremental encoder.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enableZeroMonitoring
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of monitoring of the number of increments between two encoder zero
marks.
With 'NO', monitoring of the number of increments between two encoder zero marks is not activated.
With 'YES', monitoring of the number of increments between two encoder zero marks is activated.
incResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

2048

Specifies the number of increments per encoder revolution specified on the encoder rating plate.
incResolutionMultiplierCyclic
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the multiplication factor of the cyclic actual value.

EnumYesNo
NO (91)

No

YES (173)

Yes

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FollowingAxis

IncHomingEncoder - FollowingAxis
The structure elements of 'IncHomingEncoder' specify the parameters for an incremental encoder.
Note
Additional information is available at:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
SIMOTION MCC Motion Control Chart Programming and Operating Manual
or in the online help
approachDirection
Data type:

EnumAxisApproachDirection

Changeable online:

Yes, active immediately

System default:

APPROACH_NEGATIVE

Specifies the approach direction of the encoder zero mark with the following homing modes: 'homingMode:=MODE_ZM' or 'homingMode:=MODE_CAM_AND_ZM'.
With APPROACH_NEGATIVE, the encoder zero mark is approached in negative direction.
With APPROACH_POSITIVE, the encoder zero mark is approached in positive direction.
Specifies the edge and side of the external zero mark with the following homing modes: 'homingMode:=MODE_CAM' or 'homingMode:=MODE_REFERENCE_CAM_AND_EXTERNAL_ZM'.
With EDGE_POS_SIDE_NEG, homing is carried out with the positive edge on the negative side of the
external zero mark. Homing is therefore carried out when the external zero mark is crossed in positive
direction.
With EDGE_POS_SIDE_POS, homing is carried out with the positive edge on the positive side of the
external zero mark. Homing is therefore carried out when the external zero mark is crossed in negative
direction.
With EDGE_NEG_SIDE_POS, homing is carried out with the negative edge on the positive side of the
external zero mark. Homing is therefore carried out when the external zero mark is crossed in positive
direction.
With EDGE_NEG_SIDE_NEG, homing is carried out with the negative edge on the negative side of
the external zero mark. Homing is therefore carried out when the external zero mark is crossed in
negative direction.
With 'homingMode:=MODE_ZM', the encoder zero mark is approached immediately in the configured
direction.
With 'homingMode:=MODE_CAM_AND_ZM', the encoder zero mark is approached in the configured
direction after the approach of the reference cam.
With 'homingMode:=MODE_CAM' or 'homingMode:=MODE_REFERENCE_CAM_AND_EXTERNAL_ZM', the edge and side of the external zero
mark are evaluated.
bitNumberBero
Data type:

UDINT

Changeable online:

No

System default:

Specifies the bit number of the reference cam for homing mode CAM_AND_ZM or
MODE_REFERENCE_CAM_AND_EXTERNAL_ZM.

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FollowingAxis

enableZeroMarkDistance
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the monitoring mode for the path after leaving the reference cam until the encoder zero mark
is reached.
With NO, the monitoring of the path after leaving the reference cam until the encoder zero mark is reached is not activated.
With YES, the monitoring of the path after leaving the reference cam until the encoder zero mark is
reached is activated.
homingMode
Data type:

EnumAxisHomingMode

Changeable online:

Yes, active after restart

System default:

MODE_NO_REFERENCE

Specifies the homing mode.

With MODE_NO_REFERENCE, a homing mode is not selected.
With MODE_CAM_AND_ZM, the homing mode reference cam with encoder zero mark is selected.
With MODE_ZM, the homing mode with encoder zero mark only is selected.
With MODE_CAM, the homing mode with external zero mark only is selected.
MODE_REFERENCE_CAM_AND_EXTERNAL_ZM is not available.
logAddressBero
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address of the reference cam for homing mode CAM_AND_ZM or
MODE_REFERENCE_CAM_AND_EXTERNAL_ZM.

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FollowingAxis

passiveApproachDirection
Data type:

EnumAxisPassiveApproachDirection

Changeable online:

Yes, active immediately

System default:

ACTUAL_DIRECTION_PASSIVE

Specifies the expected approach direction for the passive homing.

For the setting 'passiveHomingMode:=ZM_PASSIVE' or 'passiveHomingMode:=CAM_AND_ZM_PASSIVE', this configuration data items specifies the approach direction of
the encoder zero mark.
With 'passiveHomingMode:=ZM_PASSIVE', the encoder zero mark is expected in the configured
direction.
With 'passiveHomingMode:=CAM_AND_ZM_PASSIVE', the encoder zero mark is expected in the
configured direction after the approach of the reference cam.
With APPROACH_NEGATIVE_PASSIVE, the negative approach direction is expected.
With APPROACH_POSITIVE_PASSIVE, the positive approach direction is expected.
With ACTUAL_DIRECTION_PASSIVE, both approach directions are possible.
With EDGE_POS_SIDE_NEG_PASSIVE, a rising edge on the negative side of the external zero mark
is expected.
With EDGE_POS_SIDE_POS_PASSIVE, a rising edge on the positive side of the external zero mark
is expected.
With EDGE_NEG_SIDE_POS_PASSIVE, a falling edge on the positive side of the external zero mark
is expected.
With EDGE_NEG_SIDE_NEG_PASSIVE, a falling edge on the negative side of the external zero
mark is expected.
passiveBitNumberBero
Data type:

UDINT

Changeable online:

No

System default:

Specifies the bit number of the reference cam during passive homing and for homing mode
CAM_AND_ZM_PASSIVE or REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE.
passiveHomingMode
Data type:

EnumAxisPassiveHomingMode

Changeable online:

Yes, active after restart

System default:

DEFAULT_PASSIVE

Specifies the homing mode.

With CAM_AND_ZM_PASSIVE, homing mode reference cam with encoder zero mark is selected.
With ZM_PASSIVE, the homing mode with encoder zero mark only is selected.
With CAM_PASSIVE, the homing mode with external zero mark only is selected.
With DEFAULT_PASSIVE, the homing mode ZM_PASSIVE or CAM_PASSIVE is preset with or without the encoder zero mark, depending on the encoder type.
REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE is not available.

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FollowingAxis

passiveLogAddressBero
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address of the reference cam during passive homing and for homing mode
CAM_AND_ZM_PASSIVE or REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE.
proceedShiftPos
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the home position offset.

referenceCamType
Data type:

EnumAxisReferenceCamType

Changeable online:

No

System default:

STANDARD

Selects the reference cam for referencing mode MODE_CAM_AND_ZM.

With HARDWARE_LIMIT_SWITCH_POSITIVE, the positive limit switch is used as the reference cam.
With HARDWARE_LIMIT_SWITCH_NEGATIVE, the negative limit switch is used as the reference
cam.
With STANDARD, the reference cam defined in "typeOfAxis.Encoder_x.incHomingEncoder" is used.
zeroMarkDistance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the maximum length of the path after leaving the reference cam until the encoder zero mode
is reached in homing mode MODE_CAM_AND_ZM.
Specifies the maximum length until the encoder zero mark in homing mode MODE_ZM.
EnumAxisApproachDirection
APPROACH_NEGATIVE (0)

Approach direction encoder zero mark negative

APPROACH_POSITIVE (1)

Approach direction encoder zero mark positive

EDGE_POS_SIDE_NEG (2)

Rising edge negative side external zero mark

EDGE_POS_SIDE_POS (3)

Rising edge positive side external zero mark

EDGE_NEG_SIDE_POS (4)

Falling edge positive side external zero mark

EDGE_NEG_SIDE_NEG (5)

Falling edge negative side external zero mark

EnumYesNo
NO (91)

No

YES (173)

Yes

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FollowingAxis

EnumAxisHomingMode
MODE_NO_REFERENCE (0)

No reference mode

MODE_CAM_AND_ZM (1)

Reference cam and encoder zero mark

MODE_ZM (2)

Encoder zero mark only

MODE_CAM (3)

External zero mark only

MODE_REFERENCE_CAM_AND_EXTERNAL
_ZM (4)

Reference cam and external zero mark

EnumAxisPassiveApproachDirection
APPROACH_NEGATIVE_PASSIVE (0)

Approach direction encoder zero mark negative

APPROACH_POSITIVE_PASSIVE (1)

Approach direction encoder zero mark positive

EDGE_POS_SIDE_NEG_PASSIVE (2)

Rising edge negative side external zero mark

EDGE_POS_SIDE_POS_PASSIVE (3)

Rising edge positive side external zero mark

EDGE_NEG_SIDE_POS_PASSIVE (4)

Falling edge positive side external zero mark

EDGE_NEG_SIDE_NEG_PASSIVE (5)

Falling edge negative side external zero mark

ACTUAL_DIRECTION_PASSIVE (6)

Next edge

EnumAxisPassiveHomingMode
CAM_AND_ZM_PASSIVE (1)

Reference cam and encoder zero mark

ZM_PASSIVE (2)

Encoder zero mark only

CAM_PASSIVE (3)

External zero mark only

DEFAULT_PASSIVE (4)

Default setting depends on encoder type

(with/without encoder zero mark)

REFERENCE_CAM_AND_EXTERNAL_ZM_P
ASSIVE (5)

Reference cam and external zero mark

EnumAxisReferenceCamType
STANDARD (358)

Reference cam

HARDWARE_LIMIT_SWITCH_POSITIVE (389)

Reference cam positive limit switch

HARDWARE_LIMIT_SWITCH_NEGATIVE
(390)

Reference cam negative limit switch

Associated parameters (maximum):

StateDriveExternalZeroMark
(StateDriveExternalZeroMark)

7-442

External zero mark status of digital drive

SIMOTION Technology Packages Configuration Data

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FollowingAxis

IntervalCounterConversionDataType - FollowingAxis
The structure elements of 'IntervalCounterConversionData' are used to configure the encoder as an
interval counter.
The 'Interval counter' encoder type is used to determine the speed using an interval duration and the
number of intervals per encoder revolution.
An interval is the time between two successive encoder pulses that are recorded by an encoder
module.
The duration (interval) between the encoder pulses is measured by the module and provided in the
I/O area.
incResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the increments or the number of intervals or encoder pulses per encoder revolution.
referenceTime
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0005 ms

Specifies the reference time for the measurement of the interval duration.
The reference time is the time after which the counter in the encoder module used to determine the
interval duration is incremented by one (interval duration = count * reference time).
Associated parameters (maximum):
DriverInfo
(StructSensorDriverInfo)

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

AnalogDriverInfo (Only the logical address

'logAddress' of the reference value for the interval duration stored by the encoder module in the
I/O area has to be specified. The other elements
of the 'StructSensorDriverInfo' structure are not
taken into account for the configuration of the
interval counter.)

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FollowingAxis

InversCountDirection - FollowingAxis
The structure elements of 'InversCountDirection' specify the counting direction of the actual encoder
value.
encoderFeedbackPolarity
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the counting direction of the actual encoder value is inverted.
With NO, the count direction of the actual encoder value is not inverted. (System default)
With YES, the count direction of the actual encoder value is inverted.
EnumYesNo
NO (91)

No

YES (173)

Yes

InvertSetPoint - FollowingAxis
The inversion of actuating signal is specified with the structure elements for 'InvertSetPoint'.
With an electrical axis, this means the adaptation of the direction of rotation of the drive to the rotational direction of the machine.
With a hydraulic axis, this means the inversion of the F-output behind the characteristic curve.
invSetPoint
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the manipulated variable inversion.

With 'NO', the manipulated variable is output unchanged.
With 'YES', the manipulated variable is output inverted.
EnumYesNo

7-444

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

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FollowingAxis

InvertSetPointHydraulicType - FollowingAxis
The structure element for 'InvertSetPoint' specifies the inversion of the Q-output value after the characteristic.
invert
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the activation status.

With NO, the Q-output value behind the characteristic curve is output unchanged.
With YES, the Q-output value behind the characteristic curve is output inverted.
EnumYesNo
NO (91)

No

YES (173)

Yes

LeadScrewInfo - FollowingAxis
The structure elements of 'LeadScrew' set the leadscrew pitch.
efficiency
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

Efficiency of the spindle/nut combination.

pitchVal
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

10.0 mm/rot

Specifies the leadscrew pitch per spindle revolution.

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FollowingAxis

LinearMotorDriveData - FollowingAxis
The structure elements of 'LinearMotorDriveData' specify key drive values for linear motors.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
forceReductionGranularity
Data type:

EnumAxisTorqueForceReductionGranularity

Changeable online:

Yes, active after restart

System default:

BASIC

Specifies the fine resolution of the force reduction.

forceReference
Data type:

EnumAxisReferenceMaxNominal

Changeable online:

Yes, active after restart

System default:

MAX_VALUE

Selection setting for scaling: Reference force or maximum force.

maxForce
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1000.0 N

Specifies the maximum force.

maxSpeed
Data type:

LREAL

Changeable online:

No

System default:

3000.0 1/min

Specifies the maximum traversing velocity.

nominalForce
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1000.0 N

Specifies the maximum force.

nominalSpeed
Data type:

LREAL

Changeable online:

No

System default:

3000.0 1/min

Specifies the reference velocity.

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FollowingAxis

speedReference
Data type:

EnumAxisReferenceMaxNominal

Changeable online:

Yes, active after restart

System default:

MAX_VALUE

Selection setting for scaling: Reference velocity or maximum velocity.

EnumAxisTorqueForceReductionGranularity
STANDARD (0)

Resolution 1/100

BASIC (16)

Resolution 1/16384

EnumAxisReferenceMaxNominal
MAX_VALUE (0)

Maximum value

NOMINAL_VALUE (1)

Nominal value

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FollowingAxis

LinearStepMotorDriveDataType - FollowingAxis
The structure elements of 'LinearStepMotorDriveData' specify key drive values for stepper motors.
maxFrequency
Data type:

LREAL

Changeable online:

No

System default:

50000.0 Hz

Specifies the maximum frequency for motor steps.

stepMotorResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

1000

Specifies the number of motor steps per revolution.

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FollowingAxis

MaxAcceleration - FollowingAxis
The structure elements of 'MaxAcceleration' define the maximum permissible acceleration and the
monitoring mode for the change of the manipulated variable.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enableSetPointMonitoring
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the monitoring of the manipulated variable change
With 'NO', the monitoring is deactivated.
With 'YES', the monitoring is activated. The change of the manipulated variable is monitored but not
limited.
The value specified in 'maxAcceleration.maximum' is converted into the value for the maximum
change of the manipulated variable.
maximum
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10000.0 mm/s

Specifies the maximum permissible acceleration.

EnumYesNo
NO (91)

No

YES (173)

Yes

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FollowingAxis

MaxForceCommandData - FollowingAxis
The structure elements for 'MaxForceCommandData' are used to configure the type of setpoint generation.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
maximum
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1000.0

Specifies the maximum force/pressure setpoint.

maximumDerived
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10000.0

Specifies the maximum rise of the maximum force/pressure setpoint.

MaxJerk - FollowingAxis
The structure element of 'MaxJerk' defines the maximum permissible jerk.
Note
Further information is provided:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
SIMOTION Basic Functions Function Manual
Online help
maximum
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

200000.0 mm/s

Specifies the maximum possible jerk.

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FollowingAxis

MaxVelocity - FollowingAxis
The structure element of 'MaxVelocity' defines the maximum permissible velocity.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
maximum
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

500.0 mm/s

Specifies the maximum permissible velocity.

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FollowingAxis

ModuloInfo - FollowingAxis
The structure elements of 'Modulo' specify the modulo information.
length
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

360.0

Specifies modulo length.

The minimum modulo length that can be set depends on the available resolution!
startValue
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Specifies the initial value.

state
Data type:

EnumActiveInactive

Changeable online:

Yes, active after restart

System default:

INACTIVE

Specifies modulo activation.

With ACTIVE, a modulo status is activated.
With INACTIVE, the modulo status is not activated.
EnumActiveInactive

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ACTIVE (4)

Active

INACTIVE (61)

Inactive

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

NeutralBand - FollowingAxis
The structure elements of 'NeutralBand' specify the parameters for neutral band compensation.
centreValue
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the center point of the neutral band.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of neutral band compensation.

With NO, the neutral band compensation is not activated.
With YES, the neutral band compensation is activated.
range
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the range of the neutral band.

EnumYesNo
NO (91)

No

YES (173)

Yes

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FollowingAxis

NumberOfAdditionalSensors - FollowingAxis
The structure elements for 'NumberOfAdditionalSensors' are used to configure the additional encoders.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
number
Data type:

UDINT

Changeable online:

No

System default:

Specifies the number of encoders for a force-controlled axis

Associated parameters (maximum):

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AdditionalSensor_1
(AdditionalSensorMain)

Encoder 1

AdditionalSensor_2
(AdditionalSensorMain)

Encoder 2

AdditionalSensor_3
(AdditionalSensorMain)

Encoder 3

AdditionalSensor_4
(AdditionalSensorMain)

Encoder 4

AdditionalSensor_5
(AdditionalSensorMain)

Encoder 5

AdditionalSensor_6
(AdditionalSensorMain)

Encoder 6

AdditionalSensor_7
(AdditionalSensorMain)

Encoder 7

AdditionalSensor_8
(AdditionalSensorMain)

Encoder 8

SIMOTION Technology Packages Configuration Data

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FollowingAxis

NumberOfDataSets - FollowingAxis
The structure elements for 'NumberOfDataSets' specify the number of data sets.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
changeMode
Data type:

EnumChangeMode

Changeable online:

Yes, active after restart

System default:

IN_POSITION

Specifies the mode for data set change.

With 'NEVER', data record switchover does not take place.
With 'IN_POSITION', the data record switchover takes place when the positioning window is reached.
With 'IN_STANDSTILL', the data record switchover takes place when the standstill signal is present.
With 'IMMEDIATELY', data record switchover takes place immediately.
initDataSet
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the initialization data set.

numberOfDataSets
Data type:

UDINT

Changeable online:

No

System default:

Specifies the number of data sets.

smoothingTimeByChangeDifference
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

The time constant parameterizes a PT1 element that smoothes abrupt changes in the manipulated
variable. Such jumps occur, for example, as a result of Kv changes.
This filter is not effective for changes in the Kv factor.
This filter is effective for data record changes.
EnumChangeMode
NEVER (0)

No switchover

IN_POSITION (1)

Switchover when axis in positioning window

IN_STANDSTILL (3)

Switchover when axis below standstill velocity

IMMEDIATELY (7)

Immediate switchover

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FollowingAxis

Associated parameters (maximum):

7-456

DataSet_1
(DataSetMain)

Data record 1

DataSet_10
(DataSetMain)

Data record 10

DataSet_11
(DataSetMain)

Data record 11

DataSet_12
(DataSetMain)

Data record 12

DataSet_13
(DataSetMain)

Data record 13

DataSet_14
(DataSetMain)

Data record 14

DataSet_15
(DataSetMain)

Data record 15

DataSet_16
(DataSetMain)

Data record 16

DataSet_2
(DataSetMain)

Data record 2

DataSet_3
(DataSetMain)

Data record 3

DataSet_4
(DataSetMain)

Data record 4

DataSet_5
(DataSetMain)

Data record 5

DataSet_6
(DataSetMain)

Data record 6

DataSet_7
(DataSetMain)

Data record 7

DataSet_8
(DataSetMain)

Data record 8

DataSet_9
(DataSetMain)

Data record 9

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

NumberOfDigitalInputs - FollowingAxis
The structure elements of 'NumberOfDigitalInputs' are used to configure the number of digital inputs.
number
Data type:

UDINT

Changeable online:

No

System default:

Specifies the number of inputs.

Associated parameters (maximum):
DigitalInput_1
(DigitalInputMain)

Digital input 1

DigitalInput_2
(DigitalInputMain)

Digital input 2

DigitalInput_3
(DigitalInputMain)

Digital input 3

DigitalInput_4
(DigitalInputMain)

Digital input 4

DigitalInput_5
(DigitalInputMain)

Digital input 5

DigitalInput_6
(DigitalInputMain)

Digital input 6

DigitalInput_7
(DigitalInputMain)

Digital input 7

DigitalInput_8
(DigitalInputMain)

Digital input 8

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FollowingAxis

NumberOfEncoders - FollowingAxis
The structure element of 'NumberOfEncoders' sets the number of encoders.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
dscEncoderNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the DSC encoder.

numberOfEncoders
Data type:

UDINT

Changeable online:

No

System default:

Specifies the number of encoders.

Associated parameters (maximum):

7-458

Encoder_1
(EncoderMain)

Encoder 1

Encoder_2
(EncoderMain)

Encoder 2

Encoder_3
(EncoderMain)

Encoder 3

Encoder_4
(EncoderMain)

Encoder 4

Encoder_5
(EncoderMain)

Encoder 5

Encoder_6
(EncoderMain)

Encoder 6

Encoder_7
(EncoderMain)

Encoder 7

Encoder_8
(EncoderMain)

Encoder 8

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

OutputLimits - FollowingAxis
The structure element 'OutputLimits' is used to configure the manipulated variable limitation.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
_max
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

500.0

Specifies the maximum output value for the force controller.

_min
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

-500.0

Specifies the minimum output value for the force controller.

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FollowingAxis

PD_Controller - FollowingAxis
The structure elements of 'PD_Controller' specify the parameters of the PD controller.
decayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the delay time constant of the D component.

kd
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the D component gain.

kp
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 1/s

Specifies the P component gain.

7-460

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FollowingAxis

PID_ControllerForce - FollowingAxis
The structure element 'PID_Controller' is used to configure the PID controller.
decayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Delay time constant of D-action component

enableAntiWindup
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies the activation status of the integrator limitation.

With 'NO', the integrator limitation is not activated.
With 'YES', the integrator limitation is activated.
integratorFeedbackTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the time constant to deactivate the I component.

kd
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the D component gain.

ki
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the I component gain.

kp
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 1/s

Specifies the P component gain.

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FollowingAxis

kpc
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

100.0 %

Specifies the pre-control factor.

preCon
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the precontrol system.

With 'NO', the precontrol is not activated.
With 'YES', the precontrol is activated.
EnumYesNo

7-462

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

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FollowingAxis

PID_ControllerPos - FollowingAxis
The structure element 'PID_Controller' is used to configure the PID controller.
balanceFilterMode
Data type:

EnumBalanceFilterMode

Changeable online:

Yes, active after restart

System default:

MODE_1

Specifies the balancing filter.

decayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Specifies the delay time constant of the D component.

enableAntiWindup
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Activation of the integrator limitation.

kd
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the D component gain.

ki
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 1/s

Specifies the I component gain.

kp
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 1/s

Specifies the P component gain.

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FollowingAxis

kpc
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

100.0 %

Specifies the pre-control factor.

preCon
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the precontrol system.

With 'NO', the precontrol is not activated.
With 'YES', the precontrol is activated.
EnumBalanceFilterMode
OFF (0)

Balancing filter not active

MODE_1 (1)

Balancing filter active

MODE_2 (2)

Expanded balancing filter active

EnumYesNo

7-464

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

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FollowingAxis

PT2PositionFilterType - FollowingAxis
The structure elements of 'PositionFilter' specify the parameters of the position filter.
T1
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant T1 of the position filter.

T2
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant T2 of the position filter.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the position filter.

EnumYesNo
NO (91)

No

YES (173)

Yes

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FollowingAxis

PV_Controller - FollowingAxis
The structure elements of 'PV_Controller' specify the parameters of the P controller with precontrol.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
balanceFilterMode
Data type:

EnumBalanceFilterMode

Changeable online:

Yes, active after restart

System default:

MODE_1

Specifies the balancing filter type.

enableDSC
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of DSC.

With NO, DSC is not activated.
With YES, DSC is activated.
kpc
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

100.0 %

Specifies the pre-control factor.

kv
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 1/s

Specifies the gain factor of the position feedback loop.

preCon
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the precontrol system.

With NO, the precontrol is not activated.
With YES, the precontrol is activated.

7-466

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FollowingAxis

EnumBalanceFilterMode
OFF (0)

Balancing filter not active

MODE_1 (1)

Balancing filter active

MODE_2 (2)

Expanded balancing filter active

EnumYesNo
NO (91)

No

YES (173)

Yes

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FollowingAxis

PathPerRevolution - FollowingAxis
The structure elements of 'PathPerRevolution' specify the distance of one revolution for the EXTERN
assembly base.
length
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

100.0 mm

Specifies the path length of an encoder revolution for EXTERNAL mount type.

7-468

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FollowingAxis

PathSyncAxisPosTolerance - FollowingAxis
The setting of the setpoint differential monitoring on the synchronous axis is specified with the structure elements for 'PathSyncAxisPosTolerance'.
Note
"Further information can be found in the Path Interpolation Technology Object Function Manual and
in online help."
commandValueTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 mm

Specifies the permissible setpoint deviation. An alarm is output if the value is exceeded.
enableCommandValue
Data type:

EnumAxisPathPosToleranceCommandValue

Changeable online:

Yes, active immediately

System default:

WITHOUT_JERK

Specifies the activation status of the setpoint tolerance monitoring system.

With NO_ACTIVATE, the tolerance monitoring of the setpoints is not activated.
With WITHOUT_JERK, the tolerance monitoring of the setpoints is activated without inclusion of the
jerk. An alarm is output if the setpoints are exceeded.
With WITH_JERK, the tolerance monitoring of the setpoints is activated with inclusion of the jerk. An
alarm is output if the setpoints are exceeded.
EnumAxisPathPosToleranceCommandValue
NO_ACTIVATE (0)

No

WITHOUT_JERK (1)

Without jerk

WITH_JERK (2)

With jerk

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FollowingAxis

PositionFilterType - FollowingAxis
The structure elements of 'PositionFilter' specify actual value smoothing. The settings take effect on
the actual position values in the servo cycle clock.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With 'NO', the filter functionality is deactivated.
With 'YES', the filter functionality is activated.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo

7-470

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

PositionMonitoring - FollowingAxis
The structure elements of 'PositionMonitoring' specify position monitoring.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
posWinTolDelayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1 s

Specifies the delay between the time when the actual value reaches the tolerance window and activation of zero speed monitoring.
posWinTolTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Specifies the delay between activation of monitoring and the time when the actual value reaches the
tolerance window.
tolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm

Specifies the width of the positioning window.

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FollowingAxis

ProcessModel - FollowingAxis
The structure elements of 'ProcessModel' set the parameters for the process model.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
T1
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.003 s

Specifies the first time constant.

T2
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0001 s

Specifies the second time constant.

ks
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.00000095367431640625

Specifies the transmission factor.

Range - FollowingAxis
The 'Range' structure elements are used to configure the definition range of the read encoder values.
_max
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10000.0

Specifies the maximum value.

_min
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

-10000.0

Specifies the minimum value.

7-472

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FollowingAxis

Resolution - FollowingAxis
'Resolution' is used to configure the parameters of a linear encoder system (linear scale).
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
distance
Data type:

LREAL

Changeable online:

No

System default:

0.001 mm

Distance between two encoder increments.

Note
The minimum value that can be set results from the maximum resolution of the TO axis or TO external
encoder. Consequently, for an excessive lower limit, the unit for the 'Increments/Position' physical
quantity must be varied appropriately.
multiplierCyclic
Data type:

UDINT

Changeable online:

No

System default:

Incremental resolution

RestartConditionInfo - FollowingAxis
'RestartConditionInfo' is used to set the state in which axis restart is possible.
restartAxisCondition
Data type:

EnumRestartAxisCondition

Changeable online:

Yes, active after restart

System default:

AXIS_DISABLED

Specifies the condition for restart.

With 'NO_CONSTRAINTS', restart takes place irrespective of the axis state.
With 'STANDSTILL', restart takes place only when a standstill signal is present.
With 'AXIS_DISABLED', restart only takes place if there are no enables set on the axis.
EnumRestartAxisCondition
NO_CONSTRAINTS (0)

Restart without constraints

STANDSTILL (1)

Restart during standstill

AXIS_DISABLED (2)

Restart only when no enables are set

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FollowingAxis

RestartInfo - FollowingAxis
'RestartInfo' is used to enable technology object restart with system variables and/or by command or
just by command.
behaviorInvalidSysvarAccess
Data type:

EnumToInvalidSysvarAccess

Changeable online:

No

System default:

LAST_VALUE

If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP
mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology
object is restarted or deactivated.
The values stored in the image are supplied when system variables are accessed during the technology object restart or deactivation phase.
restartActivationSetting
Data type:

EnumToRestartActivationSetting

Changeable online:

Yes, active after restart

System default:

RESTART_BY_SYSVAR_AND_COMMAND

With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with

system variables and/or by command.
With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
DEFAULT_VALUE (2)

Supply substitute value from default value

STOP_DEVICE (3)

No substitute value, switch to STOP mode

LAST_VALUE (338)

Supply substitute value from last valid value

EnumToRestartActivationSetting

7-474

RESTART_BY_SYSVAR_AND_COMMAND (0)

Allow restart via system variable and/or command

RESTART_BY_COMMAND (1)

Allow restart only via command

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

ReverseCamNegative - FollowingAxis
The structure elements of 'ReverseCamNegative' specify the parameters for a negative reversing
cam.
_type
Data type:

EnumAxisHomingReverseCamType

Changeable online:

No

System default:

NONE

Specifies the reversing cam selection.

With NONE, a negative reversing cam is not present.
With SPECIFIC, the reversing cam is defined by an address and bit number.
With HARDWARE_LIMIT_SWITCH, the negative hardware limit switch is used as the reversing cam.
bitNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the bit umber of the negative reversing cam for the selection SPECIFIC.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address of the negative reversing cam for the selection SPECIFIC.
EnumAxisHomingReverseCamType
NONE (93)

No reversing cam

SPECIFIC (387)

Newly defined reversing cam

HARDWARE_LIMIT_SWITCH (388)

Hardware limit switch as reversing cam

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FollowingAxis

ReverseCamPositive - FollowingAxis
The structure elements of 'ReverseCamPositive' specify the parameters for a positive reversing cam.
_type
Data type:

EnumAxisHomingReverseCamType

Changeable online:

No

System default:

NONE

Specifies the reversing cam selection.

With NONE, a positive reversing cam is not present.
With SPECIFIC, the reversing cam is defined by an address and bit number.
With HARDWARE_LIMIT_SWITCH, the positive hardware limit switch is used as the reversing cam.
bitNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the bit number of the positive reversing cam for the selection SPECIFIC.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address of the positive reversing cam for the selection SPECIFIC.
EnumAxisHomingReverseCamType

7-476

NONE (93)

No reversing cam

SPECIFIC (387)

Newly defined reversing cam

HARDWARE_LIMIT_SWITCH (388)

Hardware limit switch as reversing cam

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

SensorControlConfig - FollowingAxis
The tolerance of an encoder error is specified with the structure elements for 'SensorControlConfig'.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
tolerateSensorDefect
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether a failure of an encoder not involved in the closed-loop control should be tolerated.
With 'NO', a failure is not tolerated.
With 'YES', a failure is tolerated.
EnumYesNo
NO (91)

No

YES (173)

Yes

SensorNist - FollowingAxis
The structure elements of 'SensorNist' specify the parameters for the actual speed value from the I/O
area.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address of the actual speed value in the I/O area.
referenceValue
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

3000.0

Specifies the reference time for the interval measurement.

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FollowingAxis

SensorSetActualValue - FollowingAxis
The structure elements of 'SensorSetActualValue' specify the parameters for actual value read-in via
system variable.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
maxFailures
Data type:

UDINT

Changeable online:

Yes, active immediately

System default:

Specifies the number of permissible failures with reference to the update cycle.
updateCycle
Data type:

EnumAxisUpdateCycle

Changeable online:

Yes, active after restart

System default:

IPO

Specifies the actual value update cycle via system variable.

EnumAxisUpdateCycle

7-478

IPO (0)

IPO

IPO_2 (1)

IPO_2

SERVO (2)

Servo

IPO_FAST (3)

IPO_fast

SERVO_FAST (4)

Servo_fast

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

SetPointDriverInfo - FollowingAxis
The structure elements of 'SetPointDriverInfo' specify the driver information for the drive interface.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
actorType
Data type:

EnumAxisDioActorType

Changeable online:

No

System default:

NO_TYPE

Specifies the type of drive.

With NO_TYPE, there is no interface specification.
With 'ANALOG', the interface is configured for analog drives.
With 'STEPMOTOR', the interface is configured for stepper motors.
interfaceAllocation
Data type:

EnumAxisActuatorInterfaceAllocationConfig

Changeable online:

No

System default:

EXCLUSIVE

Selects the interface behavior.

With EXCLUSIVE, the driver can only be used on this technology object.
With NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED, the driver can be used on this or any
other technology object. The driver is deactivated on the technology object after system startup.
With NON_EXCLUSIVE_AND_STARTUP_ACTIVATED, the driver can be used on this or any other
technology object. The driver is activated on the technology object after system startup.
lifeSignCheck
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies the activation status of life sign monitoring.

With NO, the sign of life monitoring is not activated.
With YES, the sign of life monitoring is activated.
logAddressIn
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the input data area.

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FollowingAxis

logAddressOut
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the output data area.

maxSetPointVoltage
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

10.0 V

Specifies the standard voltage with which the analog drive reaches its rated speed.
mode
Data type:

EnumAxisDriverMode

Changeable online:

No

System default:

SIMULATION

Specifies the type of drive interface.

With SIMULATION, actuator and encoder are short-circuited via a delay element.
With ONBOARD, the ONBOARD interfaces are used.
With DPMASTER, the drive coupling is performed via PROFIBUS DP.
.
motorType
Data type:

EnumAxisMotorType

Changeable online:

No

System default:

STANDARD_MOTORTYPE

Specifies the motor type.

With STANDARD_MOTORTYPE, operation with a standard motor is configured.
With LINEAR_MOTORTYPE, operation with a linear motor is configured.
outputNumberOnDevice
Data type:

UDINT

Changeable online:

No

System default:

Not used

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FollowingAxis

telegramType
Data type:

EnumAxisTelegramType

Changeable online:

No

System default:

DP_TEL102_611U_POSCTRL_1_ENCODER

Specifies the PROFIBUS message frame type.

With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set
up.
With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set
up.
With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one
encoder) is set up.
With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with
two encoders) is set up.
With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives
with one encoder and DSC) is set up.
With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled
drives with two encoders and DSC) is set up.
The message frames DP_TEL81_STANDARD (81) to DP_TEL83_STANDARD (83) are not relevant
for DriveAxis.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7
for velocity-controlled drives without encoders is set up.
With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for
velocity-controlled drives with one encoder is set up.
With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for
velocity-controlled drives with two encoders is set up.
With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for
velocity-controlled drives with one encoder and DSC is set up.
With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for
velocity-controlled drives with two encoders and DSC is set up.
The message frames DP_TEL125_SIEM_DSC_1_ENCODER_SPLINE (125) and
DP_TEL126_SIEM_DSC_2_ENCODER_SPLINE (126) are not supported for he SIMOTION Version
V4.2.
EnumAxisDioActorType
NO_TYPE (0)

No type

ANALOG (1)

Analog

STEPMOTOR (2)

Step mode

EnumAxisActuatorInterfaceAllocationConfig
EXCLUSIVE (939)

Technology object (TO) exclusive

NON_EXCLUSIVE_AND_STARTUP_DEACTI
VATED (940)

TO non-exclusive and deactivated

NON_EXCLUSIVE_AND_STARTUP_ACTIVAT
ED (941)

TO non-exclusive and active

EnumYesNo
NO (91)

No

YES (173)

Yes

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7-481

FollowingAxis

EnumAxisDriverMode
SIMULATION (0)

Simulation

ONBOARD (1)

Onboard

DPMASTER (2)

DP Master

EnumAxisMotorType
STANDARD_MOTORTYPE (0)

Standard motor

LINEAR_MOTORTYPE (1)

Linear motor

EnumAxisTelegramType
NO_TELEGRAM (0)

No message frame

DP_TEL1_STANDARD (1)

Standard message frame 1, PZD-2/2

DP_TEL2_STANDARD (2)

Standard message frame 2, PZD-4/4

DP_TEL3_STANDARD (3)

Standard message frame 3, PZD-5/9

DP_TEL4_STANDARD (4)

Standard message frame 4, PZD-6/14

DP_TEL5_STANDARD (5)

Standard message frame 5, PZD-9/9

DP_TEL6_STANDARD (6)

Standard message frame 6, PZD-10/14

DP_TEL81_STANDARD (81)

Standard message frame 81, PZD-2/6

DP_TEL83_STANDARD (83)

Standard message frame 83, PZD-2/8

DP_TEL101_611U_VELCTRL_NO_ENCODER
(101)

SIEMENS message frame 101, PZD-6/7

DP_TEL102_611U_POSCTRL_1_ENCODER
(102)

SIEMENS message frame 102, PZD-6/10

DP_TEL103_611U_POSCTRL_2_ENCODER
(103)

SIEMENS message frame 103, PZD-7/15

DP_TEL105_611U_DSC_1_ENCODER (105)

SIEMENS message frame 105, PZD-10/10

DP_TEL106_611U_DSC_2_ENCODER (106)

SIEMENS message frame 106/107, PZD-11/15

Associated parameters (maximum):

7-482

DriveData
(DriveData)

Drive characteristics for standard motors

InvertSetPoint
(InvertSetPoint)

Direction of rotation adaptation

LinearMotorDriveData
(LinearMotorDriveData)

Drive characteristics for linear motors

LinearStepMotorDriveData
(LinearStepMotorDriveDataType)

Drive characteristics for stepper motors

StepMotorDriveData
(StepMotorDriveDataType)

Drive characteristics for stepper motors

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

SimulationInfo - FollowingAxis
The structure elements of 'SimulationInfo' are used to set a process interface. Simulation mode is not
available at present.
simulationMode
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Simulation mode activation.

With 'Simulation mode = NO', process connection is set.
'Simulation mode = YES' is not available.
EnumYesNo
NO (91)

No

YES (173)

Yes

Slippage - FollowingAxis
Not functional.
slippageLimit
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

1000 mm

SIMOTION Technology Packages Configuration Data

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7-483

FollowingAxis

SmoothingFilter - FollowingAxis
The structure elements for 'SmoothingFilter' specify actual velocity filtering. The filtered actual velocity
is displayed in 'motionStateData.actualVelocity'.
'timeConstant':
- Time constant for PT1 smoothing.
- Time constant for averaging.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With NO, the filter functionality is deactivated.
With YES, the filter functionality is activated.
mode
Data type:

EnumAxisFilterMode

Changeable online:

Yes, active after restart

System default:

DEFAULT_MODE

Specifies criterion for actual value smoothing.

With 'DEFAULT_MODE', the ratio of interpolator cycle clock to position servo cycle clock is used.
With 'AVERAGING', an average over time is used.
With 'PT1', a filter set via 'timeConstant' is used.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisFilterMode

7-484

DEFAULT_MODE (0)

No filter

AVERAGING (1)

Form mean value

PT1 (2)

PT1 filter

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

StandStillMonitoring - FollowingAxis
The structure elements of 'StandStillMonitoring' specify zero speed monitoring.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
delayTimeToActivate
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the delay between the time at which the monitoring window is reached and activation of the
message.
stillStandTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm

Specifies the maximum position tolerance at standstill.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

7-485

FollowingAxis

StandStillSignal - FollowingAxis
The structure elements of 'StandStillSignal' specify the parameters for the velocity-dependent standstill signal.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
delayTimeToActivate
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Specifies the delay time to activation of the velocity-dependent standstill signal.

filterDegree
Data type:

UINT

Changeable online:

Yes, active immediately

System default:

Specifies the filter degree.

filterFrequency
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 Hz

Specifies the filter frequency.

maxVeloStandStill
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

50.0 mm/min

Specifies the velocity limit below which the velocity-dependent standstill signal is active.

7-486

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FollowingAxis

StateDriveExternalZeroMark - FollowingAxis
The structure elements of 'StateDriveExternalZeroMark' specify the parameters for the status of an
external zero mark for a digital drive.
available
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies that the external zero mark status for a digital drive is available.
bitNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the bit number of the external zero mark for a digital drive.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address of the external zero mark for a digital drive.
EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

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7-487

FollowingAxis

StepMotorDriveDataType - FollowingAxis
The structure elements of 'StepMotorDriveData' specify key drive values for stepper motors.
maxFrequency
Data type:

LREAL

Changeable online:

No

System default:

50000.0 Hz

Specifies the maximum frequency for motor steps.

stepMotorResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

1000

Specifies the number of motor steps per revolution.

7-488

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

StepMotorMonitoringType - FollowingAxis
The structure elements belonging to 'StepMotorMonitoring' are used to set the rotation monitoring for
step motor operation.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
beroCycleDistance
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

2048

Specifies the maximum allowed deviation of motor steps per revolution.

beroCycleTolerance
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

2048

Specifies a tolerance range around beroCycleDistance.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the step motor monitoring.

EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

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7-489

FollowingAxis

StructAxisActualValueUpdateCounter - FollowingAxis
The structure elements of 'UpdateCounter' are used to set the parameters for evaluation of the actual
value update.
bitNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the first bit number of the update counter.

enableCounter
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the actual value update is evaluated.

With NO, the actual value update is not evaluated.
With YES, the actual value update is evaluated.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address of the update counter.

maxFailure
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of permissible value failures before an error is output.

quantityOfBits
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of bits in the update counter.

7-490

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

updateCycle
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the ratio of the actual value update.

EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

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7-491

FollowingAxis

StructAxisAdditionalOffset - FollowingAxis
The structure elements belonging to 'AdditionalOffset' are used to set the offset application for traversal of the axis with motion/force control.
The offset is applied during traversal of the axis with motion control related to the velocity setpoint.
For force/pressure specification, the offset application is based on the actual velocity value.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the offset application.

With NO, the offset application is not activated.
With YES , the offset application is activated.
forceControlLowerLimit
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm/s

Specifies the activation threshold for 'offsetForceControlPositive/Negative'.

The offset acts when the 'forceControlLowerLimit' value has been exceeded.
offsetForceControlNegative
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm/s

Specifies the offset for traversal with force specification and negative direction of movement.
offsetForceControlPositive
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm/s

Specifies the offset for traversal with force control and positive direction of movement.
offsetMotionControlNegative
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm/s

Specifies the offset for traversal with motion control and negative direction of movement.

7-492

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

offsetMotionControlPositive
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm/s

Specifies the offset for traversal with motion control and positive direction of movement.
EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

7-493

FollowingAxis

StructAxisAnalogSensorErrorStateMonitoring - FollowingAxis
The structure elements of 'ErrorStateMonitoring' are used to set the parameters for evaluation of the
error bit.
bitNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the bit number of the error bit.

bitSemantics
Data type:

EnumTrueFalse

Changeable online:

Yes, active after restart

System default:

_TRUE

Specifies the evaluation of the error bit.

With TRUE, the error bit is evaluated as 1.
With FALSE, the error bit is evaluated as 0.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the error bit monitoring is performed.

With NO, the logical address is not used.
With YES, the logical address is used.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the error bit.

EnumTrueFalse
_TRUE (405)

true

_FALSE (406)

false

EnumYesNo

7-494

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

StructAxisAnalogSensorReadyStateMonitoring - FollowingAxis
The structure elements of 'ReadyStateMonitoring' are used to set the parameters for evaluation of the
ready bit.
bitNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the bit number of the ready bit.

bitSemantics
Data type:

EnumTrueFalse

Changeable online:

Yes, active after restart

System default:

_TRUE

Specifies the evaluation of the ready bit.

With TRUE, the ready bit is evaluated as 1.
With FALSE, the ready bit is evaluated as 0.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the ready bit monitoring is performed.

With NO, the logical address is not used.
With YES, the logical address is used.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the ready bit.

EnumTrueFalse
_TRUE (405)

true

_FALSE (406)

false

EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

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7-495

FollowingAxis

StructAxisDriveControlConfig - FollowingAxis
Settings for the drive are specified with the 'DriveControlConfig' configuration data.
dataAdaption
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

The 'dataAdaption' configuration data activates the adaptation of the drive data.
With 'YES', is the adaptation active.
With 'NO', is the adaptation deactivated.
pulsesEnabledEvaluation
Data type:

EnumAxisPulsesEnabledEvaluation

Changeable online:

Yes, active after restart

System default:

COMPATIBILITY_MODE

The 'PulsesEnabledEvaluation' configuration data describes the behavior of the axis for a drive-independent stop response.
With 'YES', the Pulses-Enabled bit is always processed.
With 'COMPATIBILITY_MODE', the Pulses-Enabled bit is only processed for selected safety data
block.
releaseDisableMode
Data type:

UDINT

Changeable online:

Yes, active immediately

System default:

127

The behavior of the drive during the RELEASE_DISABLE error response is specified with the 'releaseDisableMode' configuration data.
Specifies the values of bits 0 - 6 to be reset in the PROFIDrive protocol.
The bits are negated by the system and ANDed with the existing control word. The specified bits are
reset.
Meaning of the bits in the PROFIdrive protocol:
Bit0 - ON
Bit1 - No Coast Stop
Bit2 - No Quick Stop
Bit3 - Enable Operation
Bit4 - Enable Ramp Generator
Bit5 - Unfreeze Ramp Generator
Bit6 - Enable Setpoint
EnumYesNo

7-496

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

EnumAxisPulsesEnabledEvaluation
YES (173)

Pulses-Enabled bit is always processed

COMPATIBILITY_MODE (959)

The Pulses-Enabled bit is only processed for

selected safety data block

Associated parameters (maximum):

pulsesEnabled
(StructAxisPulsesEnabledConfig)

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Position of PulsesEnabled bit

7-497

FollowingAxis

StructAxisDriveSafetyExtendedFunctionsInfoDataIn - FollowingAxis
Specifies the logical address for the communication with the drive.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data
in the cyclic message frame from the drive.

7-498

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

StructAxisFilterForceControlConfig - FollowingAxis
The filter at the output of the force controller is configured with the structure element 'FilterForceControl'.
T1
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Specifies the T1 time constant of the PT2 filter.

T2
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Specifies the T2 time constant of the PT2 filter.

_type
Data type:

EnumForceControllerFilterType

Changeable online:

Yes, active after restart

System default:

PT2

With 'PT2', a PT2 filter is selected.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

This data element activates the filter

EnumForceControllerFilterType
PT2 (909)

PT2

EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

7-499

FollowingAxis

StructAxisInvertFOutput - FollowingAxis
The structure element for 'InvertF' specifies the inversion of the F-output value in front of the characteristic.
invSetPoint
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status.

With 'NO', the F output value in front of the characteristic curve (logical manipulated variable) is output
unchanged.
With 'YES', the F output value in front of the characteristic curve (logical manipulated variable) is output inverted.
EnumYesNo
NO (91)

No

YES (173)

Yes

StructAxisInvertQOutput - FollowingAxis
The structure element for 'InvertQ' specifies the inversion of the Q-output value in front of the characteristic.
invSetPoint
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status.

With 'NO', the Q output value in front of the characteristic curve (logical manipulated variable) is output
unchanged.
With 'YES', the Q output value in front of the characteristic curve (logical manipulated variable) is output inverted.
EnumYesNo

7-500

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

StructAxisNistDriverConfig - FollowingAxis
The parameters for the actual speed value hardware are specified with the structure elements for
'NistDriverConfig' .
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the actual speed value.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

7-501

FollowingAxis

StructAxisOperatingDataInInfo - FollowingAxis
Specifies the configuration of the operating character data block.
enableActivePower
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the effective power display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableActualCurrent
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the actual current value display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableActualTorqueOrForce
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the torque / force actual value display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableMotorTemperature
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the motor temperature display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableTorqueOrForceUtilization
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the torque utilization display.

With 'NO', the display is not activated.
With 'YES', the display is activated.

7-502

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data
in the cyclic message frame from the drive.
EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

7-503

FollowingAxis

StructAxisPulsesEnabledConfig - FollowingAxis
The bit position for pulsesEnable is defined with the configuration data in 'StructAxisPulsesEnabledConfig'.
bitNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

13

Specifies the bit number for pulse enable.

pzdNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the PZD number for pulse enable.

StructAxisServoMonitoringConfig - FollowingAxis
The structure elements for 'ServoMonitoring' are used to set the activation status of the control loop
monitoring for activated limitation by the Q/P valve.
motionMonitoringWhenExternalForceLimiting
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Activation of the control loop monitoring with an active pressure limiting command.
With 'YES', the monitoring is active.
With 'NO', the monitoring is not active.
EnumYesNo

7-504

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

StructAxisSetpointFilter - FollowingAxis
The 'setpointFilter' structure element is used to configure a PT1 filter in the manipulated variable
branch.
T1
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the T1 time constant of the PT1 filter.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

This data element activates the filter

EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

7-505

FollowingAxis

StructAxisSlidingFriction - FollowingAxis
The structure elements of 'Sliding Friction' specify sliding friction compensation.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of friction torque compensation.

With 'NO', the sliding friction compensation is not activated.
With 'YES', the sliding friction compensation is activated.
factorForceControl
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01

Factor for the sliding friction compensation relative to the actual velocity when
traversing via force/pressure control.
factorMotionControl
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01

Factor for the sliding friction compensation relative to the setpoint velocity when
traversing via motion control.
maxSlidingFrictionForceControl
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the upper limit for the sliding friction component for pressure control.
EnumYesNo

7-506

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

StructAxisSpeedLimitation - FollowingAxis
Parameters for asymmetric manipulated variable limitation. This function is also referred to as a backstop.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the velocity range limit..

With 'NO', the velocity limit is not activated.
With 'YES', the velocity limit is activated.
maxSpeed
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 1/min

Specifies the upper limit for the manipulated variable range.

minSpeed
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 1/min

Specifies the lower limit for the manipulated variable range.

EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

7-507

FollowingAxis

StructAxisSwLimitConfig - FollowingAxis
The structure elements for 'SwLimit' are used to parameterize the efficiency and the approach functionality of the software limit switch.
modeSpecificMonitoring
Data type:

EnumAxisSwLimitModeSpecificMonitoring

Changeable online:

Yes, active after restart

System default:

IN_CLOSED_LOOP_POSITION_CONTROL

Specifies the approach behavior at the software limit switch.

monitoringAtMotionStart
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies whether a restriction to the software limit switch should take place at the motion start.
With a 'YES' setting, a check is performed at the beginning of the motion initiated by the command to
determine whether a software limit switch is crossed, and then the target position is adapted to the
software limit switch.
With a 'NO' setting, a check is not performed at the motion start.
relieveWindow
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Tolerance window for the retraction from/via the software limit switch.
EnumAxisSwLimitModeSpecificMonitoring
IN_CLOSED_LOOP_POSITION_CONTROL
(0)

Stop on the software limit switch only during

position-controlled traversing

IN_ALL_CONTROL_MODES (1)

Stop on the software limit switch in all operating

modes with mandatory switchover to position
control

EnumYesNo

7-508

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

StructAxisSystemDeadTimeData - FollowingAxis
The structure elements belonging to 'SystemDeadTimeData' allow the correction of system-related
dead times.
additionalTime
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0 s

Correction value for system-related dead times.

StructAxisTechnologicalData - FollowingAxis
The structure elements belonging to TechnologicalData are used to specify addresses for additional
data exchange between drive and control unit.
driveSafetyExtendedFunctionsEnabled
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation status of the SINAMICS Safety Integrated Extended Functions data.
With 'NO', the data are not activated.
With 'YES', the data are activated.
enable
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation status of the technological data.

With 'NO', the technology data are not activated.
With 'YES', the technology data are activated.
EnumYesNo
NO (91)

No

YES (173)

Yes

Associated parameters (maximum):

DriveSafetyExtendedFunctionsInfoDataIn
(StructAxisDriveSafetyExtendedFunctionsInfoDataIn)

Drive interface for SINAMICS Safety Integrated

Extended Functions data

OperatingDataInInfo
(StructAxisOperatingDataInInfo)

Drive interface for operating characteristics

TechnologicalDataInInfo
(StructAxisTechnologicalDataInInfo)

Drive interface for specific actual values

TechnologicalDataOutInfo
(StructAxisTechnologicalDataOutInfo)

Drive interface for specific setpoints

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FollowingAxis

StructAxisTechnologicalDataInInfo - FollowingAxis
Specifies the logical address for the communication with the drive.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of specific parameters in the cyclical message frame from
the drive.

StructAxisTechnologicalDataOutInfo - FollowingAxis
Specifies the logical address for the communication with the drive.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of specific parameters in the cyclical message frame to
the drive.

7-510

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FollowingAxis

StructCommandValueQuantization - FollowingAxis
The structure elements of 'CommandValueQuantization' are used to set the quantization filter.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the quantization filter.

With 'NO', the quantization filter is not activated.
With 'YES', the quantization filter is activated.
mode
Data type:

EnumCommandValueQuantizationMode

Changeable online:

No

System default:

REFER_TO_ACTUAL_SENSOR_VALUE_RES
OLUTION

Specifies the quantization mode.

With 'REFER_TO_ACTUAL_SENSOR_VALUE_RESOLUTION', the resolution of the current encoder
is the base value for quantization.
With 'DIRECT', the value specified in 'value' is the base value for quantization.
value
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0e-12 mm

Specifies the manipulated variable quantization.

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumCommandValueQuantizationMode
DIRECT (40)

Quantization to input value

REFER_TO_ACTUAL_SENSOR_VALUE_RES
OLUTION (936)

Quantization to current sensor

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FollowingAxis

StructControllerOutput - FollowingAxis
Configures the controller for a hydraulic axis.
outputType
Data type:

EnumAxisControllerOutput

Changeable online:

No

System default:

DIRECT_OUTPUT

Type of output interface.

With 'DIRECT_OUTPUT', the output takes place via the analog interface.
With 'DRIVE_INTERFACE', the output takes place via the onboard interface or via PROFIdrive.
EnumAxisControllerOutput
DIRECT_OUTPUT (1)

Analog interface

DRIVE_INTERFACE (2)

Onboard interface or PROFIdrive

Associated parameters (maximum):

7-512

DirectOutputDriverInfo
(StructDirectOutputDriverInfo)

Parameters of the analog driver

DriveInterfaceDriverInfo
(StructDriveInterfaceDriverInfo)

Parameters of the driver for the drive interface

EnableBit
(StructEnableBit)

Enable bit

InvertF
(StructAxisInvertFOutput)

Inversion of the F-output in front of the characteristic curve

InvertFOutput
(InvertSetPoint)

Inversion of the F-output behind the characteristic curve

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

StructDirectOutputDriverInfo - FollowingAxis
The structure elements of 'DirectOutputDriverInfo' are used to configure the controller for a hydraulic
axis.
format
Data type:

EnumActualValueFormat

Changeable online:

Yes, active after restart

System default:

VALUE_LEFT_MARGIN

Specifies the format of the actual value.

logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address.

maxOutputVoltage
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

10.0 V

Not used
resolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

15

Specifies the number of relevant bits.

EnumActualValueFormat
VALUE_RIGHT_MARGIN (0)

Right-justified

VALUE_LEFT_MARGIN (1)

Left-justified

VALUE_LEFT_MARGIN_WITHOUT_SIGN (2)

Left-justified without sign

VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3)

Right-justified without sign

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FollowingAxis

StructDriveInterfaceDriverInfo - FollowingAxis
The structure elements of 'DriveInterfaceDriverInfo' are used to configure the controller for a hydraulic
axis.
actorType
Data type:

EnumAxisDioActorType

Changeable online:

No

System default:

NO_TYPE

Specifies the type of drive.

With NO_TYPE, there is no interface specification.
With ANALOG, the interface is configured for analog drives.
With STEPMOTOR, the interface is configured for stepper motors.
lifeSignCheck
Data type:

EnumYesNo

Changeable online:

No

System default:

YES

Specifies the activation status of life sign monitoring.

With 'NO', the sign of life monitoring is not activated.
With 'YES', the sign of life monitoring is activated.
logAddressIn
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the input data area.

logAddressOut
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the output data area.

maxOutputVoltage
Data type:

LREAL

Changeable online:

No

System default:

10.0 V

Specifies the standard voltage on which the analog drive reaches its maximum speed.

7-514

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FollowingAxis

mode
Data type:

EnumAxisDriverMode

Changeable online:

No

System default:

SIMULATION

Specifies the type of drive interface.

With 'ONBOARD', an onboard analog interface is used.
With 'DPMASTER', an onboard PROFIBUS DP interface is used.
With 'SIMULATION', a drive interface is simulated.
outputNumberOnDevice
Data type:

DINT

Changeable online:

No

System default:

Reserved
telegramType
Data type:

EnumAxisTelegramType

Changeable online:

No

System default:

DP_TEL102_611U_POSCTRL_1_ENCODER

Specifies the PROFIBUS message frame type.

With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set
up.
With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set
up.
With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one
encoder) is set up.
With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with
two encoders) is set up.
With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives
with one encoder and DSC) is set up.
With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled
drives with two encoders and DSC) is set up.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7
for velocity-controlled drives without encoders is set up.
With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for
velocity-controlled drives with one encoder is set up.
With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for
velocity-controlled drives with two encoders is set up.
With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for
velocity-controlled drives with one encoder and DSC is set up.
With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for
velocity-controlled drives with two encoders and DSC is set up.
EnumAxisDioActorType
NO_TYPE (0)

No type

ANALOG (1)

Analog

STEPMOTOR (2)

Step mode

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FollowingAxis

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisDriverMode
SIMULATION (0)

Simulation

ONBOARD (1)

Onboard

DPMASTER (2)

DP Master

EnumAxisTelegramType

7-516

NO_TELEGRAM (0)

No message frame

DP_TEL1_STANDARD (1)

Standard message frame 1, PZD-2/2

DP_TEL2_STANDARD (2)

Standard message frame 2, PZD-4/4

DP_TEL3_STANDARD (3)

Standard message frame 3, PZD-5/9

DP_TEL4_STANDARD (4)

Standard message frame 4, PZD-6/14

DP_TEL5_STANDARD (5)

Standard message frame 5, PZD-9/9

DP_TEL6_STANDARD (6)

Standard message frame 6, PZD-10/14

DP_TEL81_STANDARD (81)

Standard message frame 81, PZD-2/6

DP_TEL83_STANDARD (83)

Standard message frame 83, PZD-2/8

DP_TEL101_611U_VELCTRL_NO_ENCODER
(101)

SIEMENS message frame 101, PZD-6/7

DP_TEL102_611U_POSCTRL_1_ENCODER
(102)

SIEMENS message frame 102, PZD-6/10

DP_TEL103_611U_POSCTRL_2_ENCODER
(103)

SIEMENS message frame 103, PZD-7/15

DP_TEL105_611U_DSC_1_ENCODER (105)

SIEMENS message frame 105, PZD-10/10

DP_TEL106_611U_DSC_2_ENCODER (106)

SIEMENS message frame 106/107, PZD-11/15

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

StructDriverInfoDirectIncremental - FollowingAxis
The parameters for the direct incremental encoder hardware are specified with the structure elements
for 'DriverInfoDirectIncremental' .
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the communication module.

resolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

16

Specifies the number of bits of the incremental encoder.

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7-517

FollowingAxis

StructEnableBit - FollowingAxis
The structure elements for 'EnableBit' can be used to configure an output bit for indicating the enables.
bitNumberOnDevice
Data type:

UDINT

Changeable online:

No

System default:

Specifies the I/O bit number within the I/O byte specified by the logical address.
enable
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies whether the output cam result is output.

With 'NO', the output bit is not used to display the enables.
With 'YES', the output bit is used to display the enables.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address.

EnumYesNo

7-518

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

StructExtrapolation - FollowingAxis
The structure elements belonging to 'Extrapolation' are used to set the extrapolation time on the master value axis.
extrapolatedVelocitySwitch
Data type:

EnumAxisExtrapolatedVelocitySwitch

Changeable online:

Yes, active immediately

System default:

DIFFERENTIATION

Used to select the velocity master value for master value extrapolation.
extrapolationTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time specification for extrapolation. With 0.0, there is no extrapolation.

EnumAxisExtrapolatedVelocitySwitch
DIFFERENTIATION (408)

Differentiation of extrapolated master value

TRANSFER (409)

Transfer of extrapolated velocity

Associated parameters (maximum):

ExtrapolationPositionFilter
(ExtrapolationPositionFilterType)

Filter for actual position

Filter
(StructExtrapolationFilter)

Filter for actual velocity

ToleranceRange
(StructToleranceRange)

Tolerance range

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7-519

FollowingAxis

StructExtrapolationFilter - FollowingAxis
The structure elements belonging to 'Filter' are used to set the filter for the actual velocity on the master value axis.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With 'NO', the filter functionality is deactivated.
With 'YES', the filter functionality is activated.
mode
Data type:

EnumAxisFilterMode

Changeable online:

Yes, active after restart

System default:

DEFAULT_MODE

Specifies criterion for actual value smoothing.

With 'DEFAULT_MODE', the actual speed is not smoothed.
With 'AVERAGING', an average over time is used.
With 'PT1', a filter set via 'timeConstant' is used.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisFilterMode

7-520

DEFAULT_MODE (0)

No filter

AVERAGING (1)

Form mean value

PT1 (2)

PT1 filter

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

StructLogAddressIoBitType - FollowingAxis
The structure elements of 'LogAddress' are used to set the logical address.
bitNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the bit number of the measuring input input.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies whether the indicated logical address should be used.

With NO, the logical address is not used.
With YES, the logical address is used.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical base address of the measuring input input.

EnumYesNo
NO (91)

No

YES (173)

Yes

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7-521

FollowingAxis

StructPaxDynamicQFData - FollowingAxis
The structure elements belonging to 'DynamicQFData' specify the dynamic data of the cascade control system.
positionTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1 s

Specifies the equivalent time constant of the position control system.

qOutputTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.00005 s

Specifies the equivalent time constant of the torque control system.

7-522

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FollowingAxis

StructPositionDifferenceMeasurement - FollowingAxis
The 'PositionDifferenceMeasurement' structure element is used to configure the parameters for the
differential position measurement.
invert
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies whether the sign of the differential value should be inverted.

With NO, the sign is not inverted.
With YES, the sign is inverted.
numberEncoderA
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the encoder number for detecting the A actual position.

numberEncoderB
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the encoder number for detecting the B actual position.

offset
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies an offset for the calculation with the difference value.

EnumYesNo
NO (91)

No

YES (173)

Yes

Associated parameters (maximum):

Filter
(Filter)

Differential value smoothing

Range
(Range)

Differential value limitation

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FollowingAxis

StructPressureDifferenceMeasurement - FollowingAxis
The structure element 'PressureDifferenceMeasurement' is used to configure the parameters for the
differential pressure measurement.
areaA
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

Specifies the area parameter for pressure sensor A.

areaB
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

Specifies the area parameter for pressure sensor B.

factor
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0

Specifies a normalization factor for the determined difference value.

invert
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the sign of the differential value should be inverted.

With NO, the sign is not inverted.
With YES, the sign is inverted.
numberSensorA
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the sensor number for detecting the pA pressure.

7-524

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FollowingAxis

numberSensorB
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the sensor number for detecting the pB pressure.

EnumYesNo
NO (91)

No

YES (173)

Yes

Associated parameters (maximum):

Filter
(Filter)

Differential value smoothing

Range
(Range)

Differential value limitation

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7-525

FollowingAxis

StructSensorDriverInfo - FollowingAxis
The elements of this structure are used to configure the I/O module of the additional encoder.
errorToleranceTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1 s

Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Data type:

EnumActualValueFormat

Changeable online:

Yes, active after restart

System default:

VALUE_LEFT_MARGIN

Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the communication module.

maxValue
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

32511

Specifies the maximum digitalized measured value for the additional encoder.
minValue
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

-32512

Specifies the minimal digitalized measured value for the additional encoder.

7-526

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FollowingAxis

resolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

15

Specifies the number of relevant bits for the additional encoder.

EnumActualValueFormat
VALUE_RIGHT_MARGIN (0)

Right-justified

VALUE_LEFT_MARGIN (1)

Left-justified

VALUE_LEFT_MARGIN_WITHOUT_SIGN (2)

Left-justified without sign

VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3)

Right-justified without sign

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7-527

FollowingAxis

StructToleranceRange - FollowingAxis
The structure elements belonging to 'ToleranceRange' are used to set a tolerance window around the
actual position of the master value axis.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Activation of the tolerance range.

With 'NO', the tolerance range is deactivated.
With 'YES', the tolerance range is activated.
value
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the tolerance window around the actual position value of the master axis.
EnumYesNo

7-528

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

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FollowingAxis

TypeOfAxisInfo - FollowingAxis
The structure elements of 'TypeOfAxis' specify the axis parameters.
typeOfAxis
Data type:

EnumAxisIdentification

Changeable online:

No

System default:

REAL_AXIS

Specifies the type of axis configured.

With REAL_AXIS, the axis is connected to a real process.
REAL_QFAXIS corresponds to an axis with quantity and force control.
REAL_QFAXIS_WITH_OPEN_LOOP_FORCE_CONTROL corresponds to an axis with open-loop
force control by way of a separate force/pressure limitation valve.
REAL_QFAXIS_WITH_CLOSED_LOOP_FORCE_CONTROL corresponds to an axis with closedloop force/pressure specification via Q-valve.
EnumAxisIdentification
REAL_AXIS (0)

Real electric axis

VIRTUAL_AXIS (1)

Virtual axis

REAL_AXIS_WITH_FORCE_CONTROL (2)

Real electric axis with force/pressure control

REAL_QFAXIS (3)

Real hydraulic axis (Q-valve)

REAL_QFAXIS_WITH_OPEN_LOOP_FORCE
_CONTROL (4)

Real hydraulic axis with force/pressure specification (Q-valve and P-valve)

REAL_QFAXIS_WITH_CLOSED_LOOP_FOR
CE_CONTROL (5)

Real hydraulic axis with force/pressure control

(Q-valve)

REAL_QFAXIS_WITH_OPEN_LOOP_FORCE
_CONTROL_ONLY (6)

Real hydraulic axis with force/pressure specification (P-valve)

REAL_AXIS_WITH_SIGNAL_OUTPUT (7)

Real electric axis with master value output via

encoder signal simulation

Associated parameters (maximum):

ActualAccelerationMonitoring
(ActualAccelerationMonitoring)

Actual acceleration monitoring

ActualVelocityMonitoring
(ActualVelocityMonitoring)

Actual velocity monitoring

AdditionalOffset
(StructAxisAdditionalOffset)

Offset injection for axis traversing with

motion/force control

CommandValueQuantization
(StructCommandValueQuantization)

Quantization filter

ControllerSwitchData
(ControllerSwitchData)

Digital inputs for pressure control

DecodingConfig
(DecodingConfig)

Command processing

DistributedMotion
(DistributedMotionInfo)

Distributed motion control

Drift
(Drift)

Drift compensation

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FollowingAxis

7-530

DriveControlConfig
(StructAxisDriveControlConfig)

Drive-related settings

EmergencyRampGenerator
(EmergencyRampGenerator)

Emergency ramp generator

Extrapolation
(StructExtrapolation)

Actual value smoothing

FOutput
(StructControllerOutput)

Manipulated variable interface for F output

FineInterpolator
(FineInterpolator)

Fine interpolator

ForceControlHeldValueMonitoring
(ForceControlHeldValueMonitoring)

Force/pressure end value monitoring

ForceControlRunningInWindowMonitoring
(ForceControlRunningInWindowMonitoring)

Force/pressure entry monitoring

Friction
(Friction)

Friction torque compensation

GearingPosTolerance
(GearingPosTolerance)

Monitoring of synchronous operation

HWEndPos
(HWEndPos)

Hardware limit switches

Homing
(Homing)

Homing

MaxAcceleration
(MaxAcceleration)

Maximum acceleration

MaxForceCommandData
(MaxForceCommandData)

Limitations for force/pressure setpoint

MaxJerk
(MaxJerk)

Maximum jerk

MaxVelocity
(MaxVelocity)

Maximum velocity

NeutralBand
(NeutralBand)

Neutral band compensation

NumberOfAdditionalSensors
(NumberOfAdditionalSensors)

Configured encoder of a force-controlled axis

NumberOfDataSets
(NumberOfDataSets)

Data records for the controller configuration

NumberOfEncoders
(NumberOfEncoders)

Configured encoder

PathSyncAxisPosTolerance
(PathSyncAxisPosTolerance)

Setpoint differential monitoring of synchronous

axis

PositionMonitoring
(PositionMonitoring)

Position monitoring

QOutput
(StructControllerOutput)

Manipulated variable interface for Q output

ServoMonitoring
(StructAxisServoMonitoringConfig)

Activate control loop monitoring with active pressure limiting command

SetPointDriverInfo
(SetPointDriverInfo)

Drive interface

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingAxis

SetpointFilter
(StructAxisSetpointFilter)

Manipulated variable filter

SlidingFriction
(StructAxisSlidingFriction)

Sliding friction compensation

SmoothingFilter
(SmoothingFilter)

Actual value smoothing

SpeedLimitation
(StructAxisSpeedLimitation)

Manipulated variable limitation

StandStillMonitoring
(StandStillMonitoring)

Standstill monitoring

StandStillSignal
(StandStillSignal)

Standstill signal

SwLimit
(StructAxisSwLimitConfig)

Software limit switches

SystemDeadTimeData
(StructAxisSystemDeadTimeData)

System-dependent dead times

TechnologicalData
(StructAxisTechnologicalData)

Drive interface for specific parameters

VelocityPositionProfile
(VelocityPositionProfile)

Settings for the v(s) profile

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7-531

FollowingAxis

VelocityPositionProfile - FollowingAxis
The structure elements for 'VelocityPositionProfile' set properties in velocity-position profiles.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
endPositionTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Tolerance for profile end detection.

7-532

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List Manual, 11/2010

FollowingObjectType
Associated parameters (maximum):
DecodingConfig (DecodingConfigInfo)
DistributedMotion (DistributedMotionInfo)
Execution (ExecutionConfigInfo)
Restart (RestartInfo)
SyncingMotion (SyncingMotionInfo)

DecodingConfigInfo - FollowingObjectType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
disableSynchronousOperation
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

With NO, the transmission of master values to the slave axis is suppressed when the enable signals
on the slave axis are cancelled.
With YES, the transmission of master values is maintained if the enables on the slave axis have been
removed during simulation mode of the synchronous object.
Any synchronous operation relationships that are present will be retained.
numberOfMaxBufferedCommandId
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

100

Specifies the maximum number of command IDs active simultaneously whose status can be requested at the end of the relevant command. A command ID is added to the list with the
_bufferFollowingObjectCommandId ST command. It is removed from the list with the
_removeBufferedFollowingObjectCommandId ST command.
EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

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FollowingObjectType

DistributedMotionInfo - FollowingObjectType
The structure elements for 'DistributedMotion' set the sign-of-life failure tolerance.
enableLifeSignMonitoring
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies life sign monitoring.

With 'NO', the sign of life monitoring is deactivated.
With 'YES', the sign of life monitoring is activated.
numberOfLifeSignFailures
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the maximum number of life sign failures tolerated.

EnumYesNo
NO (91)

No

YES (173)

Yes

ExecutionConfigInfo - FollowingObjectType
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
Note
Further information is provided:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Technology Objects Synchronous Operation, Cam Function Manual
Online help
executionlevel
Data type:

EnumToExecutionLevel

Changeable online:

Yes, active after restart

System default:

IPO

Specifies the task level at which the interpolator task of the technology object is running.
With IPO, the task is executed in the fast interpolator cycle clock.
With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel

8-534

IPO (0)

IPO

IPO_2 (1)

IPO_2

SERVO (2)

Servo

IPO_FAST (3)

IPO_fast

SERVO_FAST (4)

Servo_fast

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FollowingObjectType

RestartInfo - FollowingObjectType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or
just by command.
behaviorInvalidSysvarAccess
Data type:

EnumToInvalidSysvarAccess

Changeable online:

No

System default:

LAST_VALUE

If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP
mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology
object is restarted or deactivated.
The values stored in the image are supplied when system variables are accessed during the technology object restart or deactivation phase.
restartActivationSetting
Data type:

EnumToRestartActivationSetting

Changeable online:

Yes, active after restart

System default:

RESTART_BY_SYSVAR_AND_COMMAND

With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with

system variables and/or by command.
With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
DEFAULT_VALUE (2)

Supply substitute value from default value

STOP_DEVICE (3)

No substitute value, switch to STOP mode

LAST_VALUE (338)

Supply substitute value from last valid value

EnumToRestartActivationSetting
RESTART_BY_SYSVAR_AND_COMMAND (0)

Allow restart via system variable and/or command

RESTART_BY_COMMAND (1)

Allow restart only via command

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FollowingObjectType

SyncingMotionInfo - FollowingObjectType
The structure elements of 'SyncingMotion' specify the motion synchronization.
approachLeadingValue
Data type:

EnumFollowingObjectSyncMode

Changeable online:

Yes, active immediately

System default:

WITHOUT_DYNAMIC_RESTRICTION

Specifies the synchronization type; relevant only if the parameter 'syncProfileReference:=Synchronisierart LeadingValue'.
With WITHOUT_DYNAMIC_RESTRICTION, the synchronization process is calculated without consideration of the dynamic values.
With WITH_DYNAMIC_RESTRICTION, the synchronization process is calculated with consideration
of the dynamic values of the synchronous object.
camReferenceBySlaveModeRelative
Data type:

EnumCamReferenceBySlaveModeRelative

Changeable online:

Yes, active immediately

System default:

COMPATIBILITY_MODE

The parameter defines the placement position for the slave value in ratio to the cam
for relative camming.
With BEGIN_OF_CAM, the slave axis position corresponds to the cam initial value, the value range
change within the cam between the cam start point and the programmed cam start point moves during
the synchronization of the slave axis.
With SYNCPOSITION_AT_START_OF_CAMMING, the slave axis position corresponds to the programmed cam start value.
The behavior for TRANSFERRED corresponds to SYNCPOSITION_AT_START_OF_CAMMING for
the synchronization in standstill, BEGIN_OF_CAM for moving slave axis or moving master value.
directionDynamic
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the acceleration model.

With NO, the non-direction-related acceleration model is not used.
With YES, the direction-related acceleration model is used.
masterReversionTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the maximum master value reversal without aborting the synchronization process.

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List Manual, 11/2010

FollowingObjectType

maximumOfMasterChange
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

20.0 %

Specifies the master change.

Percentage for the maximum change of the master velocity, which is to be considered for the synchronization process.
When a master-axis-related synchronization profile is programmed, the synchronization profile is
recalculated when this limit is exceeded.
When a time-related synchronization profile with preceding synchronization is programmed, the dynamic values are violated when the limit is exceeded.
motionImpact
Data type:

EnumFollowingObjectMotionImpact

Changeable online:

No

System default:

STANDARD

Specifies the superimposition effect of this synchronous object.

overDriveFactor
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

100.0 %

Specifies a resonance factor for synchronization with increased dynamic response values.
smoothAbsoluteSynchronization
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

With YES, the synchronization is carried out according to the programmed velocity profile.
With NO, the synchronization of an absolute synchronous operation relationship is carried out with a
trapezoidal velocity profile. The profile settings on the synchronous object and on the synchronous
command are inactive.
synchronizingAdaption
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

YES

With YES, the dynamic response values required for the synchronization are adapted appropriately.
With NO, synchronization to the specified dynamic values always takes place.

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FollowingObjectType

velocityMode
Data type:

EnumFollowingObjectVelocityMode

Changeable online:

Yes, active immediately

System default:

CONTINUOUS

Selection of either continuous-velocity or non-continuous velocity transition. Only valid if approachLeadingValue has the value WITHOUT_DYNAMIC_RESTRICTION'.
With CONTINUOUS, the velocity-continuous transition is selected.
With NON_CONTINUOUS, the velocity-noncontinuous transition is selected.
EnumFollowingObjectSyncMode
WITHOUT_DYNAMIC_RESTRICTION (0)

Without dynamic restriction

WITH_DYNAMIC_RESTRICTION (1)

With dynamic restriction

EnumCamReferenceBySlaveModeRelative
COMPATIBILITY_MODE (0)

Slave axis position corresponds to the programmed cam start value at standstill, otherwise the
cam initial value

BEGIN_OF_CAM (1)

Slave axis position corresponds to the programmed cam initial value

POSITION_AT_START_OF_CAMMING (2)

Slave axis position corresponds to the cam initial

value

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumFollowingObjectMotionImpact
STANDARD (0)

No superimposing effect

SUPERIMPOSED_MOTION (1)

Superimposing effect

EnumFollowingObjectVelocityMode

8-538

CONTINUOUS (0)

Continuous velocity

NON_CONTINUOUS (1)

Non-continuous velocity

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

CamType
Associated parameters (maximum):
DecodingConfig (DecodingConfigInfo)
InterpolationSettings (StructCamInterpolationSettings)
InverseCamRepresentation (InverseCamRepresentationInfo)
Restart (RestartInfo)
Tolerance (ToleranceInfo)

DecodingConfigInfo - CamType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
Note
"Further information can be found in the TO Synchronous Operation, Cam Function Manual and in the
online help."
numberOfMaxBufferedCommandId
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

10

Specifies the maximum number of command IDs active simultaneously whose status can be requested at the end of the relevant command.
A command ID is added to the list with the ST command '_bufferCommandId'.
Removal from the list takes place with the ST command '_removeBufferedCommandId'.

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9-539

CamType

InverseCamRepresentationInfo - CamType
Cam inversion
camRepresentation
Data type:

EnumCamRepresentation

Changeable online:

Yes, active after restart

System default:

STANDARD

Inverted representation of cam

followingRangeApproximationLimit
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0e-5

Slave axis iteration limit

leadingRangeApproximationLimit
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0e-5

Master axis iteration limit

maximumIterationLimit
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

50

Maximum number of iteration cycles

EnumCamRepresentation

9-540

STANDARD (0)

Not inverted

STANDARD_AND_INVERSE (1)

Inverted

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

CamType

RestartInfo - CamType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or
just by command.
behaviorInvalidSysvarAccess
Data type:

EnumToInvalidSysvarAccess

Changeable online:

No

System default:

LAST_VALUE

If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP
mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology
object is restarted or deactivated.
The values stored in the image are supplied when system variables are accessed during the technology object restart or deactivation phase.
restartActivationSetting
Data type:

EnumToRestartActivationSetting

Changeable online:

Yes, active after restart

System default:

RESTART_BY_SYSVAR_AND_COMMAND

With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with

system variables and/or by command.
With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
DEFAULT_VALUE (2)

Supply substitute value from default value

STOP_DEVICE (3)

No substitute value, switch to STOP mode

LAST_VALUE (338)

Supply substitute value from last valid value

EnumToRestartActivationSetting
RESTART_BY_SYSVAR_AND_COMMAND (0)

Allow restart via system variable and/or command

RESTART_BY_COMMAND (1)

Allow restart only via command

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List Manual, 11/2010

9-541

CamType

StructCamInterpolationSettings - CamType
Interpolation settings
bSplineInterpolation
Data type:

EnumCamBSplineInterpolation

Changeable online:

Yes, active after restart

System default:

STANDARD

Type of the B spline interpolation

cSplineInterpolation
Data type:

EnumCamCSplineInterpolation

Changeable online:

Yes, active after restart

System default:

STANDARD

Type of the C spline interpolation

dataMode
Data type:

EnumCamDataMode

Changeable online:

Yes, active after restart

System default:

SEGMENTS_AND_POINTS

Construction of the cam from points and/or segments

maximumOfPoints
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Maximum number of points for the specification of a points table without segments (dataMode:=POINTS_ONLY).
EnumCamBSplineInterpolation
STANDARD (0)

Standard interpolation

WITHOUT_APPROXIMATION (1)

Interpolation without approximation

EnumCamCSplineInterpolation
STANDARD (0)

Standard interpolation

ADVANCED (1)

Interpolation over the complete curve

EnumCamDataMode

9-542

SEGMENTS_AND_POINTS (0)

Cam consists of points and segments

POINTS_ONLY (1)

Cam consists of points

SEGMENTS_ONLY (2)

Cam consists of segments

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

CamType

ToleranceInfo - CamType
Tolerance
equalDistance
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Defines when two values are to be treated as equal

zeroEnvironment
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0e-30

Zero definition
Associated parameters (maximum):
IterativeZeroEnvironment
(IterativeZeroEnvironment)

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CamType

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List Manual, 11/2010

Part II
TP Path

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Contents
Part II

TP Path

10

PathObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - PathObjectType . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - PathObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructPathArticulatedArm2DConfig - PathObjectType . . . . . . . . . . . . . .
StructPathArticulatedArm2DLinkCompensationConfig - PathObjectType
StructPathArticulatedArmKinematicsConfig - PathObjectType . . . . . . . .
StructPathArticulatedArmLinkCompensationConfig - PathObjectType. .
StructPathCartesianKinematicsConfig - PathObjectType . . . . . . . . . . . .
StructPathDecodingConfigInfo - PathObjectType . . . . . . . . . . . . . . . . . .
StructPathDelta2DKinematicsConfig - PathObjectType . . . . . . . . . . . . .
StructPathDelta3DKinematicsConfig - PathObjectType . . . . . . . . . . . . .
StructPathInterpolationConfigInfo - PathObjectType . . . . . . . . . . . . . . .
StructPathKinematicsConfig - PathObjectType. . . . . . . . . . . . . . . . . . . .
StructPathKinematicsOffsetConfig - PathObjectType . . . . . . . . . . . . . . .
StructPathPickerKinematicsConfig - PathObjectType. . . . . . . . . . . . . . .
StructPathRotaryArmKinematicsConfig - PathObjectType . . . . . . . . . . .
StructPathRotaryArmLinkCompensationA2 - PathObjectType . . . . . . . .
StructPathRotaryArmLinkCompensationA4 - PathObjectType . . . . . . . .
StructPathScaraKinematicsConfig - PathObjectType . . . . . . . . . . . . . . .
StructPathScaraLinkCompensationA2 - PathObjectType . . . . . . . . . . . .
StructPathScaraLinkCompensationA3 - PathObjectType . . . . . . . . . . . .
StructPathScaraLinkCompensationA4 - PathObjectType . . . . . . . . . . . .
StructPathSpecificKinematicsConfig - PathObjectType . . . . . . . . . . . . .

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11

PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsBackLash - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsEncoder - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsHomingEncoder - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ActualAccelerationMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . .
ActualVelocityMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptDrive - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptExtern - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdaptLoad - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorNumber - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
AnalogSensorType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AssemblyBase - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ClampingMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerDynamic - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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Contents

ControllerStruct - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ControllerSwitchData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DataSetMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DigitalInputMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DistributedMotionInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drift - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriveData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicComp - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DynamicFollowing - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EmergencyRampGenerator - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderMain - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EncoderNumber - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExtrapolationPositionFilterType - PathAxis . . . . . . . . . . . . . . . . . . . . . .
Filter - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FineInterpolator - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControlHeldValueMonitoring - PathAxis. . . . . . . . . . . . . . . . . . . .
ForceControlRunningInWindowMonitoring - PathAxis . . . . . . . . . . . . .
ForceControllerData - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ForceControllerDifference - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Friction - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Gear - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
GearingPosTolerance - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
HWEndPos - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncBackLash - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncEncoder - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncHomingEncoder - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - PathAxis. . . . . . . . . . . . . . . . . .
InversCountDirection - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPoint - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
InvertSetPointHydraulicType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
LeadScrewInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LinearMotorDriveData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LinearStepMotorDriveDataType - PathAxis . . . . . . . . . . . . . . . . . . . . .
MaxAcceleration - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxForceCommandData - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxJerk - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
MaxVelocity - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NeutralBand - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfAdditionalSensors - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDataSets - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfDigitalInputs - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NumberOfEncoders - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
OutputLimits - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PD_Controller - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID_ControllerForce - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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Contents

PID_ControllerPos - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PT2PositionFilterType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PV_Controller - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathAxisPosTolerance - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathPerRevolution - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathSyncAxisPosTolerance - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . .
PositionFilterType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PositionMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProcessModel - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Range - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolution - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartConditionInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamNegative - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ReverseCamPositive - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorNist - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorSetActualValue - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SetPointDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SimulationInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Slippage - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SmoothingFilter - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillMonitoring - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StateDriveExternalZeroMark - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorDriveDataType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StepMotorMonitoringType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisActualValueUpdateCounter - PathAxis . . . . . . . . . . . . . . . . .
StructAxisAdditionalOffset - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisAnalogSensorErrorStateMonitoring - PathAxis . . . . . . . . . . .
StructAxisAnalogSensorReadyStateMonitoring - PathAxis. . . . . . . . . .
StructAxisDriveControlConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - PathAxis. . . . . .
StructAxisFilterForceControlConfig - PathAxis . . . . . . . . . . . . . . . . . . .
StructAxisInvertFOutput - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisInvertQOutput - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisNistDriverConfig - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisOperatingDataInInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - PathAxis . . . . . . . . . . . . . . . . . . . . .
StructAxisServoMonitoringConfig - PathAxis . . . . . . . . . . . . . . . . . . . .
StructAxisSetpointFilter - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSlidingFriction - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSpeedLimitation - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSwLimitConfig - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisSystemDeadTimeData - PathAxis. . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalData - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataInInfo - PathAxis . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataOutInfo - PathAxis . . . . . . . . . . . . . . . . . .
StructCommandValueQuantization - PathAxis . . . . . . . . . . . . . . . . . . .
StructControllerOutput - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructDirectOutputDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . .
StructDriveInterfaceDriverInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . .
StructDriverInfoDirectIncremental - PathAxis . . . . . . . . . . . . . . . . . . . .

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

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Contents

StructEnableBit - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolation - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolationFilter - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructLogAddressIoBitType - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . .
StructPaxDynamicQFData - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . .
StructPositionDifferenceMeasurement - PathAxis . . . . . . . . . . . . . . . .
StructPressureDifferenceMeasurement - PathAxis. . . . . . . . . . . . . . . .
StructSensorDriverInfo - PathAxis. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructToleranceRange - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TypeOfAxisInfo - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
VelocityPositionProfile - PathAxis . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

10

PathObjectType
Associated parameters (maximum):
DecodingConfig (StructPathDecodingConfigInfo)
Execution (ExecutionConfigInfo)
InterpolationConfig (StructPathInterpolationConfigInfo)
Kinematics (StructPathKinematicsConfig)
Restart (RestartInfo)

ExecutionConfigInfo - PathObjectType
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
Note
Further information is provided:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Technology Objects Synchronous Operation, Cam Function Manual
Online help
executionlevel
Data type:

EnumToExecutionLevel

Changeable online:

Yes, active after restart

System default:

IPO

Specifies the task level at which the interpolator task of the technology object is running.
With IPO, the task is executed in the fast interpolator cycle clock.
With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel
IPO (0)

IPO

IPO_2 (1)

IPO_2

SERVO (2)

Servo

IPO_FAST (3)

IPO_fast

SERVO_FAST (4)

Servo_fast

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

10-551

PathObjectType

RestartInfo - PathObjectType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or
just by command.
behaviorInvalidSysvarAccess
Data type:

EnumToInvalidSysvarAccess

Changeable online:

No

System default:

LAST_VALUE

If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP
mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology
object is restarted or deactivated.
The values stored in the image are supplied when system variables are accessed during the technology object restart or deactivation phase.
restartActivationSetting
Data type:

EnumToRestartActivationSetting

Changeable online:

Yes, active after restart

System default:

RESTART_BY_SYSVAR_AND_COMMAND

With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with

system variables and/or by command.
With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
DEFAULT_VALUE (2)

Supply substitute value from default value

STOP_DEVICE (3)

No substitute value, switch to STOP mode

LAST_VALUE (338)

Supply substitute value from last valid value

EnumToRestartActivationSetting

10-552

RESTART_BY_SYSVAR_AND_COMMAND (0)

Allow restart via system variable and/or command

RESTART_BY_COMMAND (1)

Allow restart only via command

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathObjectType

StructPathArticulatedArm2DConfig - PathObjectType
The structure elements of 'ArticulatedArm2DConfig' specify the parameters for the articulated armspecific 2D coordinate transformation.
config2D
Data type:

EnumPathKinematicsConfig2D

Changeable online:

Yes, active after restart

System default:

X_Y

Defines the programming level.

distanceA1A2
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0 mm

Defines the distance between A1 and A2.

The minimum distance between A1 and A2 that can be set depends on the available length resolution
on the path object!
distanceA2Endpoint
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0 mm

Defines the distance between A2 and AP.

The minimum distance between A2 and end point that can be set depends on the available length
resolution on the path object!
offsetA1
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Defines the angular offset at rotary joint A1.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

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PathObjectType

offsetA2
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Defines the angular offset at rotary joint A2.

EnumPathKinematicsConfig2D
X_Y (0)

xy plane

Y_Z (1)

yz plane

Z_X (2)

zx plane

Associated parameters (maximum):

10-554

BasicOffset
(StructPathKinematicsOffsetConfig)

Path zero offset to axis zero

LinkCompensation
(StructPathArticulatedArm2DLinkCompensation
Config)

Compensation of link dependencies

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathObjectType

StructPathArticulatedArm2DLinkCompensationConfig - PathObjectType
The structure elements of 'LinkCompensation' specify the parameters for compensation of link dependencies.
enableA1A2
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether compensation of link dependencies should occur between A1 and A2.
factorA1A2
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

When compensation is activated between A1 and A2, the product of A1 and factor A1A2 is added to
angle A2.
EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

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PathObjectType

StructPathArticulatedArmKinematicsConfig - PathObjectType
The structure elements of 'ArticulatedArmKinematics' specify the parameters for the articulated armspecific coordinate transformation.
distanceA1A2
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0 mm

Defines the distance between A1 and A2.

distanceA2A3
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0 mm

Defines the distance between A2 and A3.

The minimum distance between A2 and A3 that can be set depends on the available length resolution
on the path object!
distanceA3Endpoint
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0 mm

Defines the distance between A3 and EP.

The minimum distance between A3 and end point that can be set depends on the available length
resolution on the path object!
offsetA1
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Defines the angular offset at rotary joint A1.

offsetA2
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Defines the angular offset at rotary joint A2.

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SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathObjectType

offsetA3
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Defines the angular offset at rotary joint A3.

Associated parameters (maximum):
BasicOffset
(StructPathKinematicsOffsetConfig)

Path zero offset to axis zero

LinkCompensation
(StructPathArticulatedArmLinkCompensationConfig)

Compensation of link dependencies

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

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PathObjectType

StructPathArticulatedArmLinkCompensationConfig - PathObjectType
The structure elements of 'LinkCompensation' specify the parameters for compensation of link dependencies.
enableA2A3
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether compensation of link dependencies should occur between A2 and A3.
factorA2A3
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

When compensation is activated between A2 and A3, the product of A2 and factor A2A3 is added to
angle A3.
EnumYesNo

10-558

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathObjectType

StructPathCartesianKinematicsConfig - PathObjectType
The structure elements of 'CartesianKinematics' specify the parameters for the Cartesian coordinate
transformation.
cartesianKinematicsType
Data type:

EnumPathCartesianKinematicsType

Changeable online:

Yes, active after restart

System default:

_2D

Defines whether the transformation operates in the plane or in space. With _2D, the transformation
takes place with the first two interconnected axes in the plane. With _3D, the transformation takes
place with the first three interconnected axes in space.
config2D
Data type:

EnumPathKinematicsConfig2D

Changeable online:

Yes, active after restart

System default:

X_Y

Defines the programming plane for two path axes.

Only relevant for 'cartesianKinematicsType:=_2D'.
EnumPathCartesianKinematicsType
_2D (0)

2D programming in a plane

_3D (1)

3D programming in space

EnumPathKinematicsConfig2D
X_Y (0)

xy plane

Y_Z (1)

yz plane

Z_X (2)

zx plane

Associated parameters (maximum):

BasicOffset
(StructPathKinematicsOffsetConfig)

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Path zero offset to axis zero

10-559

PathObjectType

StructPathDecodingConfigInfo - PathObjectType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
disablePathOperation
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

With NO, the setpoint calculation on the path object is terminated with an error if the axis enables are
removed.
With YES, the setpoint calculation on the path object is maintained if the enables on the axes have
been removed during simulation mode of the path object.
maximalBufferedMotionCommands
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

Specifies the maximum size of the sequential command buffer.

numberOfMaxBufferedCommandId
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

100

Specifies the maximum number of command IDs active simultaneously whose status can be requested at the end of the relevant command. A command ID is included in the list with the ST command
_bufferPathObjectCommandId. It is removed from the list with the
_removeBufferedPathObjectCommandId ST command.
positionIndication
Data type:

EnumPathPositionIndication

Changeable online:

Yes, active immediately

System default:

INCREMENT_BASED

With INCREMENT_BASED, information functions accept and provide their inputs and results with the
resolution of increments of the path object.
With NON_INCREMENT_BASED, the information functions with position reference do not use the
increment resolution of the path object but more exact.
The increment resolution of the path object is defined in the unit configuration.
EnumYesNo
NO (91)

No

YES (173)

Yes

EnumPathPositionIndication

10-560

INCREMENT_BASED (0)

Increment-exact position

NON_INCREMENT_BASED (1)

Exact position

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathObjectType

StructPathDelta2DKinematicsConfig - PathObjectType
The structure elements of 'Delta2DKinematics' specify the parameters for the Delta2D coordinate
transformation.
config2D
Data type:

EnumPathKinematicsConfig2D

Changeable online:

Yes, active after restart

System default:

X_Y

Defines the programming plane for two path axes.

distanceD1
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0 mm

Defines the symmetric distance of the drive axes from the zero point of the kinematic structure.
distanceD2
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0 mm

Defines the symmetric distance of auxiliary axes A3 and A4 (mechanical interface of segments 2 to
the joint) from the end position of the kinematic structure.
length1
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0 mm

Defines the length of segment 1 (upper arm).

The minimum length of segment 1 that can be set depends on the available length resolution on the
path object!
length2
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0 mm

Defines the length of segment 2 (lower arm).

The minimum length of segment 2 that can be set depends on the available length resolution on the
path object!

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

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PathObjectType

offsetA1
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Defines the angular offset on drive axis A1.

offsetA2
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Defines the angular offset on drive axis A2.

EnumPathKinematicsConfig2D
X_Y (0)

xy plane

Y_Z (1)

yz plane

Z_X (2)

zx plane

Associated parameters (maximum):

BasicOffset
(StructPathKinematicsOffsetConfig)

10-562

Path zero offset to axis zero

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathObjectType

StructPathDelta3DKinematicsConfig - PathObjectType
The structure elements of 'Delta3DKinematics' specify the parameters for the Delta3D coordinate
transformation.
angleArm1ToX
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Defines the angular offset of arm M1-A1-A4 with respect to the positive x-axis for rotation around the
positive z-axis.
The maximum angular offset that can be set depends on the available angular resolution on the path
object!
angleArm2ToArm1
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

120.0

Defines the angular offset of arm M2-A2-A5 with respect to arm M1-A1-A4 for rotation around the positive z-axis.
The minimum and the maximum angular offset that can be set depend on the available angular resolution on the path object!
angleArm3ToArm1
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

-120.0

Defines the angular offset of arm M3-A3-A6 with respect to arm M1-A1-A4 for rotation around the positive z-axis.
The minimum and the maximum angular offset that can be set depend on the available angular resolution on the path object!
distanceD1
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0 mm

Defines the symmetric distance of the drive axes from the zero point of the kinematic structure.
distanceD2
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0 mm

Defines the symmetric distance of auxiliary axes A4 to A6 (mechanical interface of segments 2 to the
joint) from the end position of the kinematic structure.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

10-563

PathObjectType

length1
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0 mm

Defines the length of segment 1 (upper arm).

The minimum length of segment 1 that can be set depends on the available length resolution on the
path object!
length2
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0 mm

Defines the length of segment 2 (lower arm).

The minimum length of segment 2 that can be set depends on the available length resolution on the
path object!
offsetA1
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Defines the angular offset on drive axis A1.

offsetA2
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Defines the angular offset on drive axis A2.

offsetA3
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Defines the angular offset on drive axis A3.

Associated parameters (maximum):
BasicOffset
(StructPathKinematicsOffsetConfig)

10-564

Path zero offset to axis zero

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathObjectType

StructPathInterpolationConfigInfo - PathObjectType
The structure elements of 'InterpolationConfig' specify the parameters for the path interpolation.
blendingAcceleration
Data type:

EnumPathObjectBlendingAcceleration

Changeable online:

Yes, active immediately

System default:

REDUCTION_TO_ZERO

With REDUCTION_TO_ZERO, the blending is made with the condition a=0 at the blending point.
With WITHOUT_REDUCTION, the blending is possible without the boundary condition a=0.
EnumPathObjectBlendingAcceleration
REDUCTION_TO_ZERO (0)

Blending with boundary condition a=0

WITHOUT_REDUCTION (1)

Blending without boundary condition a=0

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

10-565

PathObjectType

StructPathKinematicsConfig - PathObjectType
The structure elements of 'Kinematics' specify the parameters for coordinate transformation.
typeOfKinematics
Data type:

EnumPathKinematicsType

Changeable online:

No

System default:

CARTESIAN

Specifies the type of configured kinematics.

EnumPathKinematicsType
CARTESIAN (0)

Cartesian

ROLL_PICKER (1)

Roll picker

SCARA (2)

Scara

ARTICULATED_ARM (3)

Articulated arm

DELTA_2D_PICKER (4)

Delta2D picker

DELTA_3D_PICKER (5)

Delta3D picker

SPECIFIC (6)

Specific

ROTARY_ARM (7)

Swivel arm

ARTICULATED_ARM_2D (8)

2-axis articulated arm

Associated parameters (maximum):

10-566

ArticulatedArm2DConfig
(StructPathArticulatedArm2DConfig)

2-axis articulated arm kinematics

ArticulatedArmConfig
(StructPathArticulatedArmKinematicsConfig)

Articulated arm kinematics

CartesianConfig
(StructPathCartesianKinematicsConfig)

Cartesian kinematics

Delta2DConfig
(StructPathDelta2DKinematicsConfig)

Delta2D kinematics

Delta3DConfig
(StructPathDelta3DKinematicsConfig)

Delta3D kinematics

PickerConfig
(StructPathPickerKinematicsConfig)

Picker kinematics

RotaryArmConfig
(StructPathRotaryArmKinematicsConfig)

Swivel arm kinematics

ScaraConfig
(StructPathScaraKinematicsConfig)

Scara Kinematics

SpecificConfig
(StructPathSpecificKinematicsConfig)

User transformation

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathObjectType

StructPathKinematicsOffsetConfig - PathObjectType
The structure elements for 'BasicOffset' specify an axis zero offset to the path zero.
pitch
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Specifies the rotation of the Y axis of the base to the Y axis of the path.
The maximum angle that can be set depends on the available angular resolution on the path object!
roll
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Specifies the rotation of the X axis of the base to the X axis of the path.
The maximum angle that can be set depends on the available angular resolution on the path object!
x
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0 mm

Defines the axis zero offset to the path zero in direction x.

y
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0 mm

Defines the axis zero offset to the path zero in direction y.

yaw
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Specifies the rotation of the Z axis of the base to the Z axis of the path.
The maximum angle that can be set depends on the available angular resolution on the path object!
z
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0 mm

Defines the axis zero offset to the path zero in direction z.

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PathObjectType

StructPathPickerKinematicsConfig - PathObjectType
The structure elements of 'PickerKinematics' specify the parameters for the picker-specific coordinate
transformation.
config2D
Data type:

EnumPathKinematicsConfig2D

Changeable online:

Yes, active after restart

System default:

X_Y

Defines the programming plane for two path axes.

Only relevant for two interconnected axes.
radius1
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0 mm

Defines the disk radius on the first drive axis. This is in the direction of the negative X axis of the kinematics-specific coordinate system.
The minimum radius that can be set depends on the available length resolution on the path object!
radius2
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0 mm

Defines the disk radius on the second drive axis. This is in the direction of the positive X axis of the
kinematics-specific coordinate system.
The minimum radius that can be set depends on the available length resolution on the path object!
EnumPathKinematicsConfig2D
X_Y (0)

xy plane

Y_Z (1)

yz plane

Z_X (2)

zx plane

Associated parameters (maximum):

BasicOffset
(StructPathKinematicsOffsetConfig)

10-568

Path zero offset to axis zero

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathObjectType

StructPathRotaryArmKinematicsConfig - PathObjectType
The structure elements of 'RotaryArmKinematics' specify the parameters for the swivel-arm-specific
coordinate transformation.
config2D
Data type:

EnumPathKinematicsConfig2D

Changeable online:

Yes, active after restart

System default:

X_Y

Defines the programming level.

distanceA1Endpoint
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0 mm

Defines the distance between A1 and the end position.

offsetA1
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Defines the angular offset at rotary joint A1.

EnumPathKinematicsConfig2D
X_Y (0)

xy plane

Y_Z (1)

yz plane

Z_X (2)

zx plane

Associated parameters (maximum):

BasicOffset
(StructPathKinematicsOffsetConfig)

Path zero offset to axis zero

LinkCompensationA2
(StructPathRotaryArmLinkCompensationA2)

Compensation of link dependencies on axis A2

LinkCompensationA4
(StructPathRotaryArmLinkCompensationA4)

Compensation of link dependencies on axis A4

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PathObjectType

StructPathRotaryArmLinkCompensationA2 - PathObjectType
The structure elements of 'LinkCompensationA2' specify parameters for the compensation of link
dependencies.
enableA4A2
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether compensation of link dependencies should occur between A4 and A2.
factorA4A2
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

10.0

When compensation is activated between A4 and A2, the product of A4 and factor A4A2 is added to
linear axis A2. The factor A4A2 is specified as a leadscrew pitch (user unit of linear axis A2, e.g. millimeters, per revolutions of rotary axis A4). The rotation is interpreted as rotation in the angle unit set
on the path object. Because the standard coupling to the A4 axis is made in numeric values, we
recommend the identical setting of the angle and the axis unit.
This compensation uses the value of A4, which results from the calculation of the compensation between A1 and A4.
EnumYesNo

10-570

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathObjectType

StructPathRotaryArmLinkCompensationA4 - PathObjectType
The structure elements of 'LinkCompensationA4' specify parameters for the compensation of link
dependencies.
enableA1A4
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether compensation of link dependencies should occur between A1 and A4.
factorA1A4
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

When compensation is activated between A1 and A4, the product of A1 and factor A1A4 is subtracted
from angle A4.
EnumYesNo
NO (91)

No

YES (173)

Yes

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PathObjectType

StructPathScaraKinematicsConfig - PathObjectType
The structure elements of 'ScaraKinematics' specify the parameters for the scara-specific coordinate
transformation.
distanceA1A2
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0 mm

Defines the distance between A1 and A2.

The minimum distance between A1 and A2 that can be set depends on the available length resolution
on the path object!
distanceA2Endpoint
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0 mm

Defines the distance between A2 and the end position.

offsetA1
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Defines the angular offset at rotary joint A1.

offsetA2
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Defines the angular offset at rotary joint A2.

Associated parameters (maximum):

10-572

BasicOffset
(StructPathKinematicsOffsetConfig)

Path zero offset to axis zero

LinkCompensationA2
(StructPathScaraLinkCompensationA2)

Compensation of link dependencies on axis A2

LinkCompensationA3
(StructPathScaraLinkCompensationA3)

Compensation of link dependencies on axis A3

LinkCompensationA4
(StructPathScaraLinkCompensationA4)

Compensation of link dependencies on axis A4

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathObjectType

StructPathScaraLinkCompensationA2 - PathObjectType
The structure elements of 'LinkCompensationA2' specify parameters for the compensation of link
dependencies.
enableA1A2
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether compensation of link dependencies should occur between A1 and A2.
factorA1A2
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

When compensation is activated between A1 and A2, the product of A1 and factor A1A2 is added to
angle A2.
EnumYesNo
NO (91)

No

YES (173)

Yes

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PathObjectType

StructPathScaraLinkCompensationA3 - PathObjectType
The structure elements of 'LinkCompensationA3' specify parameters for the compensation of link
dependencies.
enableA4A3
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether compensation of link dependencies should occur between A4 and A3.
factorA4A3
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

10.0

When compensation is activated between A4 and A3, the product of A4 and factor A4A3 is added to
linear axis A3. The factor A4A3 is specified as a leadscrew pitch (user unit of linear axis A3, e.g. millimeters, per revolutions of rotary axis A4). The rotation is interpreted as rotation in the angle unit set
on the path object. Because the standard coupling to the A4 axis is made in numeric values, we
recommend the identical setting of the angle and the axis unit.
This compensation uses the value of A4, which results from the calculation of the compensation between A1 and A4, as well as A2 and A4.
EnumYesNo

10-574

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathObjectType

StructPathScaraLinkCompensationA4 - PathObjectType
The structure elements of 'LinkCompensationA4' specify parameters for the compensation of link
dependencies.
enableA1A4
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether compensation of link dependencies should occur between A1 and A4.
enableA2A4
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether compensation of link dependencies should occur between A2 and A4.
factorA1A4
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

When compensation is activated between A1 and A4, the product of A1 and factor A1A4 is subtracted
from angle A4.
factorA2A4
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

When compensation is activated between A2 and A4, the product of A2 and factor A2A4 is subtracted
from angle A4. This case uses the value of A2, which results from the calculation of the compensation
between A1 and A2.
EnumYesNo
NO (91)

No

YES (173)

Yes

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PathObjectType

StructPathSpecificKinematicsConfig - PathObjectType
The structure elements of 'SpecificKinematics' specify the type and the parameters for the user-specific coordinate transformation.
parameter
Data type:

ARRAY [1..32] OF LREAL

Changeable online:

Yes, active after restart

System default:

[0..31] = 0.0

Defines the parameters for the transformation.

specTrafoID
Data type:

UDINT

Changeable online:

No

System default:

Identifies the user-specific coordinate transformation to be used.

10-576

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11

PathAxis
Associated parameters (maximum):
Execution (ExecutionConfigInfo)
LeadScrew (LeadScrewInfo)
Modulo (ModuloInfo)
Restart (RestartInfo)
RestartCondition (RestartConditionInfo)
Simulation (SimulationInfo)
TypeOfAxis (TypeOfAxisInfo)

AbsBackLash - PathAxis
The structure elements of 'AbsBackLash' specify the backlash compensation for the absolute encoder.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
_type
Data type:

EnumBackLashType

Changeable online:

Yes, active immediately

System default:

POSITIVE

Specifies the direction in which backlash compensation is calculated.

With 'POSITIVE', the backlash compensation is applied in the positive direction.
With 'NEGATIVE', the backlash compensation is applied in the negative direction.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the monitoring mode for backlash compensation on the absolute encoder.
With 'NO', the backlash compensation is not enabled.
With 'YES', the backlash compensation is enabled.
length
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the backlash compensation value.

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PathAxis

startUpDifference
Data type:

EnumBackLashDiff

Changeable online:

Yes, active immediately

System default:

DIFF_POSITIVE

Specifies the preferred orientation for backlash compensation.

With POSITIVE_DIRECTION, the backlash compensation is applied in the positive direction during
the first traversing motion.
With NEGATIVE_DIRECTION, the backlash compensation is applied in the negative direction during
the first traversing motion.
velocity
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm/s

Specifies the velocity at which backlash compensation is stopped. If the value is 0, the backlash is
calculated without limits.
EnumBackLashType
POSITIVE (0)

positive

NEGATIVE (1)

negative

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumBackLashDiff

11-578

DIFF_POSITIVE (0)

positive

DIFF_NEGATIVE (1)

negative

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

AbsEncoder - PathAxis
The structure elements of 'AbsEncoder' specify the parameters for an absolute encoder.
Note
Further information about the following parameters and on fine resolution can be found in
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
or in the online help
absBaudRate
Data type:

EnumAbsBaudrate

Changeable online:

No

System default:

Baudrate_3

Specifies the baud rate data for detecting the actual value of the absolute encoder.
Baudrate_5 sets a baud rate of 3 Mbaud.
Baudrate_4 sets a baud rate of 1.5 Mbaud.
Baudrate_3 sets a baud rate of 750 Kbaud.
Baudrate_2 sets a baud rate of 375 Kbaud.
Baudrate_1 sets a baud rate of 187.5 Kbaud.
absDataLength
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

24

Specifies the number of data bits of the absolute encoder range (packet length).
The number of data bits is calculated from the number of steps per revolution multiplied by the number
of revolutions.
For example: 2048 incr./rev. * rev.= data bit length 23
absMessageFormat
Data type:

EnumAbsMsgFormat

Changeable online:

No

System default:

PINETREE

Specifies a message frame format for the absolute encoder.

With RIGHT_MARGIN, the protocol format is right-justified.
With PINETREE, the pine tree format is selected.
absMessageLength
Data type:

EnumAbsMsgLength

Changeable online:

No

System default:

LENGTH_25

Specifies the message frame length for detecting the actual value of the absolute encoder.
With LENGTH_13, a protocol length of 13 bits is selected.
With LENGTH_21, a protocol length of 21 bits is selected.
With LENGTH_25, a protocol length of 25 bits is selected.

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11-579

PathAxis

absResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

4096

Specifies the number of increments per encoder revolution specified on the encoder rating plate.
absResolutionMultiplierAbsolute
Data type:

UDINT

Changeable online:

No

System default:

Specifies the multiplication factor of the actual value of the absolute encoder.
Evaluation of the absolute encoder during request by the absolute encoder (GxIST2).
absResolutionMultiplierCyclic
Data type:

UDINT

Changeable online:

No

System default:

Specifies the multiplication factor of the cyclic actual value of the encoder.
Evaluation of the incremental signal of the absolute encoder during operation (GxIST1).
absState
Data type:

EnumAbsState

Changeable online:

No

System default:

GRAY_CODE

Specifies a protocol format for the actual value of the absolute encoder.
With BIN_CODE, a binary code is selected.
With GRAY_CODE, GRAY code is selected.

11-580

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PathAxis

enableAbsMonitoring
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

YES

Specifies the monitoring mode of the permissible changes of the actual value for the absolute encoder.
With YES (system default), monitoring of the permissible changes of the actual value for the absolute
encoder is activated.
Actual value changes of the absolute encoder greater than or equal to the possible change in accordance with the maximum velocity (maxVelocity.maximum) are limited to the change in accordance
with the current velocity, i.e. the velocity of the previous cycle.
Incorrect actual values, e.g. due to transmission errors, are adjusted.
If the actual value changes are impermissibly high in 5 subsequent cycles, alarm 20005, reason 0, is
issued.
With NO, monitoring of the permissible changes of the actual value for the absolute encoder is not
activated, i.e., incorrect actual values due to transmission errors, for example, are also not changed
and processed as they are.
No technological alarm is issued.
Note
Switch the monitoring function off at your own risk.
After the deactivation of the monitoring, it can no longer be guaranteed that the magnitude of the calculated velocity lies within the limits defined by the user.
The position and the velocity and all derived quantities are also displayed and processed also taking
account of any measured values recognized as being incorrect (control, stop ramps, interpolations,
positioning).
EnumAbsBaudrate
Baudrate_5 (16#01)

3 Mbaud

Baudrate_4 (16#02)

1.5 Mbaud

Baudrate_3 (16#04)

750 Kbaud

Baudrate_2 (16#08)

375 Kbaud

Baudrate_1 (16#10)

187.5 Kbaud

EnumAbsMsgFormat
RIGHT_MARGIN (0)

Right-justified

PINETREE (1)

Pine tree format

EnumAbsMsgLength
LENGTH_13 (13)

13 bits

LENGTH_21 (21)

21 bits

LENGTH_25 (25)

25 bits

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11-581

PathAxis

EnumAbsState
BIN_CODE (16#00)

Binary

GRAY_CODE (16#01)

Gray Code

EnumYesNo

11-582

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

AbsHomingEncoder - PathAxis
The structure elements of 'AbsHomingEncoder' specify the synchronization data for an absolute encoder.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
absShift
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the offset of the absolute encoder.

setOffsetOfAbsoluteEncoder
Data type:

EnumAbsoluteRelative

Changeable online:

Yes, active after restart

System default:

RELATIVE

Specifies the effect of the absolute encoder offset set in the 'absshift' configuration data (V3.2 and higher).
With RELATIVE, the offset is set as an addition (default response).
Actual axis value = actual encoder value + (previous offset already in effect + absshift)
(new) offset = previous offset + absshift
'absshift' is added to the existing absolute encoder offset whenever the _homing() function is called.
With ABSOLUTE, the offset is set as an absolute value (V3.2 and higher).
'absshift' is set as the absolute encoder offset whenever the _homing() function is called.
Actual axis value = actual encoder value + absshift
EnumAbsoluteRelative
ABSOLUTE (1)

Absolute

RELATIVE (115)

Relative

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11-583

PathAxis

ActualAccelerationMonitoring - PathAxis
The structure elements of 'ActualAccelerationMonitoring' specify the monitoring of actual acceleration.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Activation of actual acceleration monitoring.

maximum
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 m/min

Maximum actual acceleration.

EnumYesNo

11-584

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

ActualVelocityMonitoring - PathAxis
The structure elements of 'ActualVelocityMonitoring' specify the monitoring mode for the maximum
actual velocity.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the monitoring mode for the maximum actual velocity.

With NO, monitoring of the actual velocity does not take place.
With YES, the actual velocity is monitored for the maximum permissible value.
When the maximum value is exceeded, the system variable 'sensordata.sensormonitoring.velocity' is
output as 'limitexceeded'.
The velocity is not limited to this value.
maximum
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm/s

Specifies the maximum permissible actual velocity.

EnumYesNo
NO (91)

No

YES (173)

Yes

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PathAxis

AdaptDrive - PathAxis
The structure elements of 'AdaptDrive' specify the gear ratio parameters for drive-mounted encoders.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
denFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the denominator of the gear ratio for a measuring gear.

numFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the numerator of the gear ratio for a measuring gear.

AdaptExtern - PathAxis
The structure elements of 'AdaptExtern' specify the gear ratio parameters for the EXTERN mounting
type.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
denFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the denominator of the gear ratio for a measuring gear.

numFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the numerator of the gear ratio for a measuring gear.

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PathAxis

AdaptLoad - PathAxis
The structure elements of 'AdaptLoad' specify the gear ratio parameters for load-side encoders.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
denFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the denominator of the gear ratio for a measuring gear.

numFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the numerator of the gear ratio for a measuring gear.

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PathAxis

AdditionalSensorDriverInfo - PathAxis
The elements of this structure are used to configure the I/O module of an encoder.
errorToleranceTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1 s

Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Data type:

EnumActualValueFormat

Changeable online:

Yes, active after restart

System default:

VALUE_LEFT_MARGIN

Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the communication module.

maxValue
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

32511

Specifies the maximum digitalized measured value for the additional encoder.
minValue
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

-32512

Specifies the minimal digitalized measured value for the additional encoder.

11-588

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PathAxis

resolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

15

Specifies the number of relevant bits for the additional encoder.

EnumActualValueFormat
VALUE_RIGHT_MARGIN (0)

Right-justified

VALUE_LEFT_MARGIN (1)

Left-justified

VALUE_LEFT_MARGIN_WITHOUT_SIGN (2)

Left-justified without sign

VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3)

Right-justified without sign

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PathAxis

AdditionalSensorMain - PathAxis
The structure element 'AdditionalSensor' is used to configure an additional encoder.
additionalSensorType
Data type:

EnumAxisAdditionalSensorType

Changeable online:

No

System default:

STANDARD

Specifies the interpretation of the encoder values.

With STANDARD, the digitalized measured value is interpreted as an absolute actual force/pressure
value of an individual encoder.
With PRESSURE_DIFFERENCE_MEASUREMENT, the differential pressure measurement between
two different encoders is set.
With SET_ACTUAL_VALUE, the value is specified with a system variable.
interfaceActivation
Data type:

EnumAxisInterfaceActivationConfig

Changeable online:

No

System default:

STARTUP_ACTIVATED

Specification to activate the digitized measured values.

With STARTUP_ACTIVATED the driver is activated on the technology object following system startup.
With STARTUP_DEACTIVATED the driver is deactivated on the technology object following system
startup.
EnumAxisAdditionalSensorType
STANDARD (0)

Pressure measurement

PRESSURE_DIFFERENCE_MEASUREMENT
(1)

Differential pressure measurement

SET_ACTUAL_VALUE (2)

Actual pressure value via system variable

EnumAxisInterfaceActivationConfig
STARTUP_DEACTIVATED (942)

Deactivated after startup

STARTUP_ACTIVATED (943)

Active after startup

Associated parameters (maximum):

11-590

ConversionData
(ConversionData)

Interpretation of the encoder values

DriverInfo
(AdditionalSensorDriverInfo)

Analog input module

Filter
(Filter)

Filter for actual value smoothing

PressureDifferenceMeasurement
(StructPressureDifferenceMeasurement)

Parameters for differential pressure measurement

Range
(Range)

Definition range of the encoder values

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

AdditionalSensorNumber - PathAxis
The structure element 'AdditionalSensorNumber' is used to configure the assignment of data set to
additional encoder.
number
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the encoder number.

AnalogConversionDataType - PathAxis
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder
values read.
_type
Data type:

EnumConversionDataType

Changeable online:

No

System default:

LINEAR_CONVERSIONDATA

Specifies the interpretation type for the digitalized measured value.

factor
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

Specifies the weighting factor for the analog measured value. The weighting factor specifies the relation between distance/velocity per bit.
offset
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the offset for the analog measured value.

EnumConversionDataType
LINEAR_CONVERSIONDATA (1)

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Linear relationship

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PathAxis

AnalogSensorType - PathAxis
The structure elements of 'AnalogSensor' specify actual value smoothing.
Associated parameters (maximum):
ConversionData
(AnalogConversionDataType)

Conversion factors between analog input value

and actual position value

DriverInfo
(StructSensorDriverInfo)

Driver data

ErrorStateMonitoring
(StructAxisAnalogSensorErrorStateMonitoring)

Error-state monitoring

LogAddress
(StructLogAddressIoBitType)

Logical address of analog sensor

PositionFilter
(PositionFilterType)

Actual position value filter

ReadyStateMonitoring
(StructAxisAnalogSensorReadyStateMonitoring)

Ready-state monitoring

UpdateCounter
(StructAxisActualValueUpdateCounter)

Evaluation of actual value update

AssemblyBase - PathAxis
The structure elements of 'AssemblyBase' specify the parameters for the encoder mounting type.
assemblyBase
Data type:

EnumAxisEncoderAssemblyType

Changeable online:

Yes, active after restart

System default:

ASSEMBLY_BASE_DRIVE

Specifies the assembly base of the encoder.

With ASSEMBLY_BASE_DRIVE, the encoder is a drive-side assembly type.
With ASSEMBLY_BASE_LOAD, the encoder is a load-side assembly type.
With ASSEMBLY_BASE_EXTERN, the encoder is an external assembly type.
With ASSEMBLY_BASE_LINEAR, the encoder is a linear assembly type.
EnumAxisEncoderAssemblyType

11-592

ASSEMBLY_BASE_DRIVE (0)

Drive side

ASSEMBLY_BASE_LOAD (1)

Load side

ASSEMBLY_BASE_EXTERN (2)

External

ASSEMBLY_BASE_LINEAR (3)

Linear

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

ClampingMonitoring - PathAxis
The structure elements of 'ClampingMonitoring' specify the clamping monitoring.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
followingErrorDeviation
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

20.0 mm

Specifies the required following error to detect the end stop.

positionTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 mm

Specifies the permissible deviation of the actual value from the setpoint in the clamped state.
recognitionMode
Data type:

EnumRecognitionMode

Changeable online:

Yes, active after restart

System default:

DO_NOT_CLAMP

Specifies the type of endstop detection.

With 'DO_NOT_CLAMP', the endstop detection is deactivated.
With 'CLAMP_BY_FOLLOWING_ERROR_DEVIATION' the endstop detection takes place when the
following error specified in 'followingErrorDeviation' is reached.
With 'CLAMP_WHEN_TORQUE_LIMIT_REACHED' the endstop detection takes place when the
force moment/torque limit value is reached.
EnumRecognitionMode
DO_NOT_CLAMP (0)

No detection

CLAMP_BY_FOLLOWING_ERROR_DEVIATI
ON (1)

By following error

CLAMP_WHEN_TORQUE_LIMIT_REACHED
(2)

By force moment/torque

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

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PathAxis

ControllerDynamic - PathAxis
The structure elements of 'ControllerDynamic' specify the reference model monitoring.
Note
The function of the 'ControllerDynamic' (monitoring of actual speed) configuration data element on a
drive axis can only be used when a message frame type that also supplies an actual position value to
the controller is used.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the reference model monitoring.

With 'NO', the monitoring is not activated.
With 'YES', the monitoring is activated.
maxVeloTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

2.0 %

Specifies the maximum deviation between model and process with reference to maximum velocity.
EnumYesNo

11-594

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

ControllerStruct - PathAxis
The structure elements of 'ControllerStruct' set the controller structure.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
conType
Data type:

EnumAxisControllerType

Changeable online:

No

System default:

PV

Specifies the controller type.

NODEF has no significance.
With PD, a PD controller is used.
With PV, a P controller with precontrol is used.
With PID, a PID controller is used.
With PID_ACTUAL, a PID controller with actual value-dependent D-component is used.
EnumAxisControllerType
NODEF (0)

No significance

DIRECT (1)

Control only

PD (2)

PID controller

PV (3)

PV controller

PID (4)

PID controller

PID_ACTUAL (5)

PID controller with actual value-dependent Dcomponent

Associated parameters (maximum):

PD_Controller
(PD_Controller)

PID controller

PID_Controller
(PID_ControllerPos)

PID controller

PV_Controller
(PV_Controller)

P-controller with precontrol

ControllerSwitchData - PathAxis
The structure elements for 'ControllerSwitchData' are used to configure digital inputs for force or pressure control.
Associated parameters (maximum):
NumberOfDigitalInputs
(NumberOfDigitalInputs)

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Digital inputs

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PathAxis

ConversionData - PathAxis
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder
values read.
Note
Further information is provided:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Supplementary Technology Objects Function Manual
Online help
_type
Data type:

EnumConversionDataType

Changeable online:

No

System default:

LINEAR_CONVERSIONDATA

Specifies the interpretation type for the digitalized measured value.

factor
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 Pa

Specifies the evaluation type for the digitalized measured value.

invert
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether or not the sign of the measured value should be inverted.
With NO, the sign is not inverted.
With YES, the sign is inverted.
offset
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 Pa

Specifies the offset for the digitalized measured value.

EnumConversionDataType
LINEAR_CONVERSIONDATA (1)

Linear relationship

EnumYesNo

11-596

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

DataSetMain - PathAxis
The structure elements belonging to "DataSet_(n)" are used to set the data set (n).
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
Associated parameters (maximum):
AdditionalSensorNumber
(AdditionalSensorNumber)

Assignment of a force/pressure sensor to this

data record

ClampingMonitoring
(ClampingMonitoring)

Clamping monitoring

ControllerDynamic
(ControllerDynamic)

Reference model monitoring

ControllerStruct
(ControllerStruct)

Controller parameters

DynamicComp
(DynamicComp)

Dynamic compensation

DynamicData
(DynamicData)

Dynamic data of the cascaded control loop system

DynamicFollowing
(DynamicFollowing)

Dynamic following error monitoring

DynamicQFData
(StructPaxDynamicQFData)

Dynamic data of the hydraulic process

EncoderNumber
(EncoderNumber)

Assignment of an encoder to this data record

ForceControllerData
(ForceControllerData)

Force/pressure controller

ForceControllerDifference
(ForceControllerDifference)

System deviation monitoring of the force/pressure control loop

Gear
(Gear)

Ratio of the load gearbox

InvertQ
(StructAxisInvertQOutput)

Inversion of the Q-output in front of the characteristic curve

InvertSetPoint
(InvertSetPointHydraulicType)

Inversion of the Q-output behind the characteristic curve

ProcessModel
(ProcessModel)

Process model

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

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PathAxis

DecodingConfig - PathAxis
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
Note
Additional information is available at:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
SIMOTION MCC Motion Control Chart Programming and Operating Manual
Function Manual: Basic Functions
or in the online help
behaviourAtTheEndOfProfile
Data type:

EnumEndBehaviourOfProfile

Changeable online:

Yes, active immediately

System default:

STOP_WHEN_PROFILE_END_REACHED

Specifies the behavior at the end of the profile.

With MOVE_WITH_CONSTANT_SPEED, the axis moves at a constant velocity.
In terms of interpolation status, the final condition acts in the same way as the system function _move.
If the physical variable is not equal to 0, setpoint generation will not be completed.
With STOP_IN_PROFILE_END, the profile end is the target of the positioning movement, that is, at
the target, 'velocity:=0'.
With STOP_WHEN_PROFILE_END_REACHED, the axis is stopped only after the profile end has
been reached.
cyclicSetUpInForceLimiting
Data type:

EnumAxisCyclicSetUpInForceLimiting

Changeable online:

Yes, active immediately

System default:

NONE

Specifies how cyclic resetting to the setpoints should occur with active force/pressure limiting.
With 'NONE' cyclic resetting does not occur.
With 'POSITION_BASED' cyclic resetting is to the setpoint position after allowing for the pressure limiting component.
With 'POSITION_AND_DYNAMIC_BASED' cyclic resetting is to the setpoint position and setpoint
velocity after allowing for the pressure limiting component.
decodeSequentialMotionCommand
Data type:

EnumDecodeSequentialMotionCommand

Changeable online:

Yes, active immediately

System default:

IMMEDIATELY

Specifies the cycle in which the next 'SEQUENTIAL' or 'NEXT_MOTION' command is transferred to
the interpolator.

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PathAxis

directionDynamic
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the acceleration model used.

With NO, the non-direction-related acceleration model is used.
With YES, the direction-related acceleration model is used.
disableMotionOperation
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

YES

Specifies the behavior for motion commands stopped with 'stopMode := STOP_WITHOUT_ABORT'
after the enables have been removed.
With 'YES' the motion commands are canceled and cannot be resumed.
With 'NO' the motion commands are not canceled and can be resumed after the enables are reset.
numberOfImmediateCommands
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of commands, programmed with the IMMEDIATELY command parameter,
which can be active simultaneously on one axis.
numberOfMaxBufferedCommandId
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

100

Specifies the maximum number of command IDs active simultaneously whose status can be requested at the end of the relevant command.
A command ID is added to the list with the ST command '_bufferAxisCommandId'.
Removal from the list takes place with the ST command '_removeBufferedAxisCommandId'.
numberOfQueueCommands
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

Specifies the maximum number of commands which can be active simultaneously on one axis.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

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PathAxis

profileDynamicsLimiting
Data type:

EnumProfileDynamicsLimiting

Changeable online:

Yes, active immediately

System default:

COMMAND_DYNAMICS

Specifies the active limits for dynamic parameters.

With 'COMMAND_DYNAMICS' the system ramps up to the profile or the values specified in the MotionIn vector using the minimum of the dynamic parameters specified in the command or the configured
maximum values in 'MaxJerk', 'MaxAcceleration', and 'MaxVelocity' and is then limited during the
course of the profile to the minimum of the programmed values and the configured maximum values.
With 'MAX_CONFIGURED_DYNAMICS' the system ramps up to the profile or the values specified in
the MotionIn vector using the minimum of the dynamic parameters specified in the command and the
configured maximum values in 'MaxJerk', 'MaxAcceleration', and 'MaxVelocity' and is then limited
during the course of the profile to the configured maximum values.
speedModeSetPointZero
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies how the axis is traversed to zero velocity when the enables are set.
With 'No', the axis is traversed to zero via a braking ramp with the maximum axis dynamic response.
With 'Yes', the velocity setpoint (and acceleration) is set directly to 0 without ramp.
stopWithJerk
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Details of the behavior for a local stop response. This configuration applies only to interpolatory stops.
With 'YES' the local stop response is executed with the value from 'Max.Jerk.maximum'.
With 'NO', the local stop response is executed without jerk limiting.
transferSuperimposedPosition
Data type:

EnumTransferSuperimposedPosition

Changeable online:

Yes, active after restart

System default:

TRANSFER_STANDSTILL

Specifies when the coordinate system of the superimposed motion is reset (to 0).
With 'TRANSFER_STANDSTILL' the position of the superimposed coordinate system is reset to 0
after termination of the setpoint generation of the axis or when programming a motion command with
mergeMode:=IMMEDIATELY or when the axis is reset.
With 'TRANSFER_MERGE' the position of the superimposed coordinate system is reset to 0 when
programming a motion command with mergeMode:=IMMEDIATELY or when the axis is reset.
With ''AXIS_RESET' the position of the superimposed coordinate system is reset to 0 when the axis
is reset.

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List Manual, 11/2010

PathAxis

EnumEndBehaviourOfProfile
MOVE_WITH_CONSTANT_SPEED (0)

Motion at constant speed

STOP_IN_PROFILE_END (1)

Deceleration to the endpoint / velocity 0

STOP_WHEN_PROFILE_END_REACHED (2)

Deceleration after profile completed

EnumAxisCyclicSetUpInForceLimiting
NONE (0)

No cyclic resetting

POSITION_BASED (1)

Cyclic resetting to the setpoint position

POSITION_AND_DYNAMIC_BASED (2)

Cyclic resetting to the setpoint position and setpoint velocity

EnumDecodeSequentialMotionCommand
IMMEDIATELY (0)

Switch to next command immediately

NEXT_IPO_CYCLE (1)

Switch to next command in next cycle

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumProfileDynamicsLimiting
COMMAND_DYNAMICS (0)

Limiting of dynamic parameters using the minimum value of the configured and programmed
values

MAX_CONFIGURED_DYNAMICS (1)

Limiting of dynamic parameters using configured values

EnumTransferSuperimposedPosition
TRANSFER_STANDSTILL (0)

Switch to next command at standstill, reset, or

according to merge mode

TRANSFER_MERGE (1)

Switch to next command at reset, or according to

merge mode

TRANSFER_RESET (2)

Switch to next command at reset

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-601

PathAxis

DigitalInputMain - PathAxis
The structure elements belonging to 'DigitalInput_(n)' are used to configure a digital input or to assign
it to the axis.
bitNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the I/O bit number within the I/O byte specified by the logical address.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address of the communication module.

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SIMOTION Technology Packages Configuration Data

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PathAxis

DistributedMotionInfo - PathAxis
The structure elements for 'DistributedMotion' set the sign-of-life failure tolerance.
enableDelayOfCommandValueOutput
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the master-side output delay.

With 'NO', the master-side output delay is deactivated.
With 'YES', the master-side output delay is activated.
enableLifeSignMonitoring
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies life sign monitoring.

With 'NO', the sign of life monitoring is deactivated.
With 'YES', the sign of life monitoring is activated.
enableOffsetCompensation
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies offset compensation.

With 'NO', the compensation of the cycle offset is deactivated.
With 'YES', the compensation of the cycle offset is activated.
numberOfLifeSignFailures
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the maximum number of life sign failures tolerated.

EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

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PathAxis

Drift - PathAxis
The structure elements of 'Drift' specify drift compensation.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the activation status of drift compensation.

With 'NO', the drift compensation is not activated.
With 'YES', the drift compensation is activated.
EnumYesNo

11-604

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

DriveData - PathAxis
The structure elements for 'DriveData' specify the key drive values.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
maxSpeed
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

3000.0 1/min

Specifies the maximum speed.

maxTorque
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

3.2 Nm

Specifies the maximum torque of the drive.

nominalSpeed
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

3000.0 1/min

Specifies the reference speed.

nominalTorque
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

3.2 Nm

Specifies the nominal torque of the drive.

speedReference
Data type:

EnumAxisReferenceMaxNominal

Changeable online:

Yes, active after restart

System default:

MAX_VALUE

Selection setting for scaling: reference speed or maximum speed.

torqueReductionGranularity
Data type:

EnumAxisTorqueForceReductionGranularity

Changeable online:

Yes, active after restart

System default:

BASIC

Specifies the fine resolution of the torque reduction.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-605

PathAxis

torqueReference
Data type:

EnumAxisReferenceMaxNominal

Changeable online:

Yes, active after restart

System default:

MAX_VALUE

Selection setting for scaling: Nominal torque or maximum torque.

EnumAxisReferenceMaxNominal
MAX_VALUE (0)

Maximum value

NOMINAL_VALUE (1)

Nominal value

EnumAxisTorqueForceReductionGranularity

11-606

STANDARD (0)

Resolution 1/100

BASIC (16)

Resolution 1/16384

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

DriverInfo - PathAxis
The structure elements of 'DriverInfo' specify the parameters for the encoder hardware.
Note
Additional information is available at:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Technology Objects Synchronous Operation, Cam Function Manual
or in the online help
encoderNumberOnDevice
Data type:

DINT

Changeable online:

No

System default:

Specifies the number of the encoder actual value for message frames with several actual values, e.g.
DP_TEL106_611U_DSC_2_ENCODER.
lifeSignCheck
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies the monitoring mode for the PROFIBUS DP sign of life between nodes.
With 'NO', the sign of life monitoring is switched off.
With 'YES', the sign of life monitoring is activated.
logAddressIn
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the input data area.

logAddressOut
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the output data area.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

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PathAxis

telegramType
Data type:

EnumAxisTelegramType

Changeable online:

No

System default:

DP_TEL102_611U_POSCTRL_1_ENCODER

Specifies a PROFIdrive message frame type.

With NO_TELEGRAM, a message frame is not specified.
With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set
up.
With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set
up.
With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one
encoder) is set up.
With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with
two encoders) is set up.
With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives
with one encoder and DSC) is set up.
With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled
drives with two encoders and DSC) is set up.
With DP_TEL81_STANDARD, the standard message frame 81, PZD-2/6 for an encoder is set up.
With DP_TEL82_STANDARD, the standard message frame 82, PZD-2/7 for an encoder is set up.
With DP_TEL83_STANDARD, the standard message frame 83, PZD-2/8 for an encoder is set up.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7
for velocity-controlled drives without encoders is set up.
With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for
velocity-controlled drives with one encoder is set up.
With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for
velocity-controlled drives with two encoders is set up.
With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for
velocity-controlled drives with one encoder and DSC is set up.
With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for
velocity-controlled drives with two encoders and DSC is set up.
EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisTelegramType

11-608

NO_TELEGRAM (0)

No message frame

DP_TEL1_STANDARD (1)

Standard message frame 1, PZD-2/2

DP_TEL2_STANDARD (2)

Standard message frame 2, PZD-4/4

DP_TEL3_STANDARD (3)

Standard message frame 3, PZD-5/9

DP_TEL4_STANDARD (4)

Standard message frame 4, PZD-6/14

DP_TEL5_STANDARD (5)

Standard message frame 5, PZD-9/9

DP_TEL6_STANDARD (6)

Standard message frame 6, PZD-10/14

DP_TEL81_STANDARD (81)

Standard message frame 81, PZD-2/6

DP_TEL83_STANDARD (83)

Standard message frame 83, PZD-2/8

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

DP_TEL101_611U_VELCTRL_NO_ENCODER
(101)

SIEMENS message frame 101, PZD-6/7

DP_TEL102_611U_POSCTRL_1_ENCODER
(102)

SIEMENS message frame 102, PZD-6/10

DP_TEL103_611U_POSCTRL_2_ENCODER
(103)

SIEMENS message frame 103, PZD-7/15

DP_TEL105_611U_DSC_1_ENCODER (105)

SIEMENS message frame 105, PZD-10/10

DP_TEL106_611U_DSC_2_ENCODER (106)

SIEMENS message frame 106/107, PZD-11/15

SIMOTION Technology Packages Configuration Data

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PathAxis

DynamicComp - PathAxis
The structure elements of 'DynamicComp' specify dynamic compensation.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
T1
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the first time constant.

T2
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the second time constant.

deadTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the dead time.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of compensation.

With 'NO', the compensation is not activated.
With 'YES', the compensation is activated.
EnumYesNo

11-610

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

DynamicData - PathAxis
The structure elements of 'DynamicData' specify the dynamic data of the cascade control system.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
positionTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1 s

Specifies the equivalent time constant of the position control system.

torqueTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.00005 s

Not used.
velocityTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0005 s

Specifies the equivalent time constant of the velocity control system.

Note
This value can only be checked after download.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

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PathAxis

DynamicFollowing - PathAxis
The structure elements of 'DynamicFollowing' set the dynamic following error monitoring system.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies the activation status of dynamic following error monitoring.

With 'NO', the monitoring is not activated.
With 'YES', the monitoring is activated.
maxPositionTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

100.0 mm

Specifies the maximum permissible following error at maximum axis velocity.

minPositionTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 mm

Specifies the maximum permissible following error for axis velocities between zero and the velocity
from which the maximum permissible following error begins to rise in proportion to velocity.
minVelocity
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 mm/s

Specifies the axis velocity from which the maximum permissible following error begins to rise in proportion to velocity.

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PathAxis

warningLimit
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

100.0 %

Specifies the percentage value, relative to the maximum permissible following error calculated, which
triggers a warning if exceeded.
EnumYesNo
NO (91)

No

YES (173)

Yes

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PathAxis

EmergencyRampGenerator - PathAxis
The structure element of 'EmergencyRampGenerator' sets the parameter of the emergency stop ramp
generator.
maxDeceleration
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10000.0 m/s

Specifies the deceleration of the braking ramp.

11-614

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

EncoderMain - PathAxis
The structure elements of 'Encoder' specify the parameters of the encoder.
dataAdaption
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Selects the behavior

For YES, the selected encoder configuration parameters will be modified by the drive.
For NO, the encoder configuration parameters are configured by the user.
encoderIdentification
Data type:

EnumAxisEncoderIdentification

Changeable online:

No

System default:

SIMULATION

Specifies the encoder identification (encoder interface).

With SIMULATION, the circuit between the motor and encoder is closed by means of software. Encoder measured values are calculated from the simulated actual speed or velocity of the axis. It is not
necessary to use a real encoder when simulating encoder operation.
With ONBOARD, the encoder is connected to an ONBOARD encoder interface of the controller (e.g.
C230, C240, etc.).
With DPMASTER, the encoder is connected to an external module. Encoder data is provided via the
DP interface.
With DIRECT, the encoder is connected to the inputs of a digital or analog input module.
With SET_ACTUAL_VALUE, the encoder measured value is provided via the 'sensorsetting.actualvalue' system variable. The measured value is updated cyclically in a user program.
encoderMode
Data type:

EnumAxisEncoderMode

Changeable online:

No

System default:

RECTANGLE_TTL

Specifies the encoder mode (encoder signal type).

RECTANGLE_TTL should be selected if the incremental position is to be measured by evaluating a
rectangular encoder signal.
SINUS_1VPP should be selected if the incremental position is to be measured by evaluating a sinusoidal encoder signal.
RESOLVER should be selected if the incremental position is to be measured by evaluating a resolver's encoder signal.
STEPMOT should be selected, if the incremental position is to be determined by taking a set incremental position for a stepper motor without an encoder.
INTERVAL_COUNTER should be selected if the velocity/speed is to be measured by using an additional module to count intervals between two pulses.
PROFIDRIVE_NIST_A should be selected if the velocity/speed is to be determined by reading actual
speed value data (16 bits wide) from the PROFIDrive message frame.
PROFIDRIVE_NIST_B should be selected if the velocity/speed is to be determined by reading actual
speed value data (32 bits wide) from the PROFIDrive message frame.
SSI_MODE should be selected if the incremental position is to be transferred to the controller in accordance with the specifications of the SSI protocol (absolute encoder).
ENDAT should be selected if the incremental position is to be transferred to the controller in accordance with the specifications of the EnDat protocol (incremental/absolute encoder).

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PathAxis

encoderSystem
Data type:

EnumAxisEncoderSystem

Changeable online:

No

System default:

ROTATORY_SYSTEM

Specifies the encoder system.

With ROTARY, a rotary encoder system is used.
With LINEAR, a linear encoder system is used.
encoderType
Data type:

EnumAxisEncoderType

Changeable online:

No

System default:

SENSOR_INCREMENTAL

Specifies the encoder type.

With SENSOR_INCREMENTAL, the encoder is treated as an incremental encoder.
With SENSOR_ABSOLUTE, the encoder is treated as an absolute encoder.
With SENSOR_CYCLIC_ABSOLUTE, the encoder is treated as an absolute encoder. The number of
encoder overflows is also stored in the controller after disabling.
With SENSOR_POSITION_DIFFERENCE_MEASUREMENT, an encoder is configured to allow differential measurement of position and velocity of two definable encoders.
encoderValueType
Data type:

EnumAxisEncoderValueType

Changeable online:

No

System default:

POSITION

Specifies the actual value type from which the encoder value is calculated.
With POSITION, the actual value is calculated for both the position and the velocity/speed.
With VELOCITY, the actual value for the velocity/speed is calculated.
With POSITION_AND_PROFIDRIVE_NIST_B, the actual value is calculated for the position and the
actual value of the velocity/speed is read from the PROFIDrive message frame.
With POSITION_AND_DIRECT_NIST_B, the actual value is calculated for the position, and the actual
value for the velocity/speed is read from an area to be addressed in the process image of the inputs
and outputs.
interfaceAllocation
Data type:

EnumAxisSensorInterfaceAllocationConfig

Changeable online:

No

System default:

EXCLUSIVE

Selects the interface behavior.

With EXCLUSIVE, the driver can only be used on this technology object.
With NON_EXCLUSIVE_AND_STARTUP_ACTIVATED, the driver can be used on this and any other
technology object. The driver is activated on the technology object after system startup.
With NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED, the driver can be used on this and any
other technology object. The driver is deactivated on the technology object after system startup.
EnumYesNo

11-616

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

EnumAxisEncoderIdentification
SIMULATION (0)

Simulation

ONBOARD (1)

Onboard

DPMASTER (2)

DPMaster

DIRECT (4)

Encoder supplies the value directly

SET_ACTUAL_VALUE (5)

Actual value via system variable

EnumAxisEncoderMode
RECTANGLE_TTL (1)

Rectangle

SSI_MODE (2)

SSI

STEPMOTOR (3)

Stepper motor

ENDAT (4)

Endat

SINUS_1VPP (5)

Sine

RESOLVER (6)

Resolver

SENSOR_ANALOG (7)

Analog encoder

INTERVAL_COUNTER (8)

Encoder mode for interval counter

PROFIDRIVE_NIST_A (9)

Velocity value 16-bit

PROFIDRIVE_NIST_B (10)

Velocity value 32-bit

PROFIDRIVE (11)

PROFIdrive profile

EnumAxisEncoderSystem
ROTATORY_SYSTEM (0)

Rotary encoder system

LINEAR_SYSTEM (1)

Linear encoder system (linear scale)

EnumAxisEncoderType
SENSOR_INCREMENTAL (1)

Incremental encoder

SENSOR_ABSOLUTE (2)

Absolute encoder

SENSOR_CYCLIC_ABSOLUTE (3)

Absolute encoder cyclic absolute

SENSOR_POSITION_DIFFERENCE_MEASU
REMENT (4)

Differential position

EnumAxisEncoderValueType
POSITION (0)

Calculate actual position value

VELOCITY (1)

Calculate actual velocity value

POSITION_AND_PROFIDRIVE_NIST_B (2)

Calculate actual position values and velocity

from DP protocol

POSITION_AND_DIRECT_NIST_B (3)

Calculate actual position values and actual velocity value from I/O

POSITION_AND_PROFIDRIVE_ENCODER_N
IST_B (4)

Calculate actual position values and velocity

from DP protocol (standard message frame 83)

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-617

PathAxis

EnumAxisSensorInterfaceAllocationConfig
EXCLUSIVE (939)

Exclusive

NON_EXCLUSIVE_AND_STARTUP_DEACTI
VATED (940)

Non-exclusive and deactivated

NON_EXCLUSIVE_AND_STARTUP_ACTIVAT
ED (941)

Non-exclusive and active

Associated parameters (maximum):

11-618

AbsBackLash
(AbsBackLash)

Backlash compensation for absolute measuring

system

AbsEncoder
(AbsEncoder)

Absolute encoder

AbsHomingEncoder
(AbsHomingEncoder)

Homing for absolute measuring system

AdaptDrive
(AdaptDrive)

Gear ratio of the measuring system for a driveside assembly type

AdaptExtern
(AdaptExtern)

Gear ratio of the measuring system for an external assembly type

AdaptLoad
(AdaptLoad)

Gear ratio of the measuring system for a loadside assembly type

AnalogSensor
(AnalogSensorType)

Analog measuring system

AssemblyBase
(AssemblyBase)

Assembly type of the measuring system

DriverInfo
(DriverInfo)

Actual value interface

DriverInfoDirectIncremental
(StructDriverInfoDirectIncremental)

Actual value interface of the direct incremental

encoder

Filter
(Filter)

Actual value filter

FrequencyLimit
(FrequencyLimit)

Limit frequency of the measuring system

IncBackLash
(IncBackLash)

Backlash compensation for incremental measuring system

IncEncoder
(IncEncoder)

Incremental encoder

IncHomingEncoder
(IncHomingEncoder)

Homing for incremental measuring system

IntervalCounterConversionData
(IntervalCounterConversionDataType)

Interval counter

InversCountDirection
(InversCountDirection)

Inverse count direction

NistDriverConfig
(StructAxisNistDriverConfig)

Actual speed value

PathPerRevolution
(PathPerRevolution)

Path per revolution

PositionDifferenceMeasurement
(StructPositionDifferenceMeasurement)

PositionDifferenceMeasurement

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

PositionFilter
(PT2PositionFilterType)

Position filter

Resolution
(Resolution)

Resolution

SensorControlConfig
(SensorControlConfig)

Encoder error tolerance

SensorNist
(SensorNist)

Actual speed value extrapolation

SensorSetActualValue
(SensorSetActualValue)

Actual value via system variable

Slippage
(Slippage)

Slippage

StepMotorMonitoring
(StepMotorMonitoringType)

Stepper motor

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-619

PathAxis

EncoderNumber - PathAxis
The assignment between data record number and measuring system number of the position or velocity sensor is specified with the structure elements for 'EncoderNumber'.
EncoderNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies which encoder is assigned to this data set.

ExecutionConfigInfo - PathAxis
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
Note
Further information is provided:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Technology Objects Synchronous Operation, Cam Function Manual
Online help
executionlevel
Data type:

EnumToExecutionLevel

Changeable online:

Yes, active after restart

System default:

IPO

Specifies the task level at which the interpolator task of the technology object is running.
With IPO, the task is executed in the fast interpolator cycle clock.
With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel

11-620

IPO (0)

IPO

IPO_2 (1)

IPO_2

SERVO (2)

Servo

IPO_FAST (3)

IPO_fast

SERVO_FAST (4)

Servo_fast

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

ExtrapolationPositionFilterType - PathAxis
The structure elements belonging to 'ExtrapolationPositionFilter' are used to set the filter for the actual
position on the master value axis.
T1
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant T1 of the filter for the actual position.

T2
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant T2 of the filter for the actual position.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the PT2 filter for the actual position.
EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-621

PathAxis

Filter - PathAxis
The structure elements of 'Filter' specify actual value smoothing.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With 'NO', the filter functionality is deactivated.
With 'YES', the filter functionality is activated.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo

11-622

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

FineInterpolator - PathAxis
The structure element of 'FineInterpolator' specifies the parameter of the fine interpolator.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
_type
Data type:

EnumAxisFineInterpolatorMode

Changeable online:

Yes, active after restart

System default:

LINEAR_MODE

Specifies the type of fine interpolator used.

With DIRECT_MODE, fine interpolation does not take place.
With LINEAR_MODE, a linear fine interpolation takes place.
With CUBIC_MODE, acceleration-continuous setpoints are generated.
With QUADRATIC_MODE, velocity-continuous setpoints are generated.
EnumAxisFineInterpolatorMode
DIRECT_MODE (0)

No interpolation

LINEAR_MODE (1)

Linear interpolation

CUBIC_MODE (2)

Acceleration-continuous interpolation

QUADRATIC_MODE (3)

Velocity-continuous interpolation

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-623

PathAxis

ForceControlHeldValueMonitoring - PathAxis
The force/pressure final value monitoring is set with the structure elements for 'ForceControlHeldValueMonitoring'.
delayTimeToActivate
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the delay between the time when the actual value exceeds the tolerance window and activation of the message.
tolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

20.0 Pa

Specifies the permissible force/pressure value tolerance with a constant setpoint.

ForceControlRunningInWindowMonitoring - PathAxis
The parameters of the force entry window monitoring are specified with the structure elements for
'ForceControlRunningIn WindowMonitoring'.
maxDelayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the delay time from the arrival of the force/pressure actual value in the tolerance window
until the activation of the force/pressure value monitoring.
tolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 Pa

Permissible deviation between setpoint and actual value.

winTolTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Specifies the delay time from the activation of the monitoring until the actual value reaches the tolerance window.

11-624

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

ForceControllerData - PathAxis
The structure elements of 'ForceControllerData' parameterize the force controller.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
_type
Data type:

EnumForceControllerType

Changeable online:

Yes, active after restart

System default:

PID

Controller type for the force controller

invertControlValue
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

With YES, the manipulated variable of the force controller is inverted.

With NO, the manipulated variable of the force controller is not inverted.
typeOfSensorData
Data type:

EnumSensorDataType

Changeable online:

Yes, active after restart

System default:

UNI_DIRECTION

UNI_DIRECTION means that negative actual values cannot be measured.

BOTH_DIRECTION means negative actual values will be measured.
EnumForceControllerType
PID (1)

PID controller

PID_ACTUAL (2)

PID controller with actual value-dependent Dcomponent

EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-625

PathAxis

EnumSensorDataType
UNI_DIRECTION (1)

Unidirectional

BOTH_DIRECTION (2)

Bidirectional

Associated parameters (maximum):

11-626

FilterForceControl
(StructAxisFilterForceControlConfig)

Manipulated variable limitation

OutputLimits
(OutputLimits)

Manipulated variable limitation

PID_Controller
(PID_ControllerForce)

Parameters for the PID controller

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

ForceControllerDifference - PathAxis
The controller differential monitoring is set with the structure elements for 'ForceControllerDifference'.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

With 'YES', the control deviation monitoring of the force controller is activated.
With 'NO', the control deviation monitoring of the force controller remains deactivated (system default).
maxForceTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 Pa

Specifies the maximum permissible control deviation.

EnumYesNo
NO (91)

No

YES (173)

Yes

FrequencyLimit - PathAxis
The structure elements of 'FrequencyLimit' specify the frequency limit of the encoder.
encoderFrequencyLimit
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

400000.0 Hz

Specifies the frequency limit of the encoder.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-627

PathAxis

Friction - PathAxis
The structure elements of 'Friction' specify the friction torque compensation.
amplitude
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

5.0 mm/s

Specifies the maximum value of the friction torque compensation characteristic.

decayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.05 s

Specifies the delay time constant.

delayTimeStandStill
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Specifies the delay time for activation of the standstill signal.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of friction torque compensation.

With NO, the friction torque compensation is not activated.
With YES, the friction torque compensation is activated.
maxVeloStandStill
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.2 mm/s

Specifies the maximum velocity at which the standstill signal is active.

EnumYesNo

11-628

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

Gear - PathAxis
The structure elements of 'Gear' specify the gear ratio of the load gearbox. The gear ratio is only active
for the 'ASSEMBLY_DRIVE' mounting type.
denFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of load revolutions.

numFactor
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of motor revolutions.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-629

PathAxis

GearingPosTolerance - PathAxis
The structure elements of 'GearingPosTolerance' specify the synchronization monitoring setting on
the slave axis.
Note
"Further information can be found in the TO Synchronous Operation, Cam Function Manual and in the
online help."
actualValueTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the permissible actual value deviation. An alarm is output if the value is exceeded.
commandValueTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 mm

Specifies the permissible setpoint deviation. An alarm is output if the value is exceeded.
enableActualValue
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the activation status of the actual value tolerance monitoring system.
With NO, the tolerance monitoring of the actual values is not activated.
With YES, the tolerance monitoring of the actual values is activated.
enableCommandValue
Data type:

EnumGearingPosToleranceCommandValue

Changeable online:

Yes, active immediately

System default:

WITHOUT_JERK

Specifies the activation status of the setpoint tolerance monitoring system.

With NO_ACTIVATE, the tolerance monitoring of the setpoints is not activated.
With WITHOUT_JERK, the tolerance monitoring of the setpoints is activated without inclusion of the
jerk. Alarm 40201 is output if the setpoint tolerance is exceeded.
With WITH_JERK, the tolerance monitoring of the setpoints is activated with inclusion of the jerk.
Alarm 40201 is output if the setpoint tolerance is exceeded. The jerk on the axis is also monitored.

11-630

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

enableErrorReporting
Data type:

EnumErrorReporting

Changeable online:

Yes, active after restart

System default:

NO_REPORTING

Specifies which tolerance violation signals are transmitted to the master.

With NO_REPORTING, no 'tolerance exceeded' messages are sent.
With COMMAND_VALUE_TOLERANCE, a report is sent when the specified setpoint tolerance is
exceeded.
With ACTUAL_VALUE_TOLERANCE, a report is sent when the specified actual value tolerance is
exceeded.
With ALL_ERRORS_WITH_ABORT_SYNCHRONIZATION, all errors that cause cancelation of the
synchronous operation coupling are reported.
EnumYesNo
NO (91)

No

YES (173)

Yes

EnumGearingPosToleranceCommandValue
NO_ACTIVATE (0)

No

WITHOUT_JERK (1)

Without jerk

WITH_JERK (2)

With jerk

EnumErrorReporting
NO_REPORTING (0)

No

COMMAND_VALUE_TOLERANCE (1)

Setpoints

ACTUAL_VALUE_TOLERANCE (2)

Actual values

ALL_ERRORS_WITH_ABORT_SYNCHRONIZ
ATION (3)

All errors

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-631

PathAxis

HWEndPos - PathAxis
The structure elements of 'HWEndPos' are used to specify the monitoring mode of the hardware limit
switches.
bitNumberNegative
Data type:

UDINT

Changeable online:

No

System default:

Specifies the I/O bit number within the I/O byte specified by the logical address.
bitNumberPositive
Data type:

UDINT

Changeable online:

No

System default:

Specifies the I/O bit number within the I/O byte specified by the logical address.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the hardware limit switches.

For 'NO', the hardware limit switches are deactivated.
For 'YES', the hardware limit switches are activated.
interfaceActivation
Data type:

EnumAxisInterfaceActivationConfig

Changeable online:

No

System default:

STARTUP_ACTIVATED

Selects the interface behavior.

With STARTUP_DEACTIVATED the driver is deactivated on the technology object following system
startup.
With STARTUP_ACTIVATED the driver is activated on the technology object following system startup.
logAddressNegative
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address of the negative hardware limit switch.

11-632

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

logAddressPositive
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address of the positive hardware limit switch.

mode
Data type:

EnumMountSwitch

Changeable online:

Yes, active after restart

System default:

END_MOUNTED_SWITCH

Specifies the position of the hardware limit switch relative to the axis traversing range.
With 'END_MOUNTED_SWITCH', the hardware limit switches outside of the permissible traversing
range are always active.
With 'FLEXIBLE_MOUNTED_SWITCH', the hardware limit switches can be crossed in the direction
of the impermissible traversing range.
EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisInterfaceActivationConfig
STARTUP_DEACTIVATED (942)

Deactivated after startup

STARTUP_ACTIVATED (943)

Active after startup

EnumMountSwitch
END_MOUNTED_SWITCH (0)

Limit switch outside of the permissible traversing

range always active

FLEXIBLE_MOUNTED_SWITCH (1)

Limit switch can be crossed

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-633

PathAxis

Homing - PathAxis
The structure elements of 'Homing' specify the parameters for homing the axis.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
beroDistance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the maximum distance from the current position to the homing cam or to the external zero
mark.
direction
Data type:

EnumDirectionType

Changeable online:

Yes, active immediately

System default:

POSITIVE

Specifies the direction of approach for active homing.

With POSITIVE, the approach direction for homing is selected in the positive direction.
With NEGATIVE, the approach direction for homing is selected in the negative direction.
enableBeroDistance
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the monitoring mode of the traversing path from the current position until the reference cam
or the external zero mark.
With NO, the monitoring is switched off.
With 'YES', the monitoring is activated.
referencingNecessary
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies whether homing is necessary before commands with absolute position data. Commands
with absolute position data can always be traversed without homing.
With NO, homing is not necessary for commands with absolute position specifications.
With YES, homing is necessary for commands with absolute position specifications.

11-634

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

EnumDirectionType
POSITIVE (0)

Start in positive direction

NEGATIVE (1)

Start in negative direction

POSITIVE_ALL_HOMING (2)

Positive direction only

NEGATIVE_ALL_HOMING (3)

Negative direction only

EnumYesNo
NO (91)

No

YES (173)

Yes

Associated parameters (maximum):

ReverseCamNegative
(ReverseCamNegative)

Negative reversing cam

ReverseCamPositive
(ReverseCamPositive)

Positive reversing cam

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-635

PathAxis

IncBackLash - PathAxis
The structure elements of 'IncBackLash' specify the backlash compensation for the incremental encoder.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
_type
Data type:

EnumBackLashType

Changeable online:

Yes, active immediately

System default:

POSITIVE

Specifies the direction in which backlash compensation is calculated.

With 'POSITIVE', the backlash compensation is applied in the positive direction.
With 'NEGATIVE', the backlash compensation is applied in the negative direction.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the activation status of backlash compensation for the incremental encoder.
With 'NO', the backlash compensation is not enabled.
With 'YES', the backlash compensation is enabled.
length
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the backlash compensation value.

velocity
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm/s

Specifies the velocity at which backlash compensation is stopped.

If the value is 0, the backlash is calculated without limits.
EnumBackLashType
POSITIVE (0)

positive

NEGATIVE (1)

negative

EnumYesNo

11-636

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

IncEncoder - PathAxis
The structure elements of 'IncEncoder' specify the parameters for an incremental encoder.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enableZeroMonitoring
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of monitoring of the number of increments between two encoder zero
marks.
With 'NO', monitoring of the number of increments between two encoder zero marks is not activated.
With 'YES', monitoring of the number of increments between two encoder zero marks is activated.
incResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

2048

Specifies the number of increments per encoder revolution specified on the encoder rating plate.
incResolutionMultiplierCyclic
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the multiplication factor of the cyclic actual value.

EnumYesNo
NO (91)

No

YES (173)

Yes

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PathAxis

IncHomingEncoder - PathAxis
The structure elements of 'IncHomingEncoder' specify the parameters for an incremental encoder.
Note
Additional information is available at:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
SIMOTION MCC Motion Control Chart Programming and Operating Manual
or in the online help
approachDirection
Data type:

EnumAxisApproachDirection

Changeable online:

Yes, active immediately

System default:

APPROACH_NEGATIVE

Specifies the approach direction of the encoder zero mark with the following homing modes: 'homingMode:=MODE_ZM' or 'homingMode:=MODE_CAM_AND_ZM'.
With APPROACH_NEGATIVE, the encoder zero mark is approached in negative direction.
With APPROACH_POSITIVE, the encoder zero mark is approached in positive direction.
Specifies the edge and side of the external zero mark with the following homing modes: 'homingMode:=MODE_CAM' or 'homingMode:=MODE_REFERENCE_CAM_AND_EXTERNAL_ZM'.
With EDGE_POS_SIDE_NEG, homing is carried out with the positive edge on the negative side of the
external zero mark. Homing is therefore carried out when the external zero mark is crossed in positive
direction.
With EDGE_POS_SIDE_POS, homing is carried out with the positive edge on the positive side of the
external zero mark. Homing is therefore carried out when the external zero mark is crossed in negative
direction.
With EDGE_NEG_SIDE_POS, homing is carried out with the negative edge on the positive side of the
external zero mark. Homing is therefore carried out when the external zero mark is crossed in positive
direction.
With EDGE_NEG_SIDE_NEG, homing is carried out with the negative edge on the negative side of
the external zero mark. Homing is therefore carried out when the external zero mark is crossed in
negative direction.
With 'homingMode:=MODE_ZM', the encoder zero mark is approached immediately in the configured
direction.
With 'homingMode:=MODE_CAM_AND_ZM', the encoder zero mark is approached in the configured
direction after the approach of the reference cam.
With 'homingMode:=MODE_CAM' or 'homingMode:=MODE_REFERENCE_CAM_AND_EXTERNAL_ZM', the edge and side of the external zero
mark are evaluated.
bitNumberBero
Data type:

UDINT

Changeable online:

No

System default:

Specifies the bit number of the reference cam for homing mode CAM_AND_ZM or
MODE_REFERENCE_CAM_AND_EXTERNAL_ZM.

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PathAxis

enableZeroMarkDistance
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the monitoring mode for the path after leaving the reference cam until the encoder zero mark
is reached.
With NO, the monitoring of the path after leaving the reference cam until the encoder zero mark is reached is not activated.
With YES, the monitoring of the path after leaving the reference cam until the encoder zero mark is
reached is activated.
homingMode
Data type:

EnumAxisHomingMode

Changeable online:

Yes, active after restart

System default:

MODE_NO_REFERENCE

Specifies the homing mode.

With MODE_NO_REFERENCE, a homing mode is not selected.
With MODE_CAM_AND_ZM, the homing mode reference cam with encoder zero mark is selected.
With MODE_ZM, the homing mode with encoder zero mark only is selected.
With MODE_CAM, the homing mode with external zero mark only is selected.
MODE_REFERENCE_CAM_AND_EXTERNAL_ZM is not available.
logAddressBero
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address of the reference cam for homing mode CAM_AND_ZM or
MODE_REFERENCE_CAM_AND_EXTERNAL_ZM.

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PathAxis

passiveApproachDirection
Data type:

EnumAxisPassiveApproachDirection

Changeable online:

Yes, active immediately

System default:

ACTUAL_DIRECTION_PASSIVE

Specifies the expected approach direction for the passive homing.

For the setting 'passiveHomingMode:=ZM_PASSIVE' or 'passiveHomingMode:=CAM_AND_ZM_PASSIVE', this configuration data items specifies the approach direction of
the encoder zero mark.
With 'passiveHomingMode:=ZM_PASSIVE', the encoder zero mark is expected in the configured
direction.
With 'passiveHomingMode:=CAM_AND_ZM_PASSIVE', the encoder zero mark is expected in the
configured direction after the approach of the reference cam.
With APPROACH_NEGATIVE_PASSIVE, the negative approach direction is expected.
With APPROACH_POSITIVE_PASSIVE, the positive approach direction is expected.
With ACTUAL_DIRECTION_PASSIVE, both approach directions are possible.
With EDGE_POS_SIDE_NEG_PASSIVE, a rising edge on the negative side of the external zero mark
is expected.
With EDGE_POS_SIDE_POS_PASSIVE, a rising edge on the positive side of the external zero mark
is expected.
With EDGE_NEG_SIDE_POS_PASSIVE, a falling edge on the positive side of the external zero mark
is expected.
With EDGE_NEG_SIDE_NEG_PASSIVE, a falling edge on the negative side of the external zero
mark is expected.
passiveBitNumberBero
Data type:

UDINT

Changeable online:

No

System default:

Specifies the bit number of the reference cam during passive homing and for homing mode
CAM_AND_ZM_PASSIVE or REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE.
passiveHomingMode
Data type:

EnumAxisPassiveHomingMode

Changeable online:

Yes, active after restart

System default:

DEFAULT_PASSIVE

Specifies the homing mode.

With CAM_AND_ZM_PASSIVE, homing mode reference cam with encoder zero mark is selected.
With ZM_PASSIVE, the homing mode with encoder zero mark only is selected.
With CAM_PASSIVE, the homing mode with external zero mark only is selected.
With DEFAULT_PASSIVE, the homing mode ZM_PASSIVE or CAM_PASSIVE is preset with or without the encoder zero mark, depending on the encoder type.
REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE is not available.

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PathAxis

passiveLogAddressBero
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address of the reference cam during passive homing and for homing mode
CAM_AND_ZM_PASSIVE or REFERENCE_CAM_AND_EXTERNAL_ZM_PASSIVE.
proceedShiftPos
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the home position offset.

referenceCamType
Data type:

EnumAxisReferenceCamType

Changeable online:

No

System default:

STANDARD

Selects the reference cam for referencing mode MODE_CAM_AND_ZM.

With HARDWARE_LIMIT_SWITCH_POSITIVE, the positive limit switch is used as the reference cam.
With HARDWARE_LIMIT_SWITCH_NEGATIVE, the negative limit switch is used as the reference
cam.
With STANDARD, the reference cam defined in "typeOfAxis.Encoder_x.incHomingEncoder" is used.
zeroMarkDistance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the maximum length of the path after leaving the reference cam until the encoder zero mode
is reached in homing mode MODE_CAM_AND_ZM.
Specifies the maximum length until the encoder zero mark in homing mode MODE_ZM.
EnumAxisApproachDirection
APPROACH_NEGATIVE (0)

Approach direction encoder zero mark negative

APPROACH_POSITIVE (1)

Approach direction encoder zero mark positive

EDGE_POS_SIDE_NEG (2)

Rising edge negative side external zero mark

EDGE_POS_SIDE_POS (3)

Rising edge positive side external zero mark

EDGE_NEG_SIDE_POS (4)

Falling edge positive side external zero mark

EDGE_NEG_SIDE_NEG (5)

Falling edge negative side external zero mark

EnumYesNo
NO (91)

No

YES (173)

Yes

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PathAxis

EnumAxisHomingMode
MODE_NO_REFERENCE (0)

No reference mode

MODE_CAM_AND_ZM (1)

Reference cam and encoder zero mark

MODE_ZM (2)

Encoder zero mark only

MODE_CAM (3)

External zero mark only

MODE_REFERENCE_CAM_AND_EXTERNAL
_ZM (4)

Reference cam and external zero mark

EnumAxisPassiveApproachDirection
APPROACH_NEGATIVE_PASSIVE (0)

Approach direction encoder zero mark negative

APPROACH_POSITIVE_PASSIVE (1)

Approach direction encoder zero mark positive

EDGE_POS_SIDE_NEG_PASSIVE (2)

Rising edge negative side external zero mark

EDGE_POS_SIDE_POS_PASSIVE (3)

Rising edge positive side external zero mark

EDGE_NEG_SIDE_POS_PASSIVE (4)

Falling edge positive side external zero mark

EDGE_NEG_SIDE_NEG_PASSIVE (5)

Falling edge negative side external zero mark

ACTUAL_DIRECTION_PASSIVE (6)

Next edge

EnumAxisPassiveHomingMode
CAM_AND_ZM_PASSIVE (1)

Reference cam and encoder zero mark

ZM_PASSIVE (2)

Encoder zero mark only

CAM_PASSIVE (3)

External zero mark only

DEFAULT_PASSIVE (4)

Default setting depends on encoder type

(with/without encoder zero mark)

REFERENCE_CAM_AND_EXTERNAL_ZM_P
ASSIVE (5)

Reference cam and external zero mark

EnumAxisReferenceCamType
STANDARD (358)

Reference cam

HARDWARE_LIMIT_SWITCH_POSITIVE (389)

Reference cam positive limit switch

HARDWARE_LIMIT_SWITCH_NEGATIVE
(390)

Reference cam negative limit switch

Associated parameters (maximum):

StateDriveExternalZeroMark
(StateDriveExternalZeroMark)

11-642

External zero mark status of digital drive

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

IntervalCounterConversionDataType - PathAxis
The structure elements of 'IntervalCounterConversionData' are used to configure the encoder as an
interval counter.
The 'Interval counter' encoder type is used to determine the speed using an interval duration and the
number of intervals per encoder revolution.
An interval is the time between two successive encoder pulses that are recorded by an encoder
module.
The duration (interval) between the encoder pulses is measured by the module and provided in the
I/O area.
incResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the increments or the number of intervals or encoder pulses per encoder revolution.
referenceTime
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0005 ms

Specifies the reference time for the measurement of the interval duration.
The reference time is the time after which the counter in the encoder module used to determine the
interval duration is incremented by one (interval duration = count * reference time).
Associated parameters (maximum):
DriverInfo
(StructSensorDriverInfo)

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

AnalogDriverInfo (Only the logical address

'logAddress' of the reference value for the interval duration stored by the encoder module in the
I/O area has to be specified. The other elements
of the 'StructSensorDriverInfo' structure are not
taken into account for the configuration of the
interval counter.)

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PathAxis

InversCountDirection - PathAxis
The structure elements of 'InversCountDirection' specify the counting direction of the actual encoder
value.
encoderFeedbackPolarity
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the counting direction of the actual encoder value is inverted.
With NO, the count direction of the actual encoder value is not inverted. (System default)
With YES, the count direction of the actual encoder value is inverted.
EnumYesNo
NO (91)

No

YES (173)

Yes

InvertSetPoint - PathAxis
The inversion of actuating signal is specified with the structure elements for 'InvertSetPoint'.
With an electrical axis, this means the adaptation of the direction of rotation of the drive to the rotational direction of the machine.
With a hydraulic axis, this means the inversion of the F-output behind the characteristic curve.
invSetPoint
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the manipulated variable inversion.

With 'NO', the manipulated variable is output unchanged.
With 'YES', the manipulated variable is output inverted.
EnumYesNo

11-644

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

InvertSetPointHydraulicType - PathAxis
The structure element for 'InvertSetPoint' specifies the inversion of the Q-output value after the characteristic.
invert
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies the activation status.

With NO, the Q-output value behind the characteristic curve is output unchanged.
With YES, the Q-output value behind the characteristic curve is output inverted.
EnumYesNo
NO (91)

No

YES (173)

Yes

LeadScrewInfo - PathAxis
The structure elements of 'LeadScrew' set the leadscrew pitch.
efficiency
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

Efficiency of the spindle/nut combination.

pitchVal
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

10.0 mm/rot

Specifies the leadscrew pitch per spindle revolution.

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PathAxis

LinearMotorDriveData - PathAxis
The structure elements of 'LinearMotorDriveData' specify key drive values for linear motors.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
forceReductionGranularity
Data type:

EnumAxisTorqueForceReductionGranularity

Changeable online:

Yes, active after restart

System default:

BASIC

Specifies the fine resolution of the force reduction.

forceReference
Data type:

EnumAxisReferenceMaxNominal

Changeable online:

Yes, active after restart

System default:

MAX_VALUE

Selection setting for scaling: Reference force or maximum force.

maxForce
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1000.0 N

Specifies the maximum force.

maxSpeed
Data type:

LREAL

Changeable online:

No

System default:

3000.0 1/min

Specifies the maximum traversing velocity.

nominalForce
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1000.0 N

Specifies the maximum force.

nominalSpeed
Data type:

LREAL

Changeable online:

No

System default:

3000.0 1/min

Specifies the reference velocity.

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PathAxis

speedReference
Data type:

EnumAxisReferenceMaxNominal

Changeable online:

Yes, active after restart

System default:

MAX_VALUE

Selection setting for scaling: Reference velocity or maximum velocity.

EnumAxisTorqueForceReductionGranularity
STANDARD (0)

Resolution 1/100

BASIC (16)

Resolution 1/16384

EnumAxisReferenceMaxNominal
MAX_VALUE (0)

Maximum value

NOMINAL_VALUE (1)

Nominal value

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PathAxis

LinearStepMotorDriveDataType - PathAxis
The structure elements of 'LinearStepMotorDriveData' specify key drive values for stepper motors.
maxFrequency
Data type:

LREAL

Changeable online:

No

System default:

50000.0 Hz

Specifies the maximum frequency for motor steps.

stepMotorResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

1000

Specifies the number of motor steps per revolution.

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PathAxis

MaxAcceleration - PathAxis
The structure elements of 'MaxAcceleration' define the maximum permissible acceleration and the
monitoring mode for the change of the manipulated variable.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enableSetPointMonitoring
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the monitoring of the manipulated variable change
With 'NO', the monitoring is deactivated.
With 'YES', the monitoring is activated. The change of the manipulated variable is monitored but not
limited.
The value specified in 'maxAcceleration.maximum' is converted into the value for the maximum
change of the manipulated variable.
maximum
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10000.0 mm/s

Specifies the maximum permissible acceleration.

EnumYesNo
NO (91)

No

YES (173)

Yes

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List Manual, 11/2010

11-649

PathAxis

MaxForceCommandData - PathAxis
The structure elements for 'MaxForceCommandData' are used to configure the type of setpoint generation.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
maximum
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1000.0

Specifies the maximum force/pressure setpoint.

maximumDerived
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10000.0

Specifies the maximum rise of the maximum force/pressure setpoint.

MaxJerk - PathAxis
The structure element of 'MaxJerk' defines the maximum permissible jerk.
Note
Further information is provided:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
SIMOTION Basic Functions Function Manual
Online help
maximum
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

200000.0 mm/s

Specifies the maximum possible jerk.

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PathAxis

MaxVelocity - PathAxis
The structure element of 'MaxVelocity' defines the maximum permissible velocity.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
maximum
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

500.0 mm/s

Specifies the maximum permissible velocity.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-651

PathAxis

ModuloInfo - PathAxis
The structure elements of 'Modulo' specify the modulo information.
length
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

360.0

Specifies modulo length.

The minimum modulo length that can be set depends on the available resolution!
startValue
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Specifies the initial value.

state
Data type:

EnumActiveInactive

Changeable online:

Yes, active after restart

System default:

INACTIVE

Specifies modulo activation.

With ACTIVE, a modulo status is activated.
With INACTIVE, the modulo status is not activated.
EnumActiveInactive

11-652

ACTIVE (4)

Active

INACTIVE (61)

Inactive

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

NeutralBand - PathAxis
The structure elements of 'NeutralBand' specify the parameters for neutral band compensation.
centreValue
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the center point of the neutral band.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of neutral band compensation.

With NO, the neutral band compensation is not activated.
With YES, the neutral band compensation is activated.
range
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the range of the neutral band.

EnumYesNo
NO (91)

No

YES (173)

Yes

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11-653

PathAxis

NumberOfAdditionalSensors - PathAxis
The structure elements for 'NumberOfAdditionalSensors' are used to configure the additional encoders.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
number
Data type:

UDINT

Changeable online:

No

System default:

Specifies the number of encoders for a force-controlled axis

Associated parameters (maximum):

11-654

AdditionalSensor_1
(AdditionalSensorMain)

Encoder 1

AdditionalSensor_2
(AdditionalSensorMain)

Encoder 2

AdditionalSensor_3
(AdditionalSensorMain)

Encoder 3

AdditionalSensor_4
(AdditionalSensorMain)

Encoder 4

AdditionalSensor_5
(AdditionalSensorMain)

Encoder 5

AdditionalSensor_6
(AdditionalSensorMain)

Encoder 6

AdditionalSensor_7
(AdditionalSensorMain)

Encoder 7

AdditionalSensor_8
(AdditionalSensorMain)

Encoder 8

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

NumberOfDataSets - PathAxis
The structure elements for 'NumberOfDataSets' specify the number of data sets.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
changeMode
Data type:

EnumChangeMode

Changeable online:

Yes, active after restart

System default:

IN_POSITION

Specifies the mode for data set change.

With 'NEVER', data record switchover does not take place.
With 'IN_POSITION', the data record switchover takes place when the positioning window is reached.
With 'IN_STANDSTILL', the data record switchover takes place when the standstill signal is present.
With 'IMMEDIATELY', data record switchover takes place immediately.
initDataSet
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the initialization data set.

numberOfDataSets
Data type:

UDINT

Changeable online:

No

System default:

Specifies the number of data sets.

smoothingTimeByChangeDifference
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

The time constant parameterizes a PT1 element that smoothes abrupt changes in the manipulated
variable. Such jumps occur, for example, as a result of Kv changes.
This filter is not effective for changes in the Kv factor.
This filter is effective for data record changes.
EnumChangeMode
NEVER (0)

No switchover

IN_POSITION (1)

Switchover when axis in positioning window

IN_STANDSTILL (3)

Switchover when axis below standstill velocity

IMMEDIATELY (7)

Immediate switchover

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List Manual, 11/2010

11-655

PathAxis

Associated parameters (maximum):

11-656

DataSet_1
(DataSetMain)

Data record 1

DataSet_10
(DataSetMain)

Data record 10

DataSet_11
(DataSetMain)

Data record 11

DataSet_12
(DataSetMain)

Data record 12

DataSet_13
(DataSetMain)

Data record 13

DataSet_14
(DataSetMain)

Data record 14

DataSet_15
(DataSetMain)

Data record 15

DataSet_16
(DataSetMain)

Data record 16

DataSet_2
(DataSetMain)

Data record 2

DataSet_3
(DataSetMain)

Data record 3

DataSet_4
(DataSetMain)

Data record 4

DataSet_5
(DataSetMain)

Data record 5

DataSet_6
(DataSetMain)

Data record 6

DataSet_7
(DataSetMain)

Data record 7

DataSet_8
(DataSetMain)

Data record 8

DataSet_9
(DataSetMain)

Data record 9

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

NumberOfDigitalInputs - PathAxis
The structure elements of 'NumberOfDigitalInputs' are used to configure the number of digital inputs.
number
Data type:

UDINT

Changeable online:

No

System default:

Specifies the number of inputs.

Associated parameters (maximum):
DigitalInput_1
(DigitalInputMain)

Digital input 1

DigitalInput_2
(DigitalInputMain)

Digital input 2

DigitalInput_3
(DigitalInputMain)

Digital input 3

DigitalInput_4
(DigitalInputMain)

Digital input 4

DigitalInput_5
(DigitalInputMain)

Digital input 5

DigitalInput_6
(DigitalInputMain)

Digital input 6

DigitalInput_7
(DigitalInputMain)

Digital input 7

DigitalInput_8
(DigitalInputMain)

Digital input 8

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

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PathAxis

NumberOfEncoders - PathAxis
The structure element of 'NumberOfEncoders' sets the number of encoders.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
dscEncoderNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the DSC encoder.

numberOfEncoders
Data type:

UDINT

Changeable online:

No

System default:

Specifies the number of encoders.

Associated parameters (maximum):

11-658

Encoder_1
(EncoderMain)

Encoder 1

Encoder_2
(EncoderMain)

Encoder 2

Encoder_3
(EncoderMain)

Encoder 3

Encoder_4
(EncoderMain)

Encoder 4

Encoder_5
(EncoderMain)

Encoder 5

Encoder_6
(EncoderMain)

Encoder 6

Encoder_7
(EncoderMain)

Encoder 7

Encoder_8
(EncoderMain)

Encoder 8

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

OutputLimits - PathAxis
The structure element 'OutputLimits' is used to configure the manipulated variable limitation.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
_max
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

500.0

Specifies the maximum output value for the force controller.

_min
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

-500.0

Specifies the minimum output value for the force controller.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

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PathAxis

PD_Controller - PathAxis
The structure elements of 'PD_Controller' specify the parameters of the PD controller.
decayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the delay time constant of the D component.

kd
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the D component gain.

kp
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 1/s

Specifies the P component gain.

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PathAxis

PID_ControllerForce - PathAxis
The structure element 'PID_Controller' is used to configure the PID controller.
decayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Delay time constant of D-action component

enableAntiWindup
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies the activation status of the integrator limitation.

With 'NO', the integrator limitation is not activated.
With 'YES', the integrator limitation is activated.
integratorFeedbackTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the time constant to deactivate the I component.

kd
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the D component gain.

ki
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the I component gain.

kp
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 1/s

Specifies the P component gain.

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PathAxis

kpc
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

100.0 %

Specifies the pre-control factor.

preCon
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the precontrol system.

With 'NO', the precontrol is not activated.
With 'YES', the precontrol is activated.
EnumYesNo

11-662

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

PID_ControllerPos - PathAxis
The structure element 'PID_Controller' is used to configure the PID controller.
balanceFilterMode
Data type:

EnumBalanceFilterMode

Changeable online:

Yes, active after restart

System default:

MODE_1

Specifies the balancing filter.

decayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Specifies the delay time constant of the D component.

enableAntiWindup
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Activation of the integrator limitation.

kd
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the D component gain.

ki
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 1/s

Specifies the I component gain.

kp
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 1/s

Specifies the P component gain.

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PathAxis

kpc
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

100.0 %

Specifies the pre-control factor.

preCon
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the precontrol system.

With 'NO', the precontrol is not activated.
With 'YES', the precontrol is activated.
EnumBalanceFilterMode
OFF (0)

Balancing filter not active

MODE_1 (1)

Balancing filter active

MODE_2 (2)

Expanded balancing filter active

EnumYesNo

11-664

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

PT2PositionFilterType - PathAxis
The structure elements of 'PositionFilter' specify the parameters of the position filter.
T1
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant T1 of the position filter.

T2
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant T2 of the position filter.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the position filter.

EnumYesNo
NO (91)

No

YES (173)

Yes

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PathAxis

PV_Controller - PathAxis
The structure elements of 'PV_Controller' specify the parameters of the P controller with precontrol.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
balanceFilterMode
Data type:

EnumBalanceFilterMode

Changeable online:

Yes, active after restart

System default:

MODE_1

Specifies the balancing filter type.

enableDSC
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of DSC.

With NO, DSC is not activated.
With YES, DSC is activated.
kpc
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

100.0 %

Specifies the pre-control factor.

kv
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 1/s

Specifies the gain factor of the position feedback loop.

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SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

preCon
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the precontrol system.

With NO, the precontrol is not activated.
With YES, the precontrol is activated.
EnumBalanceFilterMode
OFF (0)

Balancing filter not active

MODE_1 (1)

Balancing filter active

MODE_2 (2)

Expanded balancing filter active

EnumYesNo
NO (91)

No

YES (173)

Yes

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PathAxis

PathAxisPosTolerance - PathAxis
The setting of the setpoint differential monitoring on the path axis is specified with the structure elements for 'PathAxisPosTolerance'.
Note
"Further information can be found in the Path Interpolation Technology Object Function Manual and
in online help."
commandValueTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 mm

Specifies the permissible setpoint deviation. An alarm is output if the value is exceeded.
enableCommandValue
Data type:

EnumAxisPathPosToleranceCommandValue

Changeable online:

Yes, active immediately

System default:

WITHOUT_JERK

Specifies the activation status of the setpoint tolerance monitoring system.

With NO_ACTIVATE, the tolerance monitoring of the setpoints is not activated.
With WITHOUT_JERK, the tolerance monitoring of the setpoints is activated without inclusion of the
jerk. An alarm is output if the setpoints are exceeded.
With WITH_JERK, the tolerance monitoring of the setpoints is activated with inclusion of the jerk. An
alarm is output if the setpoints are exceeded.
EnumAxisPathPosToleranceCommandValue
NO_ACTIVATE (0)

No

WITHOUT_JERK (1)

Without jerk

WITH_JERK (2)

With jerk

PathPerRevolution - PathAxis
The structure elements of 'PathPerRevolution' specify the distance of one revolution for the EXTERN
assembly base.
length
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

100.0 mm

Specifies the path length of an encoder revolution for EXTERNAL mount type.

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SIMOTION Technology Packages Configuration Data

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PathAxis

PathSyncAxisPosTolerance - PathAxis
The setting of the setpoint differential monitoring on the synchronous axis is specified with the structure elements for 'PathSyncAxisPosTolerance'.
Note
"Further information can be found in the Path Interpolation Technology Object Function Manual and
in online help."
commandValueTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10.0 mm

Specifies the permissible setpoint deviation. An alarm is output if the value is exceeded.
enableCommandValue
Data type:

EnumAxisPathPosToleranceCommandValue

Changeable online:

Yes, active immediately

System default:

WITHOUT_JERK

Specifies the activation status of the setpoint tolerance monitoring system.

With NO_ACTIVATE, the tolerance monitoring of the setpoints is not activated.
With WITHOUT_JERK, the tolerance monitoring of the setpoints is activated without inclusion of the
jerk. An alarm is output if the setpoints are exceeded.
With WITH_JERK, the tolerance monitoring of the setpoints is activated with inclusion of the jerk. An
alarm is output if the setpoints are exceeded.
EnumAxisPathPosToleranceCommandValue
NO_ACTIVATE (0)

No

WITHOUT_JERK (1)

Without jerk

WITH_JERK (2)

With jerk

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PathAxis

PositionFilterType - PathAxis
The structure elements of 'PositionFilter' specify actual value smoothing. The settings take effect on
the actual position values in the servo cycle clock.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With 'NO', the filter functionality is deactivated.
With 'YES', the filter functionality is activated.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo

11-670

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

PositionMonitoring - PathAxis
The structure elements of 'PositionMonitoring' specify position monitoring.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
posWinTolDelayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1 s

Specifies the delay between the time when the actual value reaches the tolerance window and activation of zero speed monitoring.
posWinTolTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Specifies the delay between activation of monitoring and the time when the actual value reaches the
tolerance window.
tolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm

Specifies the width of the positioning window.

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PathAxis

ProcessModel - PathAxis
The structure elements of 'ProcessModel' set the parameters for the process model.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
T1
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.003 s

Specifies the first time constant.

T2
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0001 s

Specifies the second time constant.

ks
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.00000095367431640625

Specifies the transmission factor.

Range - PathAxis
The 'Range' structure elements are used to configure the definition range of the read encoder values.
_max
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10000.0

Specifies the maximum value.

_min
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

-10000.0

Specifies the minimum value.

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SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

Resolution - PathAxis
'Resolution' is used to configure the parameters of a linear encoder system (linear scale).
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
distance
Data type:

LREAL

Changeable online:

No

System default:

0.001 mm

Distance between two encoder increments.

Note
The minimum value that can be set results from the maximum resolution of the TO axis or TO external
encoder. Consequently, for an excessive lower limit, the unit for the 'Increments/Position' physical
quantity must be varied appropriately.
multiplierCyclic
Data type:

UDINT

Changeable online:

No

System default:

Incremental resolution

RestartConditionInfo - PathAxis
'RestartConditionInfo' is used to set the state in which axis restart is possible.
restartAxisCondition
Data type:

EnumRestartAxisCondition

Changeable online:

Yes, active after restart

System default:

AXIS_DISABLED

Specifies the condition for restart.

With 'NO_CONSTRAINTS', restart takes place irrespective of the axis state.
With 'STANDSTILL', restart takes place only when a standstill signal is present.
With 'AXIS_DISABLED', restart only takes place if there are no enables set on the axis.
EnumRestartAxisCondition
NO_CONSTRAINTS (0)

Restart without constraints

STANDSTILL (1)

Restart during standstill

AXIS_DISABLED (2)

Restart only when no enables are set

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PathAxis

RestartInfo - PathAxis
'RestartInfo' is used to enable technology object restart with system variables and/or by command or
just by command.
behaviorInvalidSysvarAccess
Data type:

EnumToInvalidSysvarAccess

Changeable online:

No

System default:

LAST_VALUE

If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP
mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology
object is restarted or deactivated.
The values stored in the image are supplied when system variables are accessed during the technology object restart or deactivation phase.
restartActivationSetting
Data type:

EnumToRestartActivationSetting

Changeable online:

Yes, active after restart

System default:

RESTART_BY_SYSVAR_AND_COMMAND

With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with

system variables and/or by command.
With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
DEFAULT_VALUE (2)

Supply substitute value from default value

STOP_DEVICE (3)

No substitute value, switch to STOP mode

LAST_VALUE (338)

Supply substitute value from last valid value

EnumToRestartActivationSetting

11-674

RESTART_BY_SYSVAR_AND_COMMAND (0)

Allow restart via system variable and/or command

RESTART_BY_COMMAND (1)

Allow restart only via command

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

ReverseCamNegative - PathAxis
The structure elements of 'ReverseCamNegative' specify the parameters for a negative reversing
cam.
_type
Data type:

EnumAxisHomingReverseCamType

Changeable online:

No

System default:

NONE

Specifies the reversing cam selection.

With NONE, a negative reversing cam is not present.
With SPECIFIC, the reversing cam is defined by an address and bit number.
With HARDWARE_LIMIT_SWITCH, the negative hardware limit switch is used as the reversing cam.
bitNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the bit umber of the negative reversing cam for the selection SPECIFIC.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address of the negative reversing cam for the selection SPECIFIC.
EnumAxisHomingReverseCamType
NONE (93)

No reversing cam

SPECIFIC (387)

Newly defined reversing cam

HARDWARE_LIMIT_SWITCH (388)

Hardware limit switch as reversing cam

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PathAxis

ReverseCamPositive - PathAxis
The structure elements of 'ReverseCamPositive' specify the parameters for a positive reversing cam.
_type
Data type:

EnumAxisHomingReverseCamType

Changeable online:

No

System default:

NONE

Specifies the reversing cam selection.

With NONE, a positive reversing cam is not present.
With SPECIFIC, the reversing cam is defined by an address and bit number.
With HARDWARE_LIMIT_SWITCH, the positive hardware limit switch is used as the reversing cam.
bitNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the bit number of the positive reversing cam for the selection SPECIFIC.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address of the positive reversing cam for the selection SPECIFIC.
EnumAxisHomingReverseCamType

11-676

NONE (93)

No reversing cam

SPECIFIC (387)

Newly defined reversing cam

HARDWARE_LIMIT_SWITCH (388)

Hardware limit switch as reversing cam

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

SensorControlConfig - PathAxis
The tolerance of an encoder error is specified with the structure elements for 'SensorControlConfig'.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
tolerateSensorDefect
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether a failure of an encoder not involved in the closed-loop control should be tolerated.
With 'NO', a failure is not tolerated.
With 'YES', a failure is tolerated.
EnumYesNo
NO (91)

No

YES (173)

Yes

SensorNist - PathAxis
The structure elements of 'SensorNist' specify the parameters for the actual speed value from the I/O
area.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address of the actual speed value in the I/O area.
referenceValue
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

3000.0

Specifies the reference time for the interval measurement.

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PathAxis

SensorSetActualValue - PathAxis
The structure elements of 'SensorSetActualValue' specify the parameters for actual value read-in via
system variable.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
maxFailures
Data type:

UDINT

Changeable online:

Yes, active immediately

System default:

Specifies the number of permissible failures with reference to the update cycle.
updateCycle
Data type:

EnumAxisUpdateCycle

Changeable online:

Yes, active after restart

System default:

IPO

Specifies the actual value update cycle via system variable.

EnumAxisUpdateCycle

11-678

IPO (0)

IPO

IPO_2 (1)

IPO_2

SERVO (2)

Servo

IPO_FAST (3)

IPO_fast

SERVO_FAST (4)

Servo_fast

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

SetPointDriverInfo - PathAxis
The structure elements of 'SetPointDriverInfo' specify the driver information for the drive interface.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
actorType
Data type:

EnumAxisDioActorType

Changeable online:

No

System default:

NO_TYPE

Specifies the type of drive.

With NO_TYPE, there is no interface specification.
With 'ANALOG', the interface is configured for analog drives.
With 'STEPMOTOR', the interface is configured for stepper motors.
interfaceAllocation
Data type:

EnumAxisActuatorInterfaceAllocationConfig

Changeable online:

No

System default:

EXCLUSIVE

Selects the interface behavior.

With EXCLUSIVE, the driver can only be used on this technology object.
With NON_EXCLUSIVE_AND_STARTUP_DEACTIVATED, the driver can be used on this or any
other technology object. The driver is deactivated on the technology object after system startup.
With NON_EXCLUSIVE_AND_STARTUP_ACTIVATED, the driver can be used on this or any other
technology object. The driver is activated on the technology object after system startup.
lifeSignCheck
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies the activation status of life sign monitoring.

With NO, the sign of life monitoring is not activated.
With YES, the sign of life monitoring is activated.
logAddressIn
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the input data area.

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PathAxis

logAddressOut
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the output data area.

maxSetPointVoltage
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

10.0 V

Specifies the standard voltage with which the analog drive reaches its rated speed.
mode
Data type:

EnumAxisDriverMode

Changeable online:

No

System default:

SIMULATION

Specifies the type of drive interface.

With SIMULATION, actuator and encoder are short-circuited via a delay element.
With ONBOARD, the ONBOARD interfaces are used.
With DPMASTER, the drive coupling is performed via PROFIBUS DP.
.
motorType
Data type:

EnumAxisMotorType

Changeable online:

No

System default:

STANDARD_MOTORTYPE

Specifies the motor type.

With STANDARD_MOTORTYPE, operation with a standard motor is configured.
With LINEAR_MOTORTYPE, operation with a linear motor is configured.
outputNumberOnDevice
Data type:

UDINT

Changeable online:

No

System default:

Not used

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List Manual, 11/2010

PathAxis

telegramType
Data type:

EnumAxisTelegramType

Changeable online:

No

System default:

DP_TEL102_611U_POSCTRL_1_ENCODER

Specifies the PROFIBUS message frame type.

With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set
up.
With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set
up.
With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one
encoder) is set up.
With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with
two encoders) is set up.
With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives
with one encoder and DSC) is set up.
With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled
drives with two encoders and DSC) is set up.
The message frames DP_TEL81_STANDARD (81) to DP_TEL83_STANDARD (83) are not relevant
for DriveAxis.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7
for velocity-controlled drives without encoders is set up.
With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for
velocity-controlled drives with one encoder is set up.
With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for
velocity-controlled drives with two encoders is set up.
With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for
velocity-controlled drives with one encoder and DSC is set up.
With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for
velocity-controlled drives with two encoders and DSC is set up.
The message frames DP_TEL125_SIEM_DSC_1_ENCODER_SPLINE (125) and
DP_TEL126_SIEM_DSC_2_ENCODER_SPLINE (126) are not supported for he SIMOTION Version
V4.2.
EnumAxisDioActorType
NO_TYPE (0)

No type

ANALOG (1)

Analog

STEPMOTOR (2)

Step mode

EnumAxisActuatorInterfaceAllocationConfig
EXCLUSIVE (939)

Technology object (TO) exclusive

NON_EXCLUSIVE_AND_STARTUP_DEACTI
VATED (940)

TO non-exclusive and deactivated

NON_EXCLUSIVE_AND_STARTUP_ACTIVAT
ED (941)

TO non-exclusive and active

EnumYesNo
NO (91)

No

YES (173)

Yes

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PathAxis

EnumAxisDriverMode
SIMULATION (0)

Simulation

ONBOARD (1)

Onboard

DPMASTER (2)

DP Master

EnumAxisMotorType
STANDARD_MOTORTYPE (0)

Standard motor

LINEAR_MOTORTYPE (1)

Linear motor

EnumAxisTelegramType
NO_TELEGRAM (0)

No message frame

DP_TEL1_STANDARD (1)

Standard message frame 1, PZD-2/2

DP_TEL2_STANDARD (2)

Standard message frame 2, PZD-4/4

DP_TEL3_STANDARD (3)

Standard message frame 3, PZD-5/9

DP_TEL4_STANDARD (4)

Standard message frame 4, PZD-6/14

DP_TEL5_STANDARD (5)

Standard message frame 5, PZD-9/9

DP_TEL6_STANDARD (6)

Standard message frame 6, PZD-10/14

DP_TEL81_STANDARD (81)

Standard message frame 81, PZD-2/6

DP_TEL83_STANDARD (83)

Standard message frame 83, PZD-2/8

DP_TEL101_611U_VELCTRL_NO_ENCODER
(101)

SIEMENS message frame 101, PZD-6/7

DP_TEL102_611U_POSCTRL_1_ENCODER
(102)

SIEMENS message frame 102, PZD-6/10

DP_TEL103_611U_POSCTRL_2_ENCODER
(103)

SIEMENS message frame 103, PZD-7/15

DP_TEL105_611U_DSC_1_ENCODER (105)

SIEMENS message frame 105, PZD-10/10

DP_TEL106_611U_DSC_2_ENCODER (106)

SIEMENS message frame 106/107, PZD-11/15

Associated parameters (maximum):

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DriveData
(DriveData)

Drive characteristics for standard motors

InvertSetPoint
(InvertSetPoint)

Direction of rotation adaptation

LinearMotorDriveData
(LinearMotorDriveData)

Drive characteristics for linear motors

LinearStepMotorDriveData
(LinearStepMotorDriveDataType)

Drive characteristics for stepper motors

StepMotorDriveData
(StepMotorDriveDataType)

Drive characteristics for stepper motors

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

SimulationInfo - PathAxis
The structure elements of 'SimulationInfo' are used to set a process interface. Simulation mode is not
available at present.
simulationMode
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Simulation mode activation.

With 'Simulation mode = NO', process connection is set.
'Simulation mode = YES' is not available.
EnumYesNo
NO (91)

No

YES (173)

Yes

Slippage - PathAxis
Not functional.
slippageLimit
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

1000 mm

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PathAxis

SmoothingFilter - PathAxis
The structure elements for 'SmoothingFilter' specify actual velocity filtering. The filtered actual velocity
is displayed in 'motionStateData.actualVelocity'.
'timeConstant':
- Time constant for PT1 smoothing.
- Time constant for averaging.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With NO, the filter functionality is deactivated.
With YES, the filter functionality is activated.
mode
Data type:

EnumAxisFilterMode

Changeable online:

Yes, active after restart

System default:

DEFAULT_MODE

Specifies criterion for actual value smoothing.

With 'DEFAULT_MODE', the ratio of interpolator cycle clock to position servo cycle clock is used.
With 'AVERAGING', an average over time is used.
With 'PT1', a filter set via 'timeConstant' is used.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisFilterMode

11-684

DEFAULT_MODE (0)

No filter

AVERAGING (1)

Form mean value

PT1 (2)

PT1 filter

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

StandStillMonitoring - PathAxis
The structure elements of 'StandStillMonitoring' specify zero speed monitoring.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
delayTimeToActivate
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the delay between the time at which the monitoring window is reached and activation of the
message.
stillStandTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm

Specifies the maximum position tolerance at standstill.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-685

PathAxis

StandStillSignal - PathAxis
The structure elements of 'StandStillSignal' specify the parameters for the velocity-dependent standstill signal.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
delayTimeToActivate
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Specifies the delay time to activation of the velocity-dependent standstill signal.

filterDegree
Data type:

UINT

Changeable online:

Yes, active immediately

System default:

Specifies the filter degree.

filterFrequency
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 Hz

Specifies the filter frequency.

maxVeloStandStill
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

50.0 mm/min

Specifies the velocity limit below which the velocity-dependent standstill signal is active.

11-686

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PathAxis

StateDriveExternalZeroMark - PathAxis
The structure elements of 'StateDriveExternalZeroMark' specify the parameters for the status of an
external zero mark for a digital drive.
available
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies that the external zero mark status for a digital drive is available.
bitNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the bit number of the external zero mark for a digital drive.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address of the external zero mark for a digital drive.
EnumYesNo
NO (91)

No

YES (173)

Yes

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11-687

PathAxis

StepMotorDriveDataType - PathAxis
The structure elements of 'StepMotorDriveData' specify key drive values for stepper motors.
maxFrequency
Data type:

LREAL

Changeable online:

No

System default:

50000.0 Hz

Specifies the maximum frequency for motor steps.

stepMotorResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

1000

Specifies the number of motor steps per revolution.

11-688

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

StepMotorMonitoringType - PathAxis
The structure elements belonging to 'StepMotorMonitoring' are used to set the rotation monitoring for
step motor operation.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
beroCycleDistance
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

2048

Specifies the maximum allowed deviation of motor steps per revolution.

beroCycleTolerance
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

2048

Specifies a tolerance range around beroCycleDistance.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the step motor monitoring.

EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

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11-689

PathAxis

StructAxisActualValueUpdateCounter - PathAxis
The structure elements of 'UpdateCounter' are used to set the parameters for evaluation of the actual
value update.
bitNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the first bit number of the update counter.

enableCounter
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the actual value update is evaluated.

With NO, the actual value update is not evaluated.
With YES, the actual value update is evaluated.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address of the update counter.

maxFailure
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of permissible value failures before an error is output.

quantityOfBits
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of bits in the update counter.

11-690

SIMOTION Technology Packages Configuration Data

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PathAxis

updateCycle
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the ratio of the actual value update.

EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

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11-691

PathAxis

StructAxisAdditionalOffset - PathAxis
The structure elements belonging to 'AdditionalOffset' are used to set the offset application for traversal of the axis with motion/force control.
The offset is applied during traversal of the axis with motion control related to the velocity setpoint.
For force/pressure specification, the offset application is based on the actual velocity value.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the offset application.

With NO, the offset application is not activated.
With YES , the offset application is activated.
forceControlLowerLimit
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm/s

Specifies the activation threshold for 'offsetForceControlPositive/Negative'.

The offset acts when the 'forceControlLowerLimit' value has been exceeded.
offsetForceControlNegative
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm/s

Specifies the offset for traversal with force specification and negative direction of movement.
offsetForceControlPositive
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm/s

Specifies the offset for traversal with force control and positive direction of movement.
offsetMotionControlNegative
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm/s

Specifies the offset for traversal with motion control and negative direction of movement.

11-692

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

offsetMotionControlPositive
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 mm/s

Specifies the offset for traversal with motion control and positive direction of movement.
EnumYesNo
NO (91)

No

YES (173)

Yes

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11-693

PathAxis

StructAxisAnalogSensorErrorStateMonitoring - PathAxis
The structure elements of 'ErrorStateMonitoring' are used to set the parameters for evaluation of the
error bit.
bitNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the bit number of the error bit.

bitSemantics
Data type:

EnumTrueFalse

Changeable online:

Yes, active after restart

System default:

_TRUE

Specifies the evaluation of the error bit.

With TRUE, the error bit is evaluated as 1.
With FALSE, the error bit is evaluated as 0.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the error bit monitoring is performed.

With NO, the logical address is not used.
With YES, the logical address is used.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the error bit.

EnumTrueFalse
_TRUE (405)

true

_FALSE (406)

false

EnumYesNo

11-694

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

StructAxisAnalogSensorReadyStateMonitoring - PathAxis
The structure elements of 'ReadyStateMonitoring' are used to set the parameters for evaluation of the
ready bit.
bitNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the bit number of the ready bit.

bitSemantics
Data type:

EnumTrueFalse

Changeable online:

Yes, active after restart

System default:

_TRUE

Specifies the evaluation of the ready bit.

With TRUE, the ready bit is evaluated as 1.
With FALSE, the ready bit is evaluated as 0.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the ready bit monitoring is performed.

With NO, the logical address is not used.
With YES, the logical address is used.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the ready bit.

EnumTrueFalse
_TRUE (405)

true

_FALSE (406)

false

EnumYesNo
NO (91)

No

YES (173)

Yes

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11-695

PathAxis

StructAxisDriveControlConfig - PathAxis
Settings for the drive are specified with the 'DriveControlConfig' configuration data.
dataAdaption
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

The 'dataAdaption' configuration data activates the adaptation of the drive data.
With 'YES', is the adaptation active.
With 'NO', is the adaptation deactivated.
pulsesEnabledEvaluation
Data type:

EnumAxisPulsesEnabledEvaluation

Changeable online:

Yes, active after restart

System default:

COMPATIBILITY_MODE

The 'PulsesEnabledEvaluation' configuration data describes the behavior of the axis for a drive-independent stop response.
With 'YES', the Pulses-Enabled bit is always processed.
With 'COMPATIBILITY_MODE', the Pulses-Enabled bit is only processed for selected safety data
block.
releaseDisableMode
Data type:

UDINT

Changeable online:

Yes, active immediately

System default:

127

The behavior of the drive during the RELEASE_DISABLE error response is specified with the 'releaseDisableMode' configuration data.
Specifies the values of bits 0 - 6 to be reset in the PROFIDrive protocol.
The bits are negated by the system and ANDed with the existing control word. The specified bits are
reset.
Meaning of the bits in the PROFIdrive protocol:
Bit0 - ON
Bit1 - No Coast Stop
Bit2 - No Quick Stop
Bit3 - Enable Operation
Bit4 - Enable Ramp Generator
Bit5 - Unfreeze Ramp Generator
Bit6 - Enable Setpoint
EnumYesNo

11-696

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

EnumAxisPulsesEnabledEvaluation
YES (173)

Pulses-Enabled bit is always processed

COMPATIBILITY_MODE (959)

The Pulses-Enabled bit is only processed for

selected safety data block

Associated parameters (maximum):

pulsesEnabled
(StructAxisPulsesEnabledConfig)

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Position of PulsesEnabled bit

11-697

PathAxis

StructAxisDriveSafetyExtendedFunctionsInfoDataIn - PathAxis
Specifies the logical address for the communication with the drive.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data
in the cyclic message frame from the drive.

11-698

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

StructAxisFilterForceControlConfig - PathAxis
The filter at the output of the force controller is configured with the structure element 'FilterForceControl'.
T1
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Specifies the T1 time constant of the PT2 filter.

T2
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Specifies the T2 time constant of the PT2 filter.

_type
Data type:

EnumForceControllerFilterType

Changeable online:

Yes, active after restart

System default:

PT2

With 'PT2', a PT2 filter is selected.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

This data element activates the filter

EnumForceControllerFilterType
PT2 (909)

PT2

EnumYesNo
NO (91)

No

YES (173)

Yes

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List Manual, 11/2010

11-699

PathAxis

StructAxisInvertFOutput - PathAxis
The structure element for 'InvertF' specifies the inversion of the F-output value in front of the characteristic.
invSetPoint
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status.

With 'NO', the F output value in front of the characteristic curve (logical manipulated variable) is output
unchanged.
With 'YES', the F output value in front of the characteristic curve (logical manipulated variable) is output inverted.
EnumYesNo
NO (91)

No

YES (173)

Yes

StructAxisInvertQOutput - PathAxis
The structure element for 'InvertQ' specifies the inversion of the Q-output value in front of the characteristic.
invSetPoint
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status.

With 'NO', the Q output value in front of the characteristic curve (logical manipulated variable) is output
unchanged.
With 'YES', the Q output value in front of the characteristic curve (logical manipulated variable) is output inverted.
EnumYesNo

11-700

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

StructAxisNistDriverConfig - PathAxis
The parameters for the actual speed value hardware are specified with the structure elements for
'NistDriverConfig' .
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the actual speed value.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-701

PathAxis

StructAxisOperatingDataInInfo - PathAxis
Specifies the configuration of the operating character data block.
enableActivePower
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the effective power display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableActualCurrent
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the actual current value display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableActualTorqueOrForce
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the torque / force actual value display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableMotorTemperature
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the motor temperature display.

With 'NO', the display is not activated.
With 'YES', the display is activated.

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List Manual, 11/2010

PathAxis

enableTorqueOrForceUtilization
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the torque utilization display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data
in the cyclic message frame from the drive.
EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-703

PathAxis

StructAxisPulsesEnabledConfig - PathAxis
The bit position for pulsesEnable is defined with the configuration data in 'StructAxisPulsesEnabledConfig'.
bitNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

13

Specifies the bit number for pulse enable.

pzdNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the PZD number for pulse enable.

StructAxisServoMonitoringConfig - PathAxis
The structure elements for 'ServoMonitoring' are used to set the activation status of the control loop
monitoring for activated limitation by the Q/P valve.
motionMonitoringWhenExternalForceLimiting
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Activation of the control loop monitoring with an active pressure limiting command.
With 'YES', the monitoring is active.
With 'NO', the monitoring is not active.
EnumYesNo

11-704

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

StructAxisSetpointFilter - PathAxis
The 'setpointFilter' structure element is used to configure a PT1 filter in the manipulated variable
branch.
T1
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Specifies the T1 time constant of the PT1 filter.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

This data element activates the filter

EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-705

PathAxis

StructAxisSlidingFriction - PathAxis
The structure elements of 'Sliding Friction' specify sliding friction compensation.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of friction torque compensation.

With 'NO', the sliding friction compensation is not activated.
With 'YES', the sliding friction compensation is activated.
factorForceControl
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01

Factor for the sliding friction compensation relative to the actual velocity when
traversing via force/pressure control.
factorMotionControl
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01

Factor for the sliding friction compensation relative to the setpoint velocity when
traversing via motion control.
maxSlidingFrictionForceControl
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the upper limit for the sliding friction component for pressure control.
EnumYesNo

11-706

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

StructAxisSpeedLimitation - PathAxis
Parameters for asymmetric manipulated variable limitation. This function is also referred to as a backstop.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the velocity range limit..

With 'NO', the velocity limit is not activated.
With 'YES', the velocity limit is activated.
maxSpeed
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 1/min

Specifies the upper limit for the manipulated variable range.

minSpeed
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 1/min

Specifies the lower limit for the manipulated variable range.

EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-707

PathAxis

StructAxisSwLimitConfig - PathAxis
The structure elements for 'SwLimit' are used to parameterize the efficiency and the approach functionality of the software limit switch.
modeSpecificMonitoring
Data type:

EnumAxisSwLimitModeSpecificMonitoring

Changeable online:

Yes, active after restart

System default:

IN_CLOSED_LOOP_POSITION_CONTROL

Specifies the approach behavior at the software limit switch.

monitoringAtMotionStart
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies whether a restriction to the software limit switch should take place at the motion start.
With a 'YES' setting, a check is performed at the beginning of the motion initiated by the command to
determine whether a software limit switch is crossed, and then the target position is adapted to the
software limit switch.
With a 'NO' setting, a check is not performed at the motion start.
relieveWindow
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Tolerance window for the retraction from/via the software limit switch.
EnumAxisSwLimitModeSpecificMonitoring
IN_CLOSED_LOOP_POSITION_CONTROL
(0)

Stop on the software limit switch only during

position-controlled traversing

IN_ALL_CONTROL_MODES (1)

Stop on the software limit switch in all operating

modes with mandatory switchover to position
control

EnumYesNo

11-708

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

StructAxisSystemDeadTimeData - PathAxis
The structure elements belonging to 'SystemDeadTimeData' allow the correction of system-related
dead times.
additionalTime
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0 s

Correction value for system-related dead times.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-709

PathAxis

StructAxisTechnologicalData - PathAxis
The structure elements belonging to TechnologicalData are used to specify addresses for additional
data exchange between drive and control unit.
driveSafetyExtendedFunctionsEnabled
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation status of the SINAMICS Safety Integrated Extended Functions data.
With 'NO', the data are not activated.
With 'YES', the data are activated.
enable
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation status of the technological data.

With 'NO', the technology data are not activated.
With 'YES', the technology data are activated.
EnumYesNo
NO (91)

No

YES (173)

Yes

Associated parameters (maximum):

11-710

DriveSafetyExtendedFunctionsInfoDataIn
(StructAxisDriveSafetyExtendedFunctionsInfoDataIn)

Drive interface for SINAMICS Safety Integrated

Extended Functions data

OperatingDataInInfo
(StructAxisOperatingDataInInfo)

Drive interface for operating characteristics

TechnologicalDataInInfo
(StructAxisTechnologicalDataInInfo)

Drive interface for specific actual values

TechnologicalDataOutInfo
(StructAxisTechnologicalDataOutInfo)

Drive interface for specific setpoints

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

StructAxisTechnologicalDataInInfo - PathAxis
Specifies the logical address for the communication with the drive.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of specific parameters in the cyclical message frame from
the drive.

StructAxisTechnologicalDataOutInfo - PathAxis
Specifies the logical address for the communication with the drive.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of specific parameters in the cyclical message frame to
the drive.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-711

PathAxis

StructCommandValueQuantization - PathAxis
The structure elements of 'CommandValueQuantization' are used to set the quantization filter.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the quantization filter.

With 'NO', the quantization filter is not activated.
With 'YES', the quantization filter is activated.
mode
Data type:

EnumCommandValueQuantizationMode

Changeable online:

No

System default:

REFER_TO_ACTUAL_SENSOR_VALUE_RES
OLUTION

Specifies the quantization mode.

With 'REFER_TO_ACTUAL_SENSOR_VALUE_RESOLUTION', the resolution of the current encoder
is the base value for quantization.
With 'DIRECT', the value specified in 'value' is the base value for quantization.
value
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0e-12 mm

Specifies the manipulated variable quantization.

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumCommandValueQuantizationMode

11-712

DIRECT (40)

Quantization to input value

REFER_TO_ACTUAL_SENSOR_VALUE_RES
OLUTION (936)

Quantization to current sensor

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

StructControllerOutput - PathAxis
Configures the controller for a hydraulic axis.
outputType
Data type:

EnumAxisControllerOutput

Changeable online:

No

System default:

DIRECT_OUTPUT

Type of output interface.

With 'DIRECT_OUTPUT', the output takes place via the analog interface.
With 'DRIVE_INTERFACE', the output takes place via the onboard interface or via PROFIdrive.
EnumAxisControllerOutput
DIRECT_OUTPUT (1)

Analog interface

DRIVE_INTERFACE (2)

Onboard interface or PROFIdrive

Associated parameters (maximum):

DirectOutputDriverInfo
(StructDirectOutputDriverInfo)

Parameters of the analog driver

DriveInterfaceDriverInfo
(StructDriveInterfaceDriverInfo)

Parameters of the driver for the drive interface

EnableBit
(StructEnableBit)

Enable bit

InvertF
(StructAxisInvertFOutput)

Inversion of the F-output in front of the characteristic curve

InvertFOutput
(InvertSetPoint)

Inversion of the F-output behind the characteristic curve

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-713

PathAxis

StructDirectOutputDriverInfo - PathAxis
The structure elements of 'DirectOutputDriverInfo' are used to configure the controller for a hydraulic
axis.
format
Data type:

EnumActualValueFormat

Changeable online:

Yes, active after restart

System default:

VALUE_LEFT_MARGIN

Specifies the format of the actual value.

logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address.

maxOutputVoltage
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

10.0 V

Not used
resolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

15

Specifies the number of relevant bits.

EnumActualValueFormat

11-714

VALUE_RIGHT_MARGIN (0)

Right-justified

VALUE_LEFT_MARGIN (1)

Left-justified

VALUE_LEFT_MARGIN_WITHOUT_SIGN (2)

Left-justified without sign

VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3)

Right-justified without sign

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

StructDriveInterfaceDriverInfo - PathAxis
The structure elements of 'DriveInterfaceDriverInfo' are used to configure the controller for a hydraulic
axis.
actorType
Data type:

EnumAxisDioActorType

Changeable online:

No

System default:

NO_TYPE

Specifies the type of drive.

With NO_TYPE, there is no interface specification.
With ANALOG, the interface is configured for analog drives.
With STEPMOTOR, the interface is configured for stepper motors.
lifeSignCheck
Data type:

EnumYesNo

Changeable online:

No

System default:

YES

Specifies the activation status of life sign monitoring.

With 'NO', the sign of life monitoring is not activated.
With 'YES', the sign of life monitoring is activated.
logAddressIn
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the input data area.

logAddressOut
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the output data area.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-715

PathAxis

maxOutputVoltage
Data type:

LREAL

Changeable online:

No

System default:

10.0 V

Specifies the standard voltage on which the analog drive reaches its maximum speed.
mode
Data type:

EnumAxisDriverMode

Changeable online:

No

System default:

SIMULATION

Specifies the type of drive interface.

With 'ONBOARD', an onboard analog interface is used.
With 'DPMASTER', an onboard PROFIBUS DP interface is used.
With 'SIMULATION', a drive interface is simulated.
outputNumberOnDevice
Data type:

DINT

Changeable online:

No

System default:

Reserved
telegramType
Data type:

EnumAxisTelegramType

Changeable online:

No

System default:

DP_TEL102_611U_POSCTRL_1_ENCODER

Specifies the PROFIBUS message frame type.

With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set
up.
With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set
up.
With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one
encoder) is set up.
With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with
two encoders) is set up.
With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives
with one encoder and DSC) is set up.
With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled
drives with two encoders and DSC) is set up.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7
for velocity-controlled drives without encoders is set up.
With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for
velocity-controlled drives with one encoder is set up.
With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for
velocity-controlled drives with two encoders is set up.
With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for
velocity-controlled drives with one encoder and DSC is set up.
With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for
velocity-controlled drives with two encoders and DSC is set up.

11-716

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

EnumAxisDioActorType
NO_TYPE (0)

No type

ANALOG (1)

Analog

STEPMOTOR (2)

Step mode

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisDriverMode
SIMULATION (0)

Simulation

ONBOARD (1)

Onboard

DPMASTER (2)

DP Master

EnumAxisTelegramType
NO_TELEGRAM (0)

No message frame

DP_TEL1_STANDARD (1)

Standard message frame 1, PZD-2/2

DP_TEL2_STANDARD (2)

Standard message frame 2, PZD-4/4

DP_TEL3_STANDARD (3)

Standard message frame 3, PZD-5/9

DP_TEL4_STANDARD (4)

Standard message frame 4, PZD-6/14

DP_TEL5_STANDARD (5)

Standard message frame 5, PZD-9/9

DP_TEL6_STANDARD (6)

Standard message frame 6, PZD-10/14

DP_TEL81_STANDARD (81)

Standard message frame 81, PZD-2/6

DP_TEL83_STANDARD (83)

Standard message frame 83, PZD-2/8

DP_TEL101_611U_VELCTRL_NO_ENCODER
(101)

SIEMENS message frame 101, PZD-6/7

DP_TEL102_611U_POSCTRL_1_ENCODER
(102)

SIEMENS message frame 102, PZD-6/10

DP_TEL103_611U_POSCTRL_2_ENCODER
(103)

SIEMENS message frame 103, PZD-7/15

DP_TEL105_611U_DSC_1_ENCODER (105)

SIEMENS message frame 105, PZD-10/10

DP_TEL106_611U_DSC_2_ENCODER (106)

SIEMENS message frame 106/107, PZD-11/15

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-717

PathAxis

StructDriverInfoDirectIncremental - PathAxis
The parameters for the direct incremental encoder hardware are specified with the structure elements
for 'DriverInfoDirectIncremental' .
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the communication module.

resolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

16

Specifies the number of bits of the incremental encoder.

11-718

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

StructEnableBit - PathAxis
The structure elements for 'EnableBit' can be used to configure an output bit for indicating the enables.
bitNumberOnDevice
Data type:

UDINT

Changeable online:

No

System default:

Specifies the I/O bit number within the I/O byte specified by the logical address.
enable
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies whether the output cam result is output.

With 'NO', the output bit is not used to display the enables.
With 'YES', the output bit is used to display the enables.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the address.

EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-719

PathAxis

StructExtrapolation - PathAxis
The structure elements belonging to 'Extrapolation' are used to set the extrapolation time on the master value axis.
extrapolatedVelocitySwitch
Data type:

EnumAxisExtrapolatedVelocitySwitch

Changeable online:

Yes, active immediately

System default:

DIFFERENTIATION

Used to select the velocity master value for master value extrapolation.
extrapolationTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time specification for extrapolation. With 0.0, there is no extrapolation.

EnumAxisExtrapolatedVelocitySwitch
DIFFERENTIATION (408)

Differentiation of extrapolated master value

TRANSFER (409)

Transfer of extrapolated velocity

Associated parameters (maximum):

11-720

ExtrapolationPositionFilter
(ExtrapolationPositionFilterType)

Filter for actual position

Filter
(StructExtrapolationFilter)

Filter for actual velocity

ToleranceRange
(StructToleranceRange)

Tolerance range

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

StructExtrapolationFilter - PathAxis
The structure elements belonging to 'Filter' are used to set the filter for the actual velocity on the master value axis.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With 'NO', the filter functionality is deactivated.
With 'YES', the filter functionality is activated.
mode
Data type:

EnumAxisFilterMode

Changeable online:

Yes, active after restart

System default:

DEFAULT_MODE

Specifies criterion for actual value smoothing.

With 'DEFAULT_MODE', the actual speed is not smoothed.
With 'AVERAGING', an average over time is used.
With 'PT1', a filter set via 'timeConstant' is used.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisFilterMode
DEFAULT_MODE (0)

No filter

AVERAGING (1)

Form mean value

PT1 (2)

PT1 filter

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-721

PathAxis

StructLogAddressIoBitType - PathAxis
The structure elements of 'LogAddress' are used to set the logical address.
bitNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the bit number of the measuring input input.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies whether the indicated logical address should be used.

With NO, the logical address is not used.
With YES, the logical address is used.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical base address of the measuring input input.

EnumYesNo

11-722

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

StructPaxDynamicQFData - PathAxis
The structure elements belonging to 'DynamicQFData' specify the dynamic data of the cascade control system.
positionTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1 s

Specifies the equivalent time constant of the position control system.

qOutputTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.00005 s

Specifies the equivalent time constant of the torque control system.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-723

PathAxis

StructPositionDifferenceMeasurement - PathAxis
The 'PositionDifferenceMeasurement' structure element is used to configure the parameters for the
differential position measurement.
invert
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies whether the sign of the differential value should be inverted.

With NO, the sign is not inverted.
With YES, the sign is inverted.
numberEncoderA
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the encoder number for detecting the A actual position.

numberEncoderB
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the encoder number for detecting the B actual position.

offset
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies an offset for the calculation with the difference value.

EnumYesNo
NO (91)

No

YES (173)

Yes

Associated parameters (maximum):

11-724

Filter
(Filter)

Differential value smoothing

Range
(Range)

Differential value limitation

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

StructPressureDifferenceMeasurement - PathAxis
The structure element 'PressureDifferenceMeasurement' is used to configure the parameters for the
differential pressure measurement.
areaA
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

Specifies the area parameter for pressure sensor A.

areaB
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

Specifies the area parameter for pressure sensor B.

factor
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0

Specifies a normalization factor for the determined difference value.

invert
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the sign of the differential value should be inverted.

With NO, the sign is not inverted.
With YES, the sign is inverted.
numberSensorA
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the sensor number for detecting the pA pressure.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-725

PathAxis

numberSensorB
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the sensor number for detecting the pB pressure.

EnumYesNo
NO (91)

No

YES (173)

Yes

Associated parameters (maximum):

11-726

Filter
(Filter)

Differential value smoothing

Range
(Range)

Differential value limitation

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

StructSensorDriverInfo - PathAxis
The elements of this structure are used to configure the I/O module of the additional encoder.
errorToleranceTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1 s

Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Data type:

EnumActualValueFormat

Changeable online:

Yes, active after restart

System default:

VALUE_LEFT_MARGIN

Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the communication module.

maxValue
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

32511

Specifies the maximum digitalized measured value for the additional encoder.
minValue
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

-32512

Specifies the minimal digitalized measured value for the additional encoder.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-727

PathAxis

resolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

15

Specifies the number of relevant bits for the additional encoder.

EnumActualValueFormat

11-728

VALUE_RIGHT_MARGIN (0)

Right-justified

VALUE_LEFT_MARGIN (1)

Left-justified

VALUE_LEFT_MARGIN_WITHOUT_SIGN (2)

Left-justified without sign

VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3)

Right-justified without sign

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

StructToleranceRange - PathAxis
The structure elements belonging to 'ToleranceRange' are used to set a tolerance window around the
actual position of the master value axis.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Activation of the tolerance range.

With 'NO', the tolerance range is deactivated.
With 'YES', the tolerance range is activated.
value
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the tolerance window around the actual position value of the master axis.
EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-729

PathAxis

TypeOfAxisInfo - PathAxis
The structure elements of 'TypeOfAxis' specify the axis parameters.
typeOfAxis
Data type:

EnumAxisIdentification

Changeable online:

No

System default:

REAL_AXIS

Specifies the type of axis configured.

With REAL_AXIS, the axis is connected to a real process.
REAL_QFAXIS corresponds to an axis with quantity and force control.
REAL_QFAXIS_WITH_OPEN_LOOP_FORCE_CONTROL corresponds to an axis with open-loop
force control by way of a separate force/pressure limitation valve.
REAL_QFAXIS_WITH_CLOSED_LOOP_FORCE_CONTROL corresponds to an axis with closedloop force/pressure specification via Q-valve.
EnumAxisIdentification
REAL_AXIS (0)

Real electric axis

VIRTUAL_AXIS (1)

Virtual axis

REAL_AXIS_WITH_FORCE_CONTROL (2)

Real electric axis with force/pressure control

REAL_QFAXIS (3)

Real hydraulic axis (Q-valve)

REAL_QFAXIS_WITH_OPEN_LOOP_FORCE
_CONTROL (4)

Real hydraulic axis with force/pressure specification (Q-valve and P-valve)

REAL_QFAXIS_WITH_CLOSED_LOOP_FOR
CE_CONTROL (5)

Real hydraulic axis with force/pressure control

(Q-valve)

REAL_QFAXIS_WITH_OPEN_LOOP_FORCE
_CONTROL_ONLY (6)

Real hydraulic axis with force/pressure specification (P-valve)

REAL_AXIS_WITH_SIGNAL_OUTPUT (7)

Real electric axis with master value output via

encoder signal simulation

Associated parameters (maximum):

11-730

ActualAccelerationMonitoring
(ActualAccelerationMonitoring)

Actual acceleration monitoring

ActualVelocityMonitoring
(ActualVelocityMonitoring)

Actual velocity monitoring

AdditionalOffset
(StructAxisAdditionalOffset)

Offset injection for axis traversing with

motion/force control

CommandValueQuantization
(StructCommandValueQuantization)

Quantization filter

ControllerSwitchData
(ControllerSwitchData)

Digital inputs for pressure control

DecodingConfig
(DecodingConfig)

Command processing

DistributedMotion
(DistributedMotionInfo)

Distributed motion control

Drift
(Drift)

Drift compensation

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

DriveControlConfig
(StructAxisDriveControlConfig)

Drive-related settings

EmergencyRampGenerator
(EmergencyRampGenerator)

Emergency ramp generator

Extrapolation
(StructExtrapolation)

Actual value smoothing

FOutput
(StructControllerOutput)

Manipulated variable interface for F output

FineInterpolator
(FineInterpolator)

Fine interpolator

ForceControlHeldValueMonitoring
(ForceControlHeldValueMonitoring)

Force/pressure end value monitoring

ForceControlRunningInWindowMonitoring
(ForceControlRunningInWindowMonitoring)

Force/pressure entry monitoring

Friction
(Friction)

Friction torque compensation

GearingPosTolerance
(GearingPosTolerance)

Monitoring of synchronous operation

HWEndPos
(HWEndPos)

Hardware limit switches

Homing
(Homing)

Homing

MaxAcceleration
(MaxAcceleration)

Maximum acceleration

MaxForceCommandData
(MaxForceCommandData)

Limitations for force/pressure setpoint

MaxJerk
(MaxJerk)

Maximum jerk

MaxVelocity
(MaxVelocity)

Maximum velocity

NeutralBand
(NeutralBand)

Neutral band compensation

NumberOfAdditionalSensors
(NumberOfAdditionalSensors)

Configured encoder of a force-controlled axis

NumberOfDataSets
(NumberOfDataSets)

Data records for the controller configuration

NumberOfEncoders
(NumberOfEncoders)

Configured encoder

PathAxisPosTolerance
(PathAxisPosTolerance)

Setpoint difference monitoring

PathSyncAxisPosTolerance
(PathSyncAxisPosTolerance)

Setpoint differential monitoring of synchronous

axis

PositionMonitoring
(PositionMonitoring)

Position monitoring

QOutput
(StructControllerOutput)

Manipulated variable interface for Q output

ServoMonitoring
(StructAxisServoMonitoringConfig)

Activate control loop monitoring with active pressure limiting command

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-731

PathAxis

11-732

SetPointDriverInfo
(SetPointDriverInfo)

Drive interface

SetpointFilter
(StructAxisSetpointFilter)

Manipulated variable filter

SlidingFriction
(StructAxisSlidingFriction)

Sliding friction compensation

SmoothingFilter
(SmoothingFilter)

Actual value smoothing

SpeedLimitation
(StructAxisSpeedLimitation)

Manipulated variable limitation

StandStillMonitoring
(StandStillMonitoring)

Standstill monitoring

StandStillSignal
(StandStillSignal)

Standstill signal

SwLimit
(StructAxisSwLimitConfig)

Software limit switches

SystemDeadTimeData
(StructAxisSystemDeadTimeData)

System-dependent dead times

TechnologicalData
(StructAxisTechnologicalData)

Drive interface for specific parameters

VelocityPositionProfile
(VelocityPositionProfile)

Settings for the v(s) profile

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

PathAxis

VelocityPositionProfile - PathAxis
The structure elements for 'VelocityPositionProfile' set properties in velocity-position profiles.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
endPositionTolerance
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Tolerance for profile end detection.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

11-733

PathAxis

11-734

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Part III
TP Cam_ext

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

III-735

III-736

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Contents
Part III
12

TP Cam_ext

AdditionObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - AdditionObjectType . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - AdditionObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - AdditionObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAdderDecodingConfigType - AdditionObjectType . . . . . . . . . . . .
StructBaseConfigType - AdditionObjectType . . . . . . . . . . . . . . . . . . . .
StructMotionInMainType - AdditionObjectType. . . . . . . . . . . . . . . . . . .
StructMotionInType - AdditionObjectType. . . . . . . . . . . . . . . . . . . . . . .
StructMotionOutType - AdditionObjectType . . . . . . . . . . . . . . . . . . . . .

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.
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.
.

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12-741
12-742
12-743
12-744
12-744
12-745
12-745
12-746

13

ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13-747
DecodingConfigInfo - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . 13-747
ExecutionConfigInfo - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . 13-748
Filter - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-749
PT2PositionFilterType - ControllerObjectType . . . . . . . . . . . . . . . . . . . . 13-750
RestartInfo - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-751
SmoothingFilter - ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . 13-752
StructCompactControllerControllerType - ControllerObjectType . . . . . . 13-753
StructCompactControllerPreControl - ControllerObjectType. . . . . . . . . . 13-753
StructControlObjectControlDeviationThreshold - ControllerObjectType . 13-754
StructControllerObjectControlDeviationMonitoring - ControllerObjectType 13-754
StructControllerObjectInputInterface - ControllerObjectType . . . . . . . . . 13-755
StructControllerObjectOutputDerivativeLimitingConfig ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-756
StructControllerObjectOutputInterface - ControllerObjectType . . . . . . . . 13-757
StructControllerObjectOutputLimitConfig - ControllerObjectType . . . . . . 13-758
StructControllerObjectPIDContollerDConfig - ControllerObjectType . . . 13-758
StructControllerObjectPIDContollerIConfig - ControllerObjectType . . . . 13-759
StructControllerObjectPIDContollerIConfigILimit - ControllerObjectType . 13-759
StructControllerObjectPIDContollerLimitAntiWindup ControllerObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-760
StructControllerObjectPIDControllerConfig - ControllerObjectType . . . . 13-760

14

FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructDINTInMainType - FormulaObjectType . . . . . . . . . . . . . . . . . . . .
StructDINTInType - FormulaObjectType. . . . . . . . . . . . . . . . . . . . . . . .
StructDINTOutMainType - FormulaObjectType . . . . . . . . . . . . . . . . . .
StructDINTOutType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . .

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

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14-761
14-761
14-762
14-763
14-764
14-764
14-765
14-765

Contents-737

Contents

15

16

StructFormulaObjectMotionOutConfig - FormulaObjectType . . . . . . . .
StructLREALInMainType - FormulaObjectType . . . . . . . . . . . . . . . . . .
StructLREALInType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . .
StructLREALOutMainType - FormulaObjectType . . . . . . . . . . . . . . . . .
StructLREALOutType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . .
StructMotionInMainType - FormulaObjectType. . . . . . . . . . . . . . . . . . .
StructMotionInType - FormulaObjectType . . . . . . . . . . . . . . . . . . . . . .
StructMotionOutMainType - FormulaObjectType . . . . . . . . . . . . . . . . .

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14-766
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14-769

FixedGearType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - FixedGearType. . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - FixedGearType . . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - FixedGearType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - FixedGearType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructBaseConfigType - FixedGearType . . . . . . . . . . . . . . . . . . . . . . .
StructMotionInMainType - FixedGearType . . . . . . . . . . . . . . . . . . . . . .
StructMotionInType - FixedGearType . . . . . . . . . . . . . . . . . . . . . . . . . .
StructMotionOutType - FixedGearType . . . . . . . . . . . . . . . . . . . . . . . .

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SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AbsEncoder - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AdditionalSensorDriverInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . .
AnalogConversionDataType - SensorType. . . . . . . . . . . . . . . . . . . . . .
AnalogSensorType - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionData - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ConversionDataAdaptType - SensorType. . . . . . . . . . . . . . . . . . . . . . .
DecodingConfigInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriverInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ExecutionConfigInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Filter - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FrequencyLimit - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IncEncoder - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IntervalCounterConversionDataType - SensorType . . . . . . . . . . . . . . .
InversCountDirection - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . .
LeadScrewInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ModuloInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PathPerRevolution - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PositionFilterType - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolution - SensorType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RestartInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SensorControlConfig - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . .
Slippage - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StandStillSignal - SensorType. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructAxisActualValueUpdateCounter - SensorType . . . . . . . . . . . . . .
StructAxisAnalogSensorErrorStateMonitoring - SensorType . . . . . . . .
StructAxisAnalogSensorReadyStateMonitoring - SensorType . . . . . . .
StructAxisDriveControlConfig - SensorType . . . . . . . . . . . . . . . . . . . . .
StructAxisDriveSafetyExtendedFunctionsInfoDataIn - SensorType . . .
StructAxisNistDriverConfig - SensorType . . . . . . . . . . . . . . . . . . . . . . .
StructAxisOperatingDataInInfo - SensorType . . . . . . . . . . . . . . . . . . . .
StructAxisPulsesEnabledConfig - SensorType . . . . . . . . . . . . . . . . . . .
StructAxisSpeedLimitation - SensorType . . . . . . . . . . . . . . . . . . . . . . .
StructAxisTechnologicalData - SensorType . . . . . . . . . . . . . . . . . . . . .

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Contents-738

SIMOTION Technology Packages Configuration Data

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Contents

StructAxisTechnologicalDataInInfo - SensorType. . . . . . . . . . . . . . . . .
StructAxisTechnologicalDataOutInfo - SensorType . . . . . . . . . . . . . . .
StructDriverInfoDirectIncremental - SensorType. . . . . . . . . . . . . . . . . .
StructExtrapolation - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructExtrapolationFilter - SensorType . . . . . . . . . . . . . . . . . . . . . . . . .
StructInSensorMain - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructInputObjectRange - SensorType . . . . . . . . . . . . . . . . . . . . . . . . .
StructLogAddressIoBitType - SensorType . . . . . . . . . . . . . . . . . . . . . .
StructSensorDriverInfo - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . .
StructSensorExtrapolation - SensorType . . . . . . . . . . . . . . . . . . . . . . .
StructSensorGeneralParameter - SensorType . . . . . . . . . . . . . . . . . . .
StructToleranceRange - SensorType . . . . . . . . . . . . . . . . . . . . . . . . . .

SIMOTION Technology Packages Configuration Data

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Contents-739

Contents

Contents-740

SIMOTION Technology Packages Configuration Data

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12

AdditionObjectType
Associated parameters (maximum):
BaseConfig (StructBaseConfigType)
DecodingConfig (StructAdderDecodingConfigType)
Execution (ExecutionConfigInfo)
MotionIn (StructMotionInMainType)
MotionOut (StructMotionOutType)
Restart (RestartInfo)

ExecutionConfigInfo - AdditionObjectType
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
Note
Further information is provided:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Technology Objects Synchronous Operation, Cam Function Manual
Online help
executionlevel
Data type:

EnumToExecutionLevel

Changeable online:

Yes, active after restart

System default:

IPO

Specifies the task level at which the interpolator task of the technology object is running.
With IPO, the task is executed in the fast interpolator cycle clock.
With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel
IPO (0)

IPO

IPO_2 (1)

IPO_2

SERVO (2)

Servo

IPO_FAST (3)

IPO_fast

SERVO_FAST (4)

Servo_fast

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12-741

AdditionObjectType

ModuloInfo - AdditionObjectType
The structure elements of 'Modulo' specify the modulo information.
configurationMode
Data type:

EnumSystemDirect

Changeable online:

Yes, active after restart

System default:

SYSTEM

Specifies the active modulo configuration

With SYSTEM, the modulo configuration of the interface interconnected with the output vector is
accepted.
With DIRECT, the configured modulo parameters are active.
length
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

360.0

Specifies modulo length.

The minimum modulo length that can be set depends on the available resolution!
startValue
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Specifies the initial value.

state
Data type:

EnumActiveInactive

Changeable online:

Yes, active after restart

System default:

INACTIVE

Specifies modulo activation.

With ACTIVE, a modulo status is activated.
With INACTIVE, the modulo status is not activated.
EnumSystemDirect
SYSTEM (0)

System selection

DIRECT (1)

Selection by configuration

EnumActiveInactive

12-742

ACTIVE (4)

Active

INACTIVE (61)

Inactive

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

AdditionObjectType

RestartInfo - AdditionObjectType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or
just by command.
behaviorInvalidSysvarAccess
Data type:

EnumToInvalidSysvarAccess

Changeable online:

No

System default:

LAST_VALUE

If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP
mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology
object is restarted or deactivated.
The values stored in the image are supplied when system variables are accessed during the technology object restart or deactivation phase.
restartActivationSetting
Data type:

EnumToRestartActivationSetting

Changeable online:

Yes, active after restart

System default:

RESTART_BY_SYSVAR_AND_COMMAND

With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with

system variables and/or by command.
With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
DEFAULT_VALUE (2)

Supply substitute value from default value

STOP_DEVICE (3)

No substitute value, switch to STOP mode

LAST_VALUE (338)

Supply substitute value from last valid value

EnumToRestartActivationSetting
RESTART_BY_SYSVAR_AND_COMMAND (0)

Allow restart via system variable and/or command

RESTART_BY_COMMAND (1)

Allow restart only via command

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12-743

AdditionObjectType

StructAdderDecodingConfigType - AdditionObjectType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
numberOfMaxBufferedCommandId
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

10

Specifies the maximum number of command IDs active simultaneously whose status can be requested at the end of the relevant command.
A command ID is added to the list with the ST command '_bufferCommandId'.
Removal from the list takes place with the ST command '_removeBufferedCommandId'.

StructBaseConfigType - AdditionObjectType
The structure element for 'BaseConfig' specifies a common adding base for the input vectors.
motionBase
Data type:

EnumMotionBaseType

Changeable online:

Yes, active after restart

System default:

POSITION

Specifies the common addition basis for the input vectors.

With POSITION, a component-by-component addition of position, velocity, and acceleration takes
place.
With VELOCITY, a component-by-component addition of velocity and acceleration takes place.
EnumMotionBaseType

12-744

POSITION (0)

Position

VELOCITY (1)

Velocity

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

AdditionObjectType

StructMotionInMainType - AdditionObjectType
The structure elements of 'MotionIn' specify the input vectors.
Associated parameters (maximum):
MotionIn1
(StructMotionInType)

Input vector 1

MotionIn2
(StructMotionInType)

Input vector 2

MotionIn3
(StructMotionInType)

Input vector 3

MotionIn4
(StructMotionInType)

Input vector 4

StructMotionInType - AdditionObjectType
The structure elements for 'MotionIn(n)' specify the input vector (n).
behaviorByInvalidInterface
Data type:

EnumLastValidInterfaceValueDefaultValue

Changeable online:

Yes, active after restart

System default:

DEFAULT_VALUE

Setting, whether with active but invalid interconnection value, the replacement value or the last valid
value should be taken.
With DEFAULT_VALUE, the default value is taken.
With LAST_VALID_INTERFACE_VALUE, the last valid value from the interface is taken.
invert
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Signal inverting at input interface

With YES, the input signal is inverted.
With NO, the input signal is not inverted.
EnumLastValidInterfaceValueDefaultValue
LAST_VALID_INTERFACE_VALUE (1)

Last valid value

DEFAULT_VALUE (2)

Replacement value

EnumYesNo
NO (91)

No

YES (173)

Yes

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AdditionObjectType

StructMotionOutType - AdditionObjectType
The structure elements of 'MotionOut' specify the output vector.
Associated parameters (maximum):
Modulo
(ModuloInfo)

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Modulo configuration

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

13

ControllerObjectType
Associated parameters (maximum):
ActualValueIn (StructControllerObjectInputInterface)
ControlDeviationMonitoring (StructControllerObjectControlDeviationMonitoring)
ControlDeviationThreshold (StructControlObjectControlDeviationThreshold)
ControllerType (StructCompactControllerControllerType)
DecodingConfig (DecodingConfigInfo)
Execution (ExecutionConfigInfo)
OutputDerivativeLimiting (StructControllerObjectOutputDerivativeLimitingConfig)
OutputLimit (StructControllerObjectOutputLimitConfig)
PIDController (StructControllerObjectPIDControllerConfig)
PreControl (StructCompactControllerPreControl)
PreControlValueIn (StructControllerObjectInputInterface)
Restart (RestartInfo)
SetPointIn (StructControllerObjectInputInterface)
ValueOut (StructControllerObjectOutputInterface)

DecodingConfigInfo - ControllerObjectType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
Note
"Further information can be found in the TO Synchronous Operation, Cam Function Manual and in the
online help."
numberOfMaxBufferedCommandId
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

10

Specifies the maximum number of command IDs active simultaneously whose status can be requested at the end of the relevant command.
A command ID is added to the list with the ST command '_bufferCommandId'.
Removal from the list takes place with the ST command '_removeBufferedCommandId'.

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13-747

ControllerObjectType

ExecutionConfigInfo - ControllerObjectType
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
Note
Further information is provided:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Technology Objects Synchronous Operation, Cam Function Manual
Online help
executionlevel
Data type:

EnumToExecutionLevel

Changeable online:

Yes, active after restart

System default:

IPO

Specifies the task level at which the interpolator task of the technology object is running.
With IPO, the task is executed in the fast interpolator cycle clock.
With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel

13-748

IPO (0)

IPO

IPO_2 (1)

IPO_2

SERVO (2)

Servo

IPO_FAST (3)

IPO_fast

SERVO_FAST (4)

Servo_fast

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

ControllerObjectType

Filter - ControllerObjectType
The structure elements of 'Filter' specify actual value smoothing.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With 'NO', the filter functionality is deactivated.
With 'YES', the filter functionality is activated.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

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13-749

ControllerObjectType

PT2PositionFilterType - ControllerObjectType
The structure elements of 'PositionFilter' specify the parameters of the position filter.
T1
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant T1 of the position filter.

T2
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant T2 of the position filter.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the position filter.

EnumYesNo

13-750

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

ControllerObjectType

RestartInfo - ControllerObjectType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or
just by command.
behaviorInvalidSysvarAccess
Data type:

EnumToInvalidSysvarAccess

Changeable online:

No

System default:

LAST_VALUE

If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP
mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology
object is restarted or deactivated.
The values stored in the image are supplied when system variables are accessed during the technology object restart or deactivation phase.
restartActivationSetting
Data type:

EnumToRestartActivationSetting

Changeable online:

Yes, active after restart

System default:

RESTART_BY_SYSVAR_AND_COMMAND

With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with

system variables and/or by command.
With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
DEFAULT_VALUE (2)

Supply substitute value from default value

STOP_DEVICE (3)

No substitute value, switch to STOP mode

LAST_VALUE (338)

Supply substitute value from last valid value

EnumToRestartActivationSetting
RESTART_BY_SYSVAR_AND_COMMAND (0)

Allow restart via system variable and/or command

RESTART_BY_COMMAND (1)

Allow restart only via command

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13-751

ControllerObjectType

SmoothingFilter - ControllerObjectType
The structure elements for 'SmoothingFilter' specify actual velocity filtering. The filtered actual velocity
is displayed in 'motionStateData.actualVelocity'.
'timeConstant':
- Time constant for PT1 smoothing.
- Time constant for averaging.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With NO, the filter functionality is deactivated.
With YES, the filter functionality is activated.
mode
Data type:

EnumAxisFilterMode

Changeable online:

Yes, active after restart

System default:

DEFAULT_MODE

Specifies criterion for actual value smoothing.

With 'DEFAULT_MODE', the ratio of interpolator cycle clock to position servo cycle clock is used.
With 'AVERAGING', an average over time is used.
With 'PT1', a filter set via 'timeConstant' is used.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisFilterMode

13-752

DEFAULT_MODE (0)

No filter

AVERAGING (1)

Form mean value

PT1 (2)

PT1 filter

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

ControllerObjectType

StructCompactControllerControllerType - ControllerObjectType
Controller type
controllerType
Data type:

EnumCompactControllerControllerType

Changeable online:

No

System default:

PID_CONTROLLER

The "Controller type" parameter sets the acting controller type.

EnumCompactControllerControllerType
P_CONTROLLER (900)

P-controller

PID_CONTROLLER (901)

PID controller

StructCompactControllerPreControl - ControllerObjectType
The structure elements of 'PreControl' specify the precontrol.
addupMode
Data type:

EnumControllerObjectPrecontrolAddupMode

Changeable online:

Yes, active immediately

System default:

BEHIND_ANTIWINDUP_LIMITATION

Precontrol activation.
Calculation of the precontrol with effect on antiwindup takes place with
BEFORE_ANTIWINDUP_LIMITATION.
Calculation of the precontrol after antiwindup takes place with BEHIND_ANTIWINDUP_LIMITATION.
factor
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0

tbd
EnumControllerObjectPrecontrolAddupMode
BEFORE_ANTIWINDUP_LIMITATION (907)

With effect on antiwindup

BEHIND_ANTIWINDUP_LIMITATION (908)

Without effect on antiwindup

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13-753

ControllerObjectType

StructControlObjectControlDeviationThreshold - ControllerObjectType
The response threshold of the controller is set with the structure elements for 'ControlDeviationThreshold'.
A control deviation is not calculated within the response threshold.
value
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1

Response threshold of the controller

StructControllerObjectControlDeviationMonitoring - ControllerObjectType
Monitoring of the permitted system deviation
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

The "enable" parameter activates the monitoring of the system deviation.

maxDeviation
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

The "maxDeviation" parameter specifies the maximum permitted system deviation in the positive and
the
negative direction.
EnumYesNo

13-754

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

ControllerObjectType

StructControllerObjectInputInterface - ControllerObjectType
Structure for setting the corresponding input interface.
_type
Data type:

EnumControllerObjectInputType

Changeable online:

Yes, active after restart

System default:

MOTION_INTERFACE

Setting whether the interconnection with component selection is made to the input side on the LREAL
interface or to the MOTION interface.
behaviorByInvalidInterface
Data type:

EnumLastValidInterfaceValueDefaultValue

Changeable online:

Yes, active after restart

System default:

DEFAULT_VALUE

Setting, whether with active but invalid interconnection value, the replacement value or the last valid
value should be taken.
With DEFAULT_VALUE, the default value is taken.
With LAST_VALID_INTERFACE_VALUE, the last valid value from the interface is taken.
EnumControllerObjectInputType
LREAL_INTERFACE (926)

LREAL interface

MOTION_INTERFACE (927)

Motion interface

EnumLastValidInterfaceValueDefaultValue
LAST_VALID_INTERFACE_VALUE (1)

Last valid value

DEFAULT_VALUE (2)

Replacement value

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13-755

ControllerObjectType

StructControllerObjectOutputDerivativeLimitingConfig - ControllerObjectType
The structure elements of 'OutputDerivativeLimiting' are used to set the increase limit at the output.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Activates the increase limiter

maxValue
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

The "maxValue" parameter specifies the value of the maximum actuating signal increase in the positive
and negative direction.
EnumYesNo

13-756

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

ControllerObjectType

StructControllerObjectOutputInterface - ControllerObjectType
Structure for setting the output interface.
_type
Data type:

EnumControllerObjectInputType

Changeable online:

Yes, active after restart

System default:

MOTION_INTERFACE

Setting whether the interconnection with component selection is made to the input side on the LREAL
interface or to the MOTION interface.
outputValueErrorBehaviorMode
Data type:

EnumControllerObjectErrorBehaviorMode

Changeable online:

Yes, active after restart

System default:

DEFAULT_VALUE

Indicates how the output value is to be handled with alarm response 'CTRL_STOP'.
With LAST_VALUE, the last valid value is set.
With ZERO_VALUE, the output value is reset to zero.
With DEFAULT_VALUE, the output value is initialized with the value from the 'outputdefault' system
variable.
EnumControllerObjectInputType
LREAL_INTERFACE (926)

LREAL interface

MOTION_INTERFACE (927)

Motion interface

EnumControllerObjectErrorBehaviorMode
DEFAULT_VALUE (2)

Default

LAST_VALUE (338)

Last valid value

ZERO_VALUE (339)

Zero

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13-757

ControllerObjectType

StructControllerObjectOutputLimitConfig - ControllerObjectType
With the structure elements of 'OutputLimit', the actuating signal limitation is set without
effect to the AntiWindup mechanism.
_max
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10000.0

Specifies the maximum value.

_min
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

-10000.0

Specifies the minimum value.

StructControllerObjectPIDContollerDConfig - ControllerObjectType
Weighting factor for the actual value for the D-calculation
factorActualValue
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

The "factorActualValue" parameter specifies the weighting of the actual value for the controller deviation during
D calculation.
0: The D-component is calculated from the controller deviation
1: The D-component is calculated from the actual value

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ControllerObjectType

StructControllerObjectPIDContollerIConfig - ControllerObjectType
With the structure elements for 'IConfig' ... .
factorFeedBack
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

The "factorFeedBack" parameter can be used to feedback the I-component to the system deviation.
Associated parameters (maximum):
ILimit
(StructControllerObjectPIDContollerIConfigILimit)

Limitation of the I-component in the actuating

signal

StructControllerObjectPIDContollerIConfigILimit - ControllerObjectType
Limitation of the I-component in the actuating signal is set with the structure elements of 'ILimit'.
_max
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10000.0

Specifies the maximum value.

_min
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

-10000.0

Specifies the minimum value.

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ControllerObjectType

StructControllerObjectPIDContollerLimitAntiWindup - ControllerObjectType
With the structure elements of 'LimitAntiWindup', the actuating signal limitation is set with
effect to the AntiWindup mechanism.
_max
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10000.0

Specifies the maximum value.

_min
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

-10000.0

Specifies the minimum value.

StructControllerObjectPIDControllerConfig - ControllerObjectType
The structure elements of 'PIDController' are used to set the PID controller.
Associated parameters (maximum):

13-760

DConfig
(StructControllerObjectPIDContollerDConfig)

Weighting factor of the actual value for D-calculation

IConfig
(StructControllerObjectPIDContollerIConfig)

Behavior of the I-component in the controller

LimitAntiWindup
(StructControllerObjectPIDContollerLimitAntiWindup)

Actuating signal limitation with integrator stop

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14

FormulaObjectType
Associated parameters (maximum):
DINTIn (StructDINTInMainType)
DINTOut (StructDINTOutMainType)
DecodingConfig (DecodingConfigInfo)
Execution (ExecutionConfigInfo)
LREALIn (StructLREALInMainType)
LREALOut (StructLREALOutMainType)
MotionIn (StructMotionInMainType)
MotionOut (StructMotionOutMainType)
Restart (RestartInfo)

DecodingConfigInfo - FormulaObjectType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
Note
"Further information can be found in the TO Synchronous Operation, Cam Function Manual and in the
online help."
numberOfMaxBufferedCommandId
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

10

Specifies the maximum number of command IDs active simultaneously whose status can be requested at the end of the relevant command.
A command ID is added to the list with the ST command '_bufferCommandId'.
Removal from the list takes place with the ST command '_removeBufferedCommandId'.

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FormulaObjectType

ExecutionConfigInfo - FormulaObjectType
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
Note
Further information is provided:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Technology Objects Synchronous Operation, Cam Function Manual
Online help
executionlevel
Data type:

EnumToExecutionLevel

Changeable online:

Yes, active after restart

System default:

IPO

Specifies the task level at which the interpolator task of the technology object is running.
With IPO, the task is executed in the fast interpolator cycle clock.
With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel

14-762

IPO (0)

IPO

IPO_2 (1)

IPO_2

SERVO (2)

Servo

IPO_FAST (3)

IPO_fast

SERVO_FAST (4)

Servo_fast

SIMOTION Technology Packages Configuration Data

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FormulaObjectType

RestartInfo - FormulaObjectType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or
just by command.
behaviorInvalidSysvarAccess
Data type:

EnumToInvalidSysvarAccess

Changeable online:

No

System default:

LAST_VALUE

If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP
mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology
object is restarted or deactivated.
The values stored in the image are supplied when system variables are accessed during the technology object restart or deactivation phase.
restartActivationSetting
Data type:

EnumToRestartActivationSetting

Changeable online:

Yes, active after restart

System default:

RESTART_BY_SYSVAR_AND_COMMAND

With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with

system variables and/or by command.
With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
DEFAULT_VALUE (2)

Supply substitute value from default value

STOP_DEVICE (3)

No substitute value, switch to STOP mode

LAST_VALUE (338)

Supply substitute value from last valid value

EnumToRestartActivationSetting
RESTART_BY_SYSVAR_AND_COMMAND (0)

Allow restart via system variable and/or command

RESTART_BY_COMMAND (1)

Allow restart only via command

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FormulaObjectType

StructDINTInMainType - FormulaObjectType
The structure elements of 'DINTIn' specify the DINT inputs.
Associated parameters (maximum):
DINTIn1
(StructDINTInType)

DINT input 1

DINTIn2
(StructDINTInType)

DINT input 2

DINTIn3
(StructDINTInType)

DINT input 3

DINTIn4
(StructDINTInType)

DINT input 4

StructDINTInType - FormulaObjectType
The structure elements for 'DINTIn(n)' specify the DINT input (n).
behaviorByInvalidInterface
Data type:

EnumLastValidInterfaceValueDefaultValue

Changeable online:

Yes, active after restart

System default:

DEFAULT_VALUE

Setting, whether with active but invalid interconnection value, the replacement value or the last valid
value should be taken.
With DEFAULT_VALUE, the default value is taken.
With LAST_VALID_INTERFACE_VALUE, the last valid value from the interface is taken.
EnumLastValidInterfaceValueDefaultValue

14-764

LAST_VALID_INTERFACE_VALUE (1)

Last valid value

DEFAULT_VALUE (2)

Replacement value

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FormulaObjectType

StructDINTOutMainType - FormulaObjectType
The DINT outputs are specified with the structure elements for 'DINTOut'.
Associated parameters (maximum):
DINTOut1
(StructDINTOutType)

DINT output 1

DINTOut2
(StructDINTOutType)

DINT output 2

DINTOut3
(StructDINTOutType)

DINT output 3

DINTOut4
(StructDINTOutType)

DINT output 4

StructDINTOutType - FormulaObjectType
The DINT output (n) is specified with the structure elements for 'DINTOut(n)'.
errorBehaviorMode
Data type:

EnumFormulaObjectErrorBehaviorMode

Changeable online:

Yes, active after restart

System default:

LAST_VALUE

Specifies how the output value is to be initialized with an active but invalid interconnection.
With LAST_VALUE, the last valid value is set.
With ZERO_VALUE, the output value is reset to zero.
With DEFAULT_VALUE, the output value is initialized with the values from the 'dintout(n)default' system variable.
EnumFormulaObjectErrorBehaviorMode
DEFAULT_VALUE (2)

Default value

LAST_VALUE (338)

Last valid value

ZERO_VALUE (339)

Zero

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FormulaObjectType

StructFormulaObjectMotionOutConfig - FormulaObjectType
The output vector (n) is specified with the structure elements for 'MotionOut(n)'.
errorBehaviorMode
Data type:

EnumFormulaObjectErrorBehaviorMode

Changeable online:

Yes, active after restart

System default:

LAST_VALUE

Indicates how the output vector is to be initialized with an active but invalid interconnection.
With LAST_VALUE, the last valid output vector is set.
With ZERO_VALUE, the output vector is reset to zero.
With DEFAULT_VALUE, the output vector is initialized with the values from the 'motionout(n)default'
system variable.
EnumFormulaObjectErrorBehaviorMode
DEFAULT_VALUE (2)

Default value

LAST_VALUE (338)

Last valid value

ZERO_VALUE (339)

Zero

StructLREALInMainType - FormulaObjectType
The structure elements of 'LREALIn' specify the LREAL inputs.
Associated parameters (maximum):

14-766

LREALIn1
(StructLREALInType)

LREAL input 1

LREALIn2
(StructLREALInType)

LREAL input 2

LREALIn3
(StructLREALInType)

LREAL input 3

LREALIn4
(StructLREALInType)

LREAL input 4

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

FormulaObjectType

StructLREALInType - FormulaObjectType
The structure elements for 'LREALIn(n)' specify the LREAL input (n).
behaviorByInvalidInterface
Data type:

EnumLastValidInterfaceValueDefaultValue

Changeable online:

Yes, active after restart

System default:

DEFAULT_VALUE

Setting, whether with active but invalid interconnection value, the replacement value or the last valid
value should be taken.
With DEFAULT_VALUE, the default value is taken.
With LAST_VALID_INTERFACE_VALUE, the last valid value from the interface is taken.
EnumLastValidInterfaceValueDefaultValue
LAST_VALID_INTERFACE_VALUE (1)

Last valid value

DEFAULT_VALUE (2)

Replacement value

StructLREALOutMainType - FormulaObjectType
The LREAL outputs are specified with the structure elements for 'LREALOut'.
Associated parameters (maximum):
LREALOut1
(StructLREALOutType)

LREAL output 1

LREALOut2
(StructLREALOutType)

LREAL output 2

LREALOut3
(StructLREALOutType)

LREAL output 3

LREALOut4
(StructLREALOutType)

LREAL output 4

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FormulaObjectType

StructLREALOutType - FormulaObjectType
The LREAL output (n) is specified with the structure elements for 'LREALOut(n)'.
errorBehaviorMode
Data type:

EnumFormulaObjectErrorBehaviorMode

Changeable online:

Yes, active after restart

System default:

LAST_VALUE

Specifies how the output value is to be initialized with an active but invalid interconnection.
With LAST_VALUE, the last valid value is set.
With ZERO_VALUE, the output value is reset to zero.
With DEFAULT_VALUE, the output value is initialized with the values from the 'lrealout(n)default' system variable.
EnumFormulaObjectErrorBehaviorMode
DEFAULT_VALUE (2)

Default value

LAST_VALUE (338)

Last valid value

ZERO_VALUE (339)

Zero

StructMotionInMainType - FormulaObjectType
The structure elements of 'MotionIn' specify the input vectors.
Associated parameters (maximum):

14-768

MotionIn1
(StructMotionInType)

Input vector 1

MotionIn2
(StructMotionInType)

Input vector 2

MotionIn3
(StructMotionInType)

Input vector 3

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FormulaObjectType

StructMotionInType - FormulaObjectType
The structure elements for 'MotionIn(n)' specify the input vector (n).
behaviorByInvalidInterface
Data type:

EnumLastValidInterfaceValueDefaultValue

Changeable online:

Yes, active after restart

System default:

DEFAULT_VALUE

Setting, whether with active but invalid interconnection value, the replacement value or the last valid
value should be taken.
With DEFAULT_VALUE, the default value is taken.
With LAST_VALID_INTERFACE_VALUE, the last valid value from the interface is taken.
EnumLastValidInterfaceValueDefaultValue
LAST_VALID_INTERFACE_VALUE (1)

Last valid value

DEFAULT_VALUE (2)

Replacement value

StructMotionOutMainType - FormulaObjectType
The output vectors are specified with the structure elements for 'MotionOut'.
Associated parameters (maximum):
MotionOut1
(StructFormulaObjectMotionOutConfig)

Output vector 1

MotionOut2
(StructFormulaObjectMotionOutConfig)

Output vector 2

MotionOut3
(StructFormulaObjectMotionOutConfig)

Output vector 3

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FormulaObjectType

14-770

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15

FixedGearType
Associated parameters (maximum):
BaseConfig (StructBaseConfigType)
DecodingConfig (DecodingConfigInfo)
Execution (ExecutionConfigInfo)
MotionIn (StructMotionInType)
MotionOut (StructMotionOutType)
Restart (RestartInfo)

DecodingConfigInfo - FixedGearType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
Note
"Further information can be found in the TO Synchronous Operation, Cam Function Manual and in the
online help."
numberOfMaxBufferedCommandId
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

10

Specifies the maximum number of command IDs active simultaneously whose status can be requested at the end of the relevant command.
A command ID is added to the list with the ST command '_bufferCommandId'.
Removal from the list takes place with the ST command '_removeBufferedCommandId'.

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FixedGearType

ExecutionConfigInfo - FixedGearType
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
Note
Further information is provided:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Technology Objects Synchronous Operation, Cam Function Manual
Online help
executionlevel
Data type:

EnumToExecutionLevel

Changeable online:

Yes, active after restart

System default:

IPO

Specifies the task level at which the interpolator task of the technology object is running.
With IPO, the task is executed in the fast interpolator cycle clock.
With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel

15-772

IPO (0)

IPO

IPO_2 (1)

IPO_2

SERVO (2)

Servo

IPO_FAST (3)

IPO_fast

SERVO_FAST (4)

Servo_fast

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FixedGearType

ModuloInfo - FixedGearType
The structure elements of 'Modulo' specify the modulo information.
configurationMode
Data type:

EnumSystemDirect

Changeable online:

Yes, active after restart

System default:

SYSTEM

Specifies the active modulo configuration

With SYSTEM, the modulo configuration of the interface interconnected with the output vector is
accepted.
With DIRECT, the configured modulo parameters are active.
length
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

360.0

Specifies modulo length.

The minimum modulo length that can be set depends on the available resolution!
startValue
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Specifies the initial value.

state
Data type:

EnumActiveInactive

Changeable online:

Yes, active after restart

System default:

INACTIVE

Specifies modulo activation.

With ACTIVE, a modulo status is activated.
With INACTIVE, the modulo status is not activated.
EnumSystemDirect
SYSTEM (0)

System selection

DIRECT (1)

Selection by configuration

EnumActiveInactive
ACTIVE (4)

Active

INACTIVE (61)

Inactive

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FixedGearType

RestartInfo - FixedGearType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or
just by command.
behaviorInvalidSysvarAccess
Data type:

EnumToInvalidSysvarAccess

Changeable online:

No

System default:

LAST_VALUE

If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP
mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology
object is restarted or deactivated.
The values stored in the image are supplied when system variables are accessed during the technology object restart or deactivation phase.
restartActivationSetting
Data type:

EnumToRestartActivationSetting

Changeable online:

Yes, active after restart

System default:

RESTART_BY_SYSVAR_AND_COMMAND

With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with

system variables and/or by command.
With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
DEFAULT_VALUE (2)

Supply substitute value from default value

STOP_DEVICE (3)

No substitute value, switch to STOP mode

LAST_VALUE (338)

Supply substitute value from last valid value

EnumToRestartActivationSetting

15-774

RESTART_BY_SYSVAR_AND_COMMAND (0)

Allow restart via system variable and/or command

RESTART_BY_COMMAND (1)

Allow restart only via command

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FixedGearType

StructBaseConfigType - FixedGearType
The structure element of 'BaseConfig' specifies the reference component of the motion vector.
motionBase
Data type:

EnumMotionBaseType

Changeable online:

Yes, active after restart

System default:

POSITION

Indicates the reference component of the motion vector at the input.

With POSITION, both a position-oriented and a velocity-oriented synchronous operation can be realized.
With VELOCITY, only a velocity-oriented synchronous operation can be realized.
EnumMotionBaseType
POSITION (0)

Position

VELOCITY (1)

Velocity

StructMotionInMainType - FixedGearType
The structure elements of 'MotionIn' specify the input vectors.
Associated parameters (maximum):
MotionIn1
(StructMotionInType)

Input vector 1

MotionIn2
(StructMotionInType)

Input vector 2

MotionIn3
(StructMotionInType)

Input vector 3

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FixedGearType

StructMotionInType - FixedGearType
The structure elements for 'MotionIn(n)' specify the input vector (n).
behaviorByInvalidInterface
Data type:

EnumLastValidInterfaceValueDefaultValue

Changeable online:

Yes, active after restart

System default:

DEFAULT_VALUE

Setting, whether with active but invalid interconnection value, the replacement value or the last valid
value should be taken.
With DEFAULT_VALUE, the default value is taken.
With LAST_VALID_INTERFACE_VALUE, the last valid value from the interface is taken.
EnumLastValidInterfaceValueDefaultValue
LAST_VALID_INTERFACE_VALUE (1)

Last valid value

DEFAULT_VALUE (2)

Replacement value

StructMotionOutType - FixedGearType
The structure elements of 'MotionOut' specify the output vector.
errorBehaviorMode
Data type:

EnumFixedGearErrorBehaviorMode

Changeable online:

Yes, active after restart

System default:

LAST_VALUE

Indicates how the output vector is to be initialized with an active but invalid interconnection.
With LAST_VALUE, the last valid output vector is set.
With ZERO_VALUE, the output vector is reset to zero.
With DEFAULT_VALUE, the output vector is initialized with the values from the 'motionoutdefault' system variable.
EnumFixedGearErrorBehaviorMode
DEFAULT_VALUE (2)

Default value

LAST_VALUE (338)

Last valid value

ZERO_VALUE (339)

Zero

Associated parameters (maximum):

Modulo
(ModuloInfo)

15-776

Modulo configuration

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16

SensorType
Associated parameters (maximum):
DecodingConfig (DecodingConfigInfo)
Execution (ExecutionConfigInfo)
Extrapolation (StructSensorExtrapolation)
Restart (RestartInfo)
Sensor (StructInSensorMain)
ValueOut (StructSensorGeneralParameter)

AbsEncoder - SensorType
The structure elements of 'AbsEncoder' specify the parameters for an absolute encoder.
Note
Further information about the following parameters and on fine resolution can be found in
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
or in the online help
absBaudRate
Data type:

EnumAbsBaudrate

Changeable online:

No

System default:

Baudrate_3

Specifies the baud rate data for detecting the actual value of the absolute encoder.
Baudrate_5 sets a baud rate of 3 Mbaud.
Baudrate_4 sets a baud rate of 1.5 Mbaud.
Baudrate_3 sets a baud rate of 750 Kbaud.
Baudrate_2 sets a baud rate of 375 Kbaud.
Baudrate_1 sets a baud rate of 187.5 Kbaud.
absDataLength
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

24

Specifies the number of data bits of the absolute encoder range (packet length).
The number of data bits is calculated from the number of steps per revolution multiplied by the number
of revolutions.
For example: 2048 incr./rev. * rev.= data bit length 23

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SensorType

absMessageFormat
Data type:

EnumAbsMsgFormat

Changeable online:

No

System default:

PINETREE

Specifies a message frame format for the absolute encoder.

With RIGHT_MARGIN, the protocol format is right-justified.
With PINETREE, the pine tree format is selected.
absMessageLength
Data type:

EnumAbsMsgLength

Changeable online:

No

System default:

LENGTH_25

Specifies the message frame length for detecting the actual value of the absolute encoder.
With LENGTH_13, a protocol length of 13 bits is selected.
With LENGTH_21, a protocol length of 21 bits is selected.
With LENGTH_25, a protocol length of 25 bits is selected.
absResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

4096

Specifies the number of increments per encoder revolution specified on the encoder rating plate.
absResolutionMultiplierAbsolute
Data type:

UDINT

Changeable online:

No

System default:

Specifies the multiplication factor of the actual value of the absolute encoder.
Evaluation of the absolute encoder during request by the absolute encoder (GxIST2).
absResolutionMultiplierCyclic
Data type:

UDINT

Changeable online:

No

System default:

Specifies the multiplication factor of the cyclic actual value of the encoder.
Evaluation of the incremental signal of the absolute encoder during operation (GxIST1).

16-778

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SensorType

absState
Data type:

EnumAbsState

Changeable online:

No

System default:

GRAY_CODE

Specifies a protocol format for the actual value of the absolute encoder.
With BIN_CODE, a binary code is selected.
With GRAY_CODE, GRAY code is selected.
enableAbsMonitoring
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

YES

Specifies the monitoring mode of the permissible changes of the actual value for the absolute encoder.
With YES (system default), monitoring of the permissible changes of the actual value for the absolute
encoder is activated.
Actual value changes of the absolute encoder greater than or equal to the possible change in accordance with the maximum velocity (maxVelocity.maximum) are limited to the change in accordance
with the current velocity, i.e. the velocity of the previous cycle.
Incorrect actual values, e.g. due to transmission errors, are adjusted.
If the actual value changes are impermissibly high in 5 subsequent cycles, alarm 20005, reason 0, is
issued.
With NO, monitoring of the permissible changes of the actual value for the absolute encoder is not
activated, i.e., incorrect actual values due to transmission errors, for example, are also not changed
and processed as they are.
No technological alarm is issued.
Note
Switch the monitoring function off at your own risk.
After the deactivation of the monitoring, it can no longer be guaranteed that the magnitude of the calculated velocity lies within the limits defined by the user.
The position and the velocity and all derived quantities are also displayed and processed also taking
account of any measured values recognized as being incorrect (control, stop ramps, interpolations,
positioning).
EnumAbsBaudrate
Baudrate_5 (16#01)

3 Mbaud

Baudrate_4 (16#02)

1.5 Mbaud

Baudrate_3 (16#04)

750 Kbaud

Baudrate_2 (16#08)

375 Kbaud

Baudrate_1 (16#10)

187.5 Kbaud

EnumAbsMsgFormat
RIGHT_MARGIN (0)

Right-justified

PINETREE (1)

Pine tree format

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SensorType

EnumAbsMsgLength
LENGTH_13 (13)

13 bits

LENGTH_21 (21)

21 bits

LENGTH_25 (25)

25 bits

EnumAbsState
BIN_CODE (16#00)

Binary

GRAY_CODE (16#01)

Gray Code

EnumYesNo

16-780

NO (91)

No

YES (173)

Yes

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SensorType

AdditionalSensorDriverInfo - SensorType
The elements of this structure are used to configure the I/O module of an encoder.
errorToleranceTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1 s

Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Data type:

EnumActualValueFormat

Changeable online:

Yes, active after restart

System default:

VALUE_LEFT_MARGIN

Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the communication module.

maxValue
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

32511

Specifies the maximum digitalized measured value for the additional encoder.
minValue
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

-32512

Specifies the minimal digitalized measured value for the additional encoder.

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SensorType

resolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

15

Specifies the number of relevant bits for the additional encoder.

EnumActualValueFormat

16-782

VALUE_RIGHT_MARGIN (0)

Right-justified

VALUE_LEFT_MARGIN (1)

Left-justified

VALUE_LEFT_MARGIN_WITHOUT_SIGN (2)

Left-justified without sign

VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3)

Right-justified without sign

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SensorType

AnalogConversionDataType - SensorType
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder
values read.
_type
Data type:

EnumConversionDataType

Changeable online:

No

System default:

LINEAR_CONVERSIONDATA

Specifies the interpretation type for the digitalized measured value.

factor
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

Specifies the weighting factor for the analog measured value. The weighting factor specifies the relation between distance/velocity per bit.
offset
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the offset for the analog measured value.

EnumConversionDataType
LINEAR_CONVERSIONDATA (1)

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Linear relationship

16-783

SensorType

AnalogSensorType - SensorType
The structure elements of 'AnalogSensor' specify actual value smoothing.
Associated parameters (maximum):

16-784

ConversionData
(AnalogConversionDataType)

Conversion factors between analog input value

and actual position value

DriverInfo
(StructSensorDriverInfo)

Driver data

ErrorStateMonitoring
(StructAxisAnalogSensorErrorStateMonitoring)

Error-state monitoring

LogAddress
(StructLogAddressIoBitType)

Logical address of analog sensor

PositionFilter
(PositionFilterType)

Actual position value filter

ReadyStateMonitoring
(StructAxisAnalogSensorReadyStateMonitoring)

Ready-state monitoring

UpdateCounter
(StructAxisActualValueUpdateCounter)

Evaluation of actual value update

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

SensorType

ConversionData - SensorType
The structure element 'ConversionData' is used to configure the parameters to interpret the encoder
values read.
Note
Further information is provided:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Supplementary Technology Objects Function Manual
Online help
_type
Data type:

EnumConversionDataType

Changeable online:

No

System default:

LINEAR_CONVERSIONDATA

Specifies the interpretation type for the digitalized measured value.

factor
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0

Specifies the evaluation type for the digitalized measured value.

invert
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether or not the sign of the measured value should be inverted.
With NO, the sign is not inverted.
With YES, the sign is inverted.
offset
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0

Specifies the offset for the digitalized measured value.

EnumConversionDataType
LINEAR_CONVERSIONDATA (1)

Linear relationship

EnumYesNo
NO (91)

No

YES (173)

Yes

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SensorType

ConversionDataAdaptType - SensorType
The structure elements for 'ConversionDataAdapt' are used to form a quotient with which the digitized
measured value is multiplied.
denFactor
Data type:

UDINT

Changeable online:

Yes, active immediately

System default:

Specifies the denominator of the weighting factor.

numFactor
Data type:

UDINT

Changeable online:

Yes, active immediately

System default:

Specifies the numerator of the weighting factor.

DecodingConfigInfo - SensorType
The structure elements of 'DecodingConfig' specify the parameters for command preparation.
Note
"Further information can be found in the TO Synchronous Operation, Cam Function Manual and in the
online help."
numberOfMaxBufferedCommandId
Data type:

DINT

Changeable online:

Yes, active after restart

System default:

10

Specifies the maximum number of command IDs active simultaneously whose status can be requested at the end of the relevant command.
A command ID is added to the list with the ST command '_bufferCommandId'.
Removal from the list takes place with the ST command '_removeBufferedCommandId'.

16-786

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

SensorType

DriverInfo - SensorType
The structure elements of 'DriverInfo' specify the parameters for the encoder hardware.
Note
Additional information is available at:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Technology Objects Synchronous Operation, Cam Function Manual
or in the online help
encoderNumberOnDevice
Data type:

DINT

Changeable online:

No

System default:

Specifies the number of the encoder actual value for message frames with several actual values, e.g.
DP_TEL106_611U_DSC_2_ENCODER.
lifeSignCheck
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

YES

Specifies the monitoring mode for the PROFIBUS DP sign of life between nodes.
With 'NO', the sign of life monitoring is switched off.
With 'YES', the sign of life monitoring is activated.
logAddressIn
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the input data area.

logAddressOut
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the output data area.

SIMOTION Technology Packages Configuration Data

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16-787

SensorType

telegramType
Data type:

EnumAxisTelegramType

Changeable online:

No

System default:

DP_TEL102_611U_POSCTRL_1_ENCODER

Specifies a PROFIdrive message frame type.

With NO_TELEGRAM, a message frame is not specified.
With DP_TEL1_STANDARD, the standard message frame 1, PZD-2/2 (16-bit speed setpoint) is set
up.
With DP_TEL2_STANDARD, the standard message frame 2, PZD-4/4 (32-bit speed setpoint) is set
up.
With DP_TEL3_STANDARD, the standard message frame 3, PZD-5/9 (32-bit speed setpoint with one
encoder) is set up.
With DP_TEL4_STANDARD, the standard message frame 4, PZD-6/14 (32-bit speed setpoint with
two encoders) is set up.
With DP_TEL5_STANDARD, the standard message frame 5, PZD-9/9 (for position-controlled drives
with one encoder and DSC) is set up.
With DP_TEL6_STANDARD, the standard message frame 6, PZD-10/14 (for position-controlled
drives with two encoders and DSC) is set up.
With DP_TEL81_STANDARD, the standard message frame 81, PZD-2/6 for an encoder is set up.
With DP_TEL82_STANDARD, the standard message frame 82, PZD-2/7 for an encoder is set up.
With DP_TEL83_STANDARD, the standard message frame 83, PZD-2/8 for an encoder is set up.
With DP_TEL101_611U_VELCTRL_NO_ENCODER, the SIEMENS message frame 101, PZD-6/7
for velocity-controlled drives without encoders is set up.
With DP_TEL102_611U_POSCTRL_1_ENCODER, the SIEMENS message frame 102, PZD-6/10 for
velocity-controlled drives with one encoder is set up.
With DP_TEL103_611U_POSCTRL_2_ENCODER, the SIEMENS message frame 103, PZD-7/15 for
velocity-controlled drives with two encoders is set up.
With DP_TEL105_611U_DSC_1_ENCODER, the SIEMENS message frame 105, PZD-10/10 for
velocity-controlled drives with one encoder and DSC is set up.
With DP_TEL106_611U_DSC_2_ENCODER, the SIEMENS message frame 106/107, PZD-11/15 for
velocity-controlled drives with two encoders and DSC is set up.
EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisTelegramType

16-788

NO_TELEGRAM (0)

No message frame

DP_TEL1_STANDARD (1)

Standard message frame 1, PZD-2/2

DP_TEL2_STANDARD (2)

Standard message frame 2, PZD-4/4

DP_TEL3_STANDARD (3)

Standard message frame 3, PZD-5/9

DP_TEL4_STANDARD (4)

Standard message frame 4, PZD-6/14

DP_TEL5_STANDARD (5)

Standard message frame 5, PZD-9/9

DP_TEL6_STANDARD (6)

Standard message frame 6, PZD-10/14

DP_TEL81_STANDARD (81)

Standard message frame 81, PZD-2/6

DP_TEL83_STANDARD (83)

Standard message frame 83, PZD-2/8

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

SensorType

DP_TEL101_611U_VELCTRL_NO_ENCODER
(101)

SIEMENS message frame 101, PZD-6/7

DP_TEL102_611U_POSCTRL_1_ENCODER
(102)

SIEMENS message frame 102, PZD-6/10

DP_TEL103_611U_POSCTRL_2_ENCODER
(103)

SIEMENS message frame 103, PZD-7/15

DP_TEL105_611U_DSC_1_ENCODER (105)

SIEMENS message frame 105, PZD-10/10

DP_TEL106_611U_DSC_2_ENCODER (106)

SIEMENS message frame 106/107, PZD-11/15

SIMOTION Technology Packages Configuration Data

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16-789

SensorType

ExecutionConfigInfo - SensorType
The structure element of 'ExecutionConfigInfo' specifies the timing of interpolator task levels.
Note
Further information is provided:
Function Manual "TO Axis Electric/Hydraulic, External Encoder".
Technology Objects Synchronous Operation, Cam Function Manual
Online help
executionlevel
Data type:

EnumToExecutionLevel

Changeable online:

Yes, active after restart

System default:

IPO

Specifies the task level at which the interpolator task of the technology object is running.
With IPO, the task is executed in the fast interpolator cycle clock.
With IPO_2, the task is executed in interpolator cycle clock 2.
EnumToExecutionLevel

16-790

IPO (0)

IPO

IPO_2 (1)

IPO_2

SERVO (2)

Servo

IPO_FAST (3)

IPO_fast

SERVO_FAST (4)

Servo_fast

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

SensorType

Filter - SensorType
The structure elements of 'Filter' specify actual value smoothing.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With 'NO', the filter functionality is deactivated.
With 'YES', the filter functionality is activated.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo
NO (91)

No

YES (173)

Yes

FrequencyLimit - SensorType
The structure elements of 'FrequencyLimit' specify the frequency limit of the encoder.
encoderFrequencyLimit
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

400000.0 Hz

Specifies the frequency limit of the encoder.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

16-791

SensorType

IncEncoder - SensorType
The structure elements of 'IncEncoder' specify the parameters for an incremental encoder.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enableZeroMonitoring
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of monitoring of the number of increments between two encoder zero
marks.
With 'NO', monitoring of the number of increments between two encoder zero marks is not activated.
With 'YES', monitoring of the number of increments between two encoder zero marks is activated.
incResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

2048

Specifies the number of increments per encoder revolution specified on the encoder rating plate.
incResolutionMultiplierCyclic
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the multiplication factor of the cyclic actual value.

EnumYesNo

16-792

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

SensorType

IntervalCounterConversionDataType - SensorType
The structure elements of 'IntervalCounterConversionData' are used to configure the encoder as an
interval counter.
The 'Interval counter' encoder type is used to determine the speed using an interval duration and the
number of intervals per encoder revolution.
An interval is the time between two successive encoder pulses that are recorded by an encoder
module.
The duration (interval) between the encoder pulses is measured by the module and provided in the
I/O area.
incResolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the increments or the number of intervals or encoder pulses per encoder revolution.
referenceTime
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0005

Specifies the reference time for the measurement of the interval duration.
The reference time is the time after which the counter in the encoder module used to determine the
interval duration is incremented by one (interval duration = count * reference time).
Associated parameters (maximum):
DriverInfo
(StructSensorDriverInfo)

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

AnalogDriverInfo (Only the logical address

'logAddress' of the reference value for the interval duration stored by the encoder module in the
I/O area has to be specified. The other elements
of the 'StructSensorDriverInfo' structure are not
taken into account for the configuration of the
interval counter.)

16-793

SensorType

InversCountDirection - SensorType
The structure elements of 'InversCountDirection' specify the counting direction of the actual encoder
value.
encoderFeedbackPolarity
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the counting direction of the actual encoder value is inverted.
With NO, the count direction of the actual encoder value is not inverted. (System default)
With YES, the count direction of the actual encoder value is inverted.
EnumYesNo
NO (91)

No

YES (173)

Yes

LeadScrewInfo - SensorType
The structure elements of 'LeadScrew' set the leadscrew pitch.
efficiency
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

1.0

Efficiency of the spindle/nut combination.

pitchVal
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

10.0 mm/rot

Specifies the leadscrew pitch per spindle revolution.

16-794

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

SensorType

ModuloInfo - SensorType
The structure elements of 'Modulo' specify the modulo information.
length
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

360.0

Specifies modulo length.

The minimum modulo length that can be set depends on the available resolution!
startValue
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Specifies the initial value.

state
Data type:

EnumActiveInactive

Changeable online:

Yes, active after restart

System default:

INACTIVE

Specifies modulo activation.

With ACTIVE, a modulo status is activated.
With INACTIVE, the modulo status is not activated.
EnumActiveInactive
ACTIVE (4)

Active

INACTIVE (61)

Inactive

PathPerRevolution - SensorType
The structure elements of 'PathPerRevolution' specify the distance of one revolution for the EXTERN
assembly base.
length
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

100.0 mm

Specifies the path length of an encoder revolution for EXTERNAL mount type.

SIMOTION Technology Packages Configuration Data

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16-795

SensorType

PositionFilterType - SensorType
The structure elements of 'PositionFilter' specify actual value smoothing. The settings take effect on
the actual position values in the servo cycle clock.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With 'NO', the filter functionality is deactivated.
With 'YES', the filter functionality is activated.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo

16-796

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

SensorType

Resolution - SensorType
'Resolution' is used to configure the parameters of a linear encoder system (linear scale).
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
distance
Data type:

LREAL

Changeable online:

No

System default:

0.001 mm

Distance between two encoder increments.

Note
The minimum value that can be set results from the maximum resolution of the TO axis or TO external
encoder. Consequently, for an excessive lower limit, the unit for the 'Increments/Position' physical
quantity must be varied appropriately.
multiplierCyclic
Data type:

UDINT

Changeable online:

No

System default:

Incremental resolution

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

16-797

SensorType

RestartInfo - SensorType
'RestartInfo' is used to enable technology object restart with system variables and/or by command or
just by command.
behaviorInvalidSysvarAccess
Data type:

EnumToInvalidSysvarAccess

Changeable online:

No

System default:

LAST_VALUE

If 'DEFAULT_VALUE', the system default values of the system variables are supplied.
If 'STOP_DEVICE', no substitute values are supplied. In this setting, the controller switches to STOP
mode when system variables are accessed.
If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology
object is restarted or deactivated.
The values stored in the image are supplied when system variables are accessed during the technology object restart or deactivation phase.
restartActivationSetting
Data type:

EnumToRestartActivationSetting

Changeable online:

Yes, active after restart

System default:

RESTART_BY_SYSVAR_AND_COMMAND

With 'RESTART_BY_SYSVAR_AND_COMMAND', technology object restart can be initiated with

system variables and/or by command.
With 'RESTART_BY_COMMAND', the technology object can only be initiated by command.
EnumToInvalidSysvarAccess
DEFAULT_VALUE (2)

Supply substitute value from default value

STOP_DEVICE (3)

No substitute value, switch to STOP mode

LAST_VALUE (338)

Supply substitute value from last valid value

EnumToRestartActivationSetting

16-798

RESTART_BY_SYSVAR_AND_COMMAND (0)

Allow restart via system variable and/or command

RESTART_BY_COMMAND (1)

Allow restart only via command

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

SensorType

SensorControlConfig - SensorType
The tolerance of an encoder error is specified with the structure elements for 'SensorControlConfig'.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
tolerateSensorDefect
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether a failure of an encoder not involved in the closed-loop control should be tolerated.
With 'NO', a failure is not tolerated.
With 'YES', a failure is tolerated.
EnumYesNo
NO (91)

No

YES (173)

Yes

Slippage - SensorType
Not functional.
slippageLimit
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

1000 mm

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

16-799

SensorType

StandStillSignal - SensorType
The structure elements of 'StandStillSignal' specify the parameters for the velocity-dependent standstill signal.
Note
"Further information can be found in the TO Electrical/Hydraulic Axis, External Encoder Function
Manual and in the online help."
delayTimeToActivate
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Specifies the delay time to activation of the velocity-dependent standstill signal.

filterDegree
Data type:

UINT

Changeable online:

Yes, active immediately

System default:

Specifies the filter degree.

filterFrequency
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 Hz

Specifies the filter frequency.

maxVeloStandStill
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

50.0 mm/min

Specifies the velocity limit below which the velocity-dependent standstill signal is active.

16-800

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

SensorType

StructAxisActualValueUpdateCounter - SensorType
The structure elements of 'UpdateCounter' are used to set the parameters for evaluation of the actual
value update.
bitNumber
Data type:

UDINT

Changeable online:

No

System default:

Specifies the first bit number of the update counter.

enableCounter
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the actual value update is evaluated.

With NO, the actual value update is not evaluated.
With YES, the actual value update is evaluated.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address of the update counter.

maxFailure
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of permissible value failures before an error is output.

quantityOfBits
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the number of bits in the update counter.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

16-801

SensorType

updateCycle
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the ratio of the actual value update.

EnumYesNo

16-802

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

SensorType

StructAxisAnalogSensorErrorStateMonitoring - SensorType
The structure elements of 'ErrorStateMonitoring' are used to set the parameters for evaluation of the
error bit.
bitNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the bit number of the error bit.

bitSemantics
Data type:

EnumTrueFalse

Changeable online:

Yes, active after restart

System default:

_TRUE

Specifies the evaluation of the error bit.

With TRUE, the error bit is evaluated as 1.
With FALSE, the error bit is evaluated as 0.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the error bit monitoring is performed.

With NO, the logical address is not used.
With YES, the logical address is used.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the error bit.

EnumTrueFalse
_TRUE (405)

true

_FALSE (406)

false

EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

16-803

SensorType

StructAxisAnalogSensorReadyStateMonitoring - SensorType
The structure elements of 'ReadyStateMonitoring' are used to set the parameters for evaluation of the
ready bit.
bitNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the bit number of the ready bit.

bitSemantics
Data type:

EnumTrueFalse

Changeable online:

Yes, active after restart

System default:

_TRUE

Specifies the evaluation of the ready bit.

With TRUE, the ready bit is evaluated as 1.
With FALSE, the ready bit is evaluated as 0.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies whether the ready bit monitoring is performed.

With NO, the logical address is not used.
With YES, the logical address is used.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the ready bit.

EnumTrueFalse
_TRUE (405)

true

_FALSE (406)

false

EnumYesNo

16-804

NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

SensorType

StructAxisDriveControlConfig - SensorType
Settings for the drive are specified with the 'DriveControlConfig' configuration data.
dataAdaption
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

The 'dataAdaption' configuration data activates the adaptation of the drive data.
With 'YES', is the adaptation active.
With 'NO', is the adaptation deactivated.
pulsesEnabledEvaluation
Data type:

EnumAxisPulsesEnabledEvaluation

Changeable online:

Yes, active after restart

System default:

COMPATIBILITY_MODE

The 'PulsesEnabledEvaluation' configuration data describes the behavior of the axis for a drive-independent stop response.
With 'YES', the Pulses-Enabled bit is always processed.
With 'COMPATIBILITY_MODE', the Pulses-Enabled bit is only processed for selected safety data
block.
releaseDisableMode
Data type:

UDINT

Changeable online:

Yes, active immediately

System default:

127

The behavior of the drive during the RELEASE_DISABLE error response is specified with the 'releaseDisableMode' configuration data.
Specifies the values of bits 0 - 6 to be reset in the PROFIDrive protocol.
The bits are negated by the system and ANDed with the existing control word. The specified bits are
reset.
Meaning of the bits in the PROFIdrive protocol:
Bit0 - ON
Bit1 - No Coast Stop
Bit2 - No Quick Stop
Bit3 - Enable Operation
Bit4 - Enable Ramp Generator
Bit5 - Unfreeze Ramp Generator
Bit6 - Enable Setpoint
EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

16-805

SensorType

EnumAxisPulsesEnabledEvaluation
YES (173)

Pulses-Enabled bit is always processed

COMPATIBILITY_MODE (959)

The Pulses-Enabled bit is only processed for

selected safety data block

Associated parameters (maximum):

pulsesEnabled
(StructAxisPulsesEnabledConfig)

16-806

Position of PulsesEnabled bit

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

SensorType

StructAxisDriveSafetyExtendedFunctionsInfoDataIn - SensorType
Specifies the logical address for the communication with the drive.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data
in the cyclic message frame from the drive.

StructAxisNistDriverConfig - SensorType
The parameters for the actual speed value hardware are specified with the structure elements for
'NistDriverConfig' .
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the actual speed value.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

16-807

SensorType

StructAxisOperatingDataInInfo - SensorType
Specifies the configuration of the operating character data block.
enableActivePower
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the effective power display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableActualCurrent
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the actual current value display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableActualTorqueOrForce
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the torque / force actual value display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableMotorTemperature
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the motor temperature display.

With 'NO', the display is not activated.
With 'YES', the display is activated.
enableTorqueOrForceUtilization
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation of the torque utilization display.

With 'NO', the display is not activated.
With 'YES', the display is activated.

16-808

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

SensorType

logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of SINAMICS Safety Integrated Extended Functions data
in the cyclic message frame from the drive.
EnumYesNo
NO (91)

No

YES (173)

Yes

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

16-809

SensorType

StructAxisPulsesEnabledConfig - SensorType
The bit position for pulsesEnable is defined with the configuration data in 'StructAxisPulsesEnabledConfig'.
bitNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

13

Specifies the bit number for pulse enable.

pzdNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the PZD number for pulse enable.

16-810

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

SensorType

StructAxisSpeedLimitation - SensorType
Parameters for asymmetric manipulated variable limitation. This function is also referred to as a backstop.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Specifies the activation status of the velocity range limit..

With 'NO', the velocity limit is not activated.
With 'YES', the velocity limit is activated.
maxSpeed
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 1/min

Specifies the upper limit for the manipulated variable range.

minSpeed
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 1/min

Specifies the lower limit for the manipulated variable range.

EnumYesNo
NO (91)

No

YES (173)

Yes

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16-811

SensorType

StructAxisTechnologicalData - SensorType
The structure elements belonging to TechnologicalData are used to specify addresses for additional
data exchange between drive and control unit.
driveSafetyExtendedFunctionsEnabled
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation status of the SINAMICS Safety Integrated Extended Functions data.
With 'NO', the data are not activated.
With 'YES', the data are activated.
enable
Data type:

EnumYesNo

Changeable online:

No

System default:

NO

Specifies the activation status of the technological data.

With 'NO', the technology data are not activated.
With 'YES', the technology data are activated.
EnumYesNo
NO (91)

No

YES (173)

Yes

Associated parameters (maximum):

DriveSafetyExtendedFunctionsInfoDataIn
(StructAxisDriveSafetyExtendedFunctionsInfoDataIn)

Drive interface for SINAMICS Safety Integrated

Extended Functions data

OperatingDataInInfo
(StructAxisOperatingDataInInfo)

Drive interface for operating characteristics

TechnologicalDataInInfo
(StructAxisTechnologicalDataInInfo)

Drive interface for specific actual values

TechnologicalDataOutInfo
(StructAxisTechnologicalDataOutInfo)

Drive interface for specific setpoints

StructAxisTechnologicalDataInInfo - SensorType
Specifies the logical address for the communication with the drive.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of specific parameters in the cyclical message frame from
the drive.

16-812

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SensorType

StructAxisTechnologicalDataOutInfo - SensorType
Specifies the logical address for the communication with the drive.
logAddress
Data type:

UDINT

Changeable online:

No

System default:

65535

Specifies the logical address for the transfer of specific parameters in the cyclical message frame to
the drive.

StructDriverInfoDirectIncremental - SensorType
The parameters for the direct incremental encoder hardware are specified with the structure elements
for 'DriverInfoDirectIncremental' .
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the communication module.

resolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

16

Specifies the number of bits of the incremental encoder.

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16-813

SensorType

StructExtrapolation - SensorType
The structure elements belonging to 'Extrapolation' are used to set the extrapolation time on the master value axis.
extrapolatedVelocitySwitch
Data type:

EnumAxisExtrapolatedVelocitySwitch

Changeable online:

Yes, active immediately

System default:

DIFFERENTIATION

Used to select the velocity master value for master value extrapolation.
extrapolationTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time specification for extrapolation. With 0.0, there is no extrapolation.

EnumAxisExtrapolatedVelocitySwitch
DIFFERENTIATION (408)

Differentiation of extrapolated master value

TRANSFER (409)

Transfer of extrapolated velocity

Associated parameters (maximum):

16-814

Filter
(StructExtrapolationFilter)

Filter for actual velocity

ToleranceRange
(StructToleranceRange)

Tolerance range

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

SensorType

StructExtrapolationFilter - SensorType
The structure elements belonging to 'Filter' are used to set the filter for the actual velocity on the master value axis.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies filter functionality.

With 'NO', the filter functionality is deactivated.
With 'YES', the filter functionality is activated.
mode
Data type:

EnumAxisFilterMode

Changeable online:

Yes, active after restart

System default:

DEFAULT_MODE

Specifies criterion for actual value smoothing.

With 'DEFAULT_MODE', the actual speed is not smoothed.
With 'AVERAGING', an average over time is used.
With 'PT1', a filter set via 'timeConstant' is used.
timeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.01 s

Time constant for PT1 smoothing.

EnumYesNo
NO (91)

No

YES (173)

Yes

EnumAxisFilterMode
DEFAULT_MODE (0)

No filter

AVERAGING (1)

Form mean value

PT1 (2)

PT1 filter

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16-815

SensorType

StructInSensorMain - SensorType
The 'Sensor' structure element is used to configure an encoder.
Associated parameters (maximum):
AbsEncoder
(AbsEncoder)

Absolute encoder

AnalogSensorDriverInfo
(AdditionalSensorDriverInfo)

Analog input module

ConversionData
(ConversionData)

Interpretation of the encoder values

ConversionDataAdapt
(ConversionDataAdaptType)

Gear ratio

DriverInfo
(DriverInfo)

Input module

Filter
(Filter)

Filter for actual value smoothing

FrequencyLimit
(FrequencyLimit)

Limit frequency of the measuring system

IncEncoder
(IncEncoder)

Incremental encoder

IntervalCounterConversionData
(IntervalCounterConversionDataType)

Interval counter

InversCountDirection
(InversCountDirection)

Inverse count direction

Range
(StructInputObjectRange)

Definition range of the encoder values

SensorControlConfig
(SensorControlConfig)

Encoder error tolerance

StructInputObjectRange - SensorType
The 'Range' structure elements are used to configure the definition range of the read encoder values.
_max
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10000.0

Specifies the maximum value.

_min
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

-10000.0

Specifies the minimum value.

16-816

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SensorType

StructLogAddressIoBitType - SensorType
The structure elements of 'LogAddress' are used to set the logical address.
bitNumber
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

Specifies the bit number of the measuring input input.

enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Specifies whether the indicated logical address should be used.

With NO, the logical address is not used.
With YES, the logical address is used.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical base address of the measuring input input.

EnumYesNo
NO (91)

No

YES (173)

Yes

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16-817

SensorType

StructSensorDriverInfo - SensorType
The elements of this structure are used to configure the I/O module of the additional encoder.
errorToleranceTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1 s

Specifies the delay time of the error code in the raw value until the alarm is triggered.
format
Data type:

EnumActualValueFormat

Changeable online:

Yes, active after restart

System default:

VALUE_LEFT_MARGIN

Specifies the data format (justification) of the raw value of the additional encoder.
logAddress
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

65535

Specifies the logical address of the communication module.

maxValue
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

32511

Specifies the maximum digitalized measured value for the additional encoder.
minValue
Data type:

DINT

Changeable online:

Yes, active immediately

System default:

-32512

Specifies the minimal digitalized measured value for the additional encoder.

16-818

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List Manual, 11/2010

SensorType

resolution
Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

15

Specifies the number of relevant bits for the additional encoder.

EnumActualValueFormat
VALUE_RIGHT_MARGIN (0)

Right-justified

VALUE_LEFT_MARGIN (1)

Left-justified

VALUE_LEFT_MARGIN_WITHOUT_SIGN (2)

Left-justified without sign

VALUE_RIGHT_MARGIN_WITHOUT_SIGN (3)

Right-justified without sign

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List Manual, 11/2010

16-819

SensorType

StructSensorExtrapolation - SensorType
The weighted derived value can be applied to the output value. The weighting value is specified as a
factor and not as an extrapolation time.
.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active after restart

System default:

NO

Activates the extrapolation of the input value

factor
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0

Factor for the extrapolation of the input value

EnumYesNo
NO (91)

No

YES (173)

Yes

StructSensorGeneralParameter - SensorType
The substitute value strategy for technological alarm is selected with the structure elements for ValueOut.
outputValueErrorBehaviorMode
Data type:

EnumSensorValueBehaviorMode

Changeable online:

Yes, active after restart

System default:

DEFAULT_VALUE

Specifies how the output value is to be initialized with an active but invalid interconnection.
With LAST_VALUE, the last valid value is set.
With ZERO_VALUE, the output value is reset to zero.
With DEFAULT_VALUE, the output values are initialized with the values from the 'outputdefault' and
"outputderivativedefault' system variables.
EnumSensorValueBehaviorMode

16-820

DEFAULT_VALUE (2)

Replacement value

LAST_VALUE (338)

Last value

ZERO_VALUE (339)

Substitute value zero

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

SensorType

StructToleranceRange - SensorType
The structure elements belonging to 'ToleranceRange' are used to set a tolerance window around the
actual position of the master value axis.
enable
Data type:

EnumYesNo

Changeable online:

Yes, active immediately

System default:

NO

Activation of the tolerance range.

With 'NO', the tolerance range is deactivated.
With 'YES', the tolerance range is activated.
value
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 mm

Specifies the tolerance window around the actual position value of the master axis.
EnumYesNo
NO (91)

No

YES (173)

Yes

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16-821

SensorType

16-822

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Part IV
TP TControl

SIMOTION Technology Packages Configuration Data

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IV-823

IV-824

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Contents
Part IV
17

TP TControl

TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgActualIdentificationType TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgAnalogDevice - TemperatureControllerType . . . . .
StructTControllerCfgBinaryDevice - TemperatureControllerType . . . . . .
StructTControllerCfgConfigUpdate - TemperatureControllerType . . . . .
StructTControllerCfgControlRangeParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgControlledSystemParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgController - TemperatureControllerType. . . . . . . . .
StructTControllerCfgCycleParameter - TemperatureControllerType . . .
StructTControllerCfgDPIDController - TemperatureControllerType . . . .
StructTControllerCfgDPIDParameter - TemperatureControllerType. . . .
StructTControllerCfgDataConversionOutput TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgExecutionParameter - TemperatureControllerType .
StructTControllerCfgGeneralParameter - TemperatureControllerType. .
StructTControllerCfgHTempController - TemperatureControllerType. . .
StructTControllerCfgIdentificationMinimumStepSize TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgIdentificationModifiedTangentMethod TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgIdentificationOutputValue TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgIdentificationStandardType TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgIdentificationStaticCondition TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgIdentificationTransitionMode TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgInput - TemperatureControllerType . . . . . . . . . . . .
StructTControllerCfgInputAnalog - TemperatureControllerType . . . . . . .
StructTControllerCfgInputDisplayValueParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgInputFilterParameter - TemperatureControllerType .
StructTControllerCfgInputGradientCheckParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgInputLimitCheckParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgInputSingleLimitCheckParameter -

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17-827
17-828
17-828
17-829
17-829
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17-830
17-831
17-831
17-832
17-834
17-835
17-837
17-838
17-838
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17-839
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17-841
17-841
17-842
17-842
17-843
17-843
17-844
17-844

Contents-825

Contents

TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgLimits - TemperatureControllerType. . . . . . . . . . . .
StructTControllerCfgLimitsControllerParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgLimitsGeneralParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgLimitsProcessParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgOutput - TemperatureControllerType . . . . . . . . . . .
StructTControllerCfgOutputAnalog - TemperatureControllerType . . . . .
StructTControllerCfgOutputPwm - TemperatureControllerType . . . . . . .
StructTControllerCfgOutputSingleOutput - TemperatureControllerType .
StructTControllerCfgParameterMatlab - TemperatureControllerType. . .
StructTControllerCfgParameterNetwork1 - TemperatureControllerType .
StructTControllerCfgParameterPT4Tt - TemperatureControllerType . . .
StructTControllerCfgPlausibilityParameter - TemperatureControllerType
StructTControllerCfgProcessMode - TemperatureControllerType . . . . .
StructTControllerCfgPwmParameter - TemperatureControllerType . . . .
StructTControllerCfgSetpointHandling - TemperatureControllerType. . .
StructTControllerCfgSetpointSmoothing - TemperatureControllerType .
StructTControllerCfgSetpointStartupProfile - TemperatureControllerType
StructTControllerCfgSimulation - TemperatureControllerType . . . . . . . .
StructTControllerCfgSimulationControlledSystemParameter TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgSimulationParameter - TemperatureControllerType.
StructTControllerCfgSimulationSystemNetwork1 TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerCfgSimulationSystemPT4Tt TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerConversionConverterRange TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerConversionLinear - TemperatureControllerType . . . . .
StructTControllerConversionTemperatureRange TemperatureControllerType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
StructTControllerConversionVector - TemperatureControllerType . . . . .
StructTControllerDataConversionConfig - TemperatureControllerType .
StructTcontrollerCfgIdentification - TemperatureControllerType. . . . . . .

Contents-826

17-845
17-846
17-847
17-849
17-850
17-852
17-852
17-853
17-853
17-854
17-855
17-857
17-858
17-860
17-861
17-861
17-862
17-863
17-864
17-865
17-866
17-867
17-868
17-869
17-870
17-870
17-871
17-872
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17

TemperatureControllerType
Associated parameters (maximum):
@setpointHandling (StructTControllerCfgSetpointHandling)
@simulation (StructTControllerCfgSimulation)
configUpdate (StructTControllerCfgConfigUpdate)
controller (StructTControllerCfgController)
execution (StructTControllerCfgExecutionParameter)
generalParameter (StructTControllerCfgGeneralParameter)
identification (StructTcontrollerCfgIdentification)
input (StructTControllerCfgInput)
limits (StructTControllerCfgLimits)
output (StructTControllerCfgOutput)

StructTControllerCfgActualIdentificationType - TemperatureControllerType
Controlled-system identification type
identificationType
Data type:

EnumTControllerIdentificationType

Changeable online:

Yes, active immediately

System default:

MODIFIED_TANGENTMETHOD

Controlled-system identification type

EnumTControllerIdentificationType
Controlled-system identification type
NONE (93)

No type selected

MODIFIED_TANGENTMETHOD (605)

Modified tangent method

STANDARD_TANGENTMETHOD (606)

Standard tangent method

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List Manual, 11/2010

17-827

TemperatureControllerType

StructTControllerCfgAnalogDevice - TemperatureControllerType
Analog input device parameter
logicAddress
Data type:

UDINT

Changeable online:

No

System default:

0xffff

Logical address of assigned input

StructTControllerCfgBinaryDevice - TemperatureControllerType
Binary I/O device parameter
channel
Data type:

EnumTControllerBinaryIObits

Changeable online:

No

System default:

CHANNEL_0

Bit selection on assigned output

logicAddress
Data type:

UDINT

Changeable online:

No

System default:

0xffff

Logical address of assigned output

EnumTControllerBinaryIObits
Bit assignment of I/O channels

17-828

CHANNEL_0 (800)

Channel 0

CHANNEL_1 (801)

Channel 1

CHANNEL_2 (802)

Channel 2

CHANNEL_3 (803)

Channel 3

CHANNEL_4 (804)

Channel 4

CHANNEL_5 (805)

Channel 5

CHANNEL_6 (806)

Channel 6

CHANNEL_7 (807)

Channel 7

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

TemperatureControllerType

StructTControllerCfgConfigUpdate - TemperatureControllerType
Update of the configuration data
configUpdateParameter
Data type:

EnumTControllerConfigUpdate

Changeable online:

Yes, active after restart

System default:

BY_COMMAND

Update parameters of the configuration data

EnumTControllerConfigUpdate
AUTOMATICALLY (607)

Automatic

BY_COMMAND (608)

Only by command

StructTControllerCfgControlRangeParameter - TemperatureControllerType
Range parameters
lowerControlRange
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

200.0 K

Lower control range

upperControlRange
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

200.0 K

Upper control range

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TemperatureControllerType

StructTControllerCfgControlledSystemParameter - TemperatureControllerType
Controlled-system parameter
delayTime
Data type:

LREAL

Changeable online:

No

System default:

100.0 s

Controlled-system delay time

maxGradient
Data type:

LREAL

Changeable online:

No

System default:

0.01 K/s

Maximum temperature gradient of the controlled system

symmetry
Data type:

LREAL

Changeable online:

No

System default:

1.0

Controlled-system symmetry

StructTControllerCfgController - TemperatureControllerType
Controller configuration
controllerType
Data type:

EnumTControllerControllerType

Changeable online:

No

System default:

STANDARD_TYPE

Current controller type

EnumTControllerControllerType
List of possible controllers
ADVANCED_TYPE (770)

Advanced controller for plastics

STANDARD_TYPE (771)

DPIDT1 standard controller

Associated parameters (maximum):

17-830

advanced
(StructTControllerCfgHTempController)

Advanced controller

standard
(StructTControllerCfgDPIDController)

Standard controller

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

TemperatureControllerType

StructTControllerCfgCycleParameter - TemperatureControllerType
Cycle parameter
controllerCycleTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 s

Controller cycle

StructTControllerCfgDPIDController - TemperatureControllerType
Configuration of DPIDT1 controller
Associated parameters (maximum):
DPIDParameter
(StructTControllerCfgDPIDParameter)

1. controller parameter set

DPIDParameterSecondary
(StructTControllerCfgDPIDParameter)

2. controller parameter set

cycleParameter
(StructTControllerCfgCycleParameter)

1. cycle parameter set

cycleParameterSecondary
(StructTControllerCfgCycleParameter)

2. cycle parameter set

lowerPlausibilityParameter
(StructTControllerCfgPlausibilityParameter)

1. lower control loop plausibility

lowerPlausibilityParameterSecondary
(StructTControllerCfgPlausibilityParameter)

2. lower control loop plausibility

upperPlausibilityParameter
(StructTControllerCfgPlausibilityParameter)

1. upper control loop plausibility

upperPlausibilityParameterSecondary
(StructTControllerCfgPlausibilityParameter)

2. upper control loop plausibility

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List Manual, 11/2010

17-831

TemperatureControllerType

StructTControllerCfgDPIDParameter - TemperatureControllerType
DPID controller parameter
derivativeActionTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Controller derivative-action time (derivative component, Tv)

derivativeActionTime2
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Second order controller derivative-action time (D2 component, Tv2)

gain
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 %/K

Controller gain (proportional component, Kr)

integrationMode
Data type:

EnumTControllerIntegrationMode

Changeable online:

Yes, active immediately

System default:

ACTIVE

Activates or deactivates the integral component of the controller

integrationTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

86400.0 s

Controller integral-action time (integral component, Tn)

17-832

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List Manual, 11/2010

TemperatureControllerType

integratorResetValue
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 %

Start value of integrator

EnumTControllerIntegrationMode
ACTIVE (4)

Active

INACTIVE (61)

Inactive

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TemperatureControllerType

StructTControllerCfgDataConversionOutput - TemperatureControllerType
Output normalization
factor
Data type:

LREAL

Changeable online:

No

System default:

1.0

Input normalization: Factor

offset
Data type:

LREAL

Changeable online:

No

System default:

0.0 %

Input normalization: Offset

17-834

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TemperatureControllerType

StructTControllerCfgExecutionParameter - TemperatureControllerType
Execution parameter
behaviorInvalidSysvarAccess
Data type:

EnumTControllerInvalidSysvarAccess

Changeable online:

No

System default:

LAST_VALUE

If 'LAST_VALUE' is selected, an image of the system variables is generated before the technology
object is restarted or deactivated. The values stored in the image are supplied when system variables
are accessed during the technology object restart or deactivation phase.
The default values of the variables are provided in the 'DEFAULT_VALUE' setting.
If 'STOP_DEVICE' is selected, no substitute values are supplied. In this setting, the controller switches
to STOP mode when variables are accessed.
executionlevel
Data type:

EnumTControllerExecutionLevel

Changeable online:

No

System default:

FAST

Time classification of cyclic input, controller, and output components:

Slow: Slow task levels (Input1 = read the actual values, Control1 = controller cycle)
Fast: Fast task levels (Input2 = read the actual values, Control2 = controller cycle)

restartActivationSetting
Data type:

EnumTControllerRestartActivationSetting

Changeable online:

No

System default:

RESTART_BY_SYSVAR_AND_COMMAND

Activation mode for TO restart:

RESTART_NONE : TO restart impossible
RESTART_BY_COMMAND: TO restart possible using a command
RESTART_BY_SYSVAR_AND_COMMAND: technology object restart possible by system variable
and command
restartCondition
Data type:

EnumTControllerRestartCondition

Changeable online:

No

System default:

NO_CONSTRAINTS

Activation condition for TO restart:

NO_CONSTRAINTS : Restart independent of TO state
INACTIVE: Restart if controller is OFF (operatingMode)
EnumTControllerInvalidSysvarAccess
DEFAULT_VALUE (2)

Supply substitute value from default value

STOP_DEVICE (3)

No substitute value, switch to STOP mode

LAST_VALUE (338)

Supply substitute value from last valid value

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TemperatureControllerType

EnumTControllerExecutionLevel
SLOW (750)

Slow temperature controller task

(Control2,Input2)

FAST (751)

Fast temperature controller task

(Control1,Input1)

EnumTControllerRestartActivationSetting
Activation modes for TO restart.
RESTART_NONE (760)

Restart not permissible

RESTART_BY_COMMAND (761)

Restart by command

RESTART_BY_SYSVAR_AND_COMMAND
(762)

Restart by system variable and command

EnumTControllerRestartCondition

17-836

INACTIVE (61)

Restart when controller off (operatingMode)

NO_CONSTRAINTS (96)

Restart without constraints

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

TemperatureControllerType

StructTControllerCfgGeneralParameter - TemperatureControllerType
generalParameters:
Default values for controller mode, setpoint, and manual output value
manualOutputValue
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 %

Manual manipulated variable value

operatingMode
Data type:

EnumTControllerOperatingMode

Changeable online:

Yes, active immediately

System default:

INACTIVE

Default control operating mode

setpoint
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

60.0 C

Default setpoint
EnumTControllerOperatingMode
Controller mode
INACTIVE (61)

Controller off

CONTROL (601)

Controller mode

MEASURING_AND_MANUAL_OUTPUT (602)

Metering mode, output of manual output value

MEASURING_AND_OUTPUT_ZERO (603)

Metering mode, output 0

IDENTIFICATION (604)

Identification of the controlled system parameters

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

17-837

TemperatureControllerType

StructTControllerCfgHTempController - TemperatureControllerType
Configuration of an advanced controller
Associated parameters (maximum):
DPIDParameter
(StructTControllerCfgDPIDParameter)

1. controller parameter set

DPIDParameterSecondary
(StructTControllerCfgDPIDParameter)

2. controller parameter set

controlRangeParameter
(StructTControllerCfgControlRangeParameter)

Parameters of the control range

cycleParameter
(StructTControllerCfgCycleParameter)

1. cycle parameter set

cycleParameterSecondary
(StructTControllerCfgCycleParameter)

2. cycle parameter set

lowerPlausibilityParameter
(StructTControllerCfgPlausibilityParameter)

1. lower control loop plausibility

lowerPlausibilityParameterSecondary
(StructTControllerCfgPlausibilityParameter)

2. lower control loop plausibility

processModeParameter
(StructTControllerCfgProcessMode)

Adaptation parameters

upperPlausibilityParameter
(StructTControllerCfgPlausibilityParameter)

1. upper control loop plausibility

upperPlausibilityParameterSecondary
(StructTControllerCfgPlausibilityParameter)

2. upper control loop plausibility

StructTControllerCfgIdentificationMinimumStepSize - TemperatureControllerType
Minimum step size
minimumStepSize
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

60.0 K

Minimum step size

17-838

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

TemperatureControllerType

StructTControllerCfgIdentificationModifiedTangentMethod - TemperatureControllerType
Parameter for controlled-system identification based on modified tangent method.
availablity
Data type:

EnumTControllerIdentificationAvailableType

Changeable online:

No

System default:

AVAILABLE

Identification type is available and can be started.

EnumTControllerIdentificationAvailableType
Identification type is available and can be started.
AVAILABLE (609)

Available

NON_AVAILABLE (610)

Not available

Associated parameters (maximum):

@secondaryParameter
(StructTControllerCfgIdentificationSecondaryParameter)

Determine secondary parameters

minimumStepSize
(StructTControllerCfgIdentificationMinimumStepSize)

Minimum step size

startCondition
(StructTControllerCfgIdentificationStaticCondition)

Start condition

transitionMode
(StructTControllerCfgIdentificationTransitionMode)

Identification phase transition

StructTControllerCfgIdentificationOutputValue - TemperatureControllerType
Output signal during controlled-system identification.
outputValue
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

5.0 %

Output signal during controlled-system identification.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

17-839

TemperatureControllerType

StructTControllerCfgIdentificationStandardType - TemperatureControllerType
Parameter for standard self-tuning
availablity
Data type:

EnumTControllerIdentificationAvailableType

Changeable online:

No

System default:

AVAILABLE

Only available self-tuning types can be started during runtime.

EnumTControllerIdentificationAvailableType
Identification type is available and can be started.
AVAILABLE (609)

Available

NON_AVAILABLE (610)

Not available

Associated parameters (maximum):

17-840

endCondition
(StructTControllerCfgIdentificationStaticCondition)

End condition

outputValue
(StructTControllerCfgIdentificationOutputValue)

Step actuating signal

startCondition
(StructTControllerCfgIdentificationStaticCondition)

Start condition

transitionMode
(StructTControllerCfgIdentificationTransitionMode)

Transition condition

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

TemperatureControllerType

StructTControllerCfgIdentificationStaticCondition - TemperatureControllerType
Condition for a static state (idle system)
permissableTemperatureChange
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.2 C

Tolerated temperature change during waiting time.

waitingTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

30.0 s

Waiting time, during which the actual value must remain stable.

StructTControllerCfgIdentificationTransitionMode - TemperatureControllerType
Determines the type of transition between selected identification stages.
transitionMode
Data type:

EnumTControllerIdentificationTransitionMode

Changeable online:

Yes, active immediately

System default:

BY_COMMAND

Determines whether the transition occurs automatically or has to be initiated.

EnumTControllerIdentificationTransitionMode
Determines the type of transition between selected identification stages.
AUTOMATICALLY (607)

Automatic

BY_COMMAND (608)

Forced transition with an ST command

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

17-841

TemperatureControllerType

StructTControllerCfgInput - TemperatureControllerType
Input configuration
inputType
Data type:

EnumTControllerInputType

Changeable online:

No

System default:

ANALOG_TEMPERATURE

EnumTControllerInputType
ANALOG_TEMPERATURE (670)

Analog temperature measurement

Associated parameters (maximum):

@conversion
(StructTControllerDataConversionConfig)
@conversionConverterRange
(StructTControllerConversionConverterRange)
@conversionTemperatureRange
(StructTControllerConversionTemperatureRange)
analog
(StructTControllerCfgInputAnalog)
device
(StructTControllerCfgAnalogDevice)

StructTControllerCfgInputAnalog - TemperatureControllerType
Configuration of analog input channel
relationControllerCycleToInputCycle
Ratio of input cycle to controller cycle
Data type:

UDINT

Changeable online:

No

System default:

Associated parameters (maximum):

displayValueParameter
(StructTControllerCfgInputDisplayValueParameter)
filterParameter
(StructTControllerCfgInputFilterParameter)
gradientCheckParameter
(StructTControllerCfgInputGradientCheckParameter)
limitCheckParameter
(StructTControllerCfgInputLimitCheckParameter)

17-842

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

TemperatureControllerType

StructTControllerCfgInputDisplayValueParameter - TemperatureControllerType
Initial values of extreme value calculation
initMaxDisplayValue
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 C

Input display filter: Start value for maximum display value

initMinDisplayValue
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 C

Input display filter: Start value for minimum display value

StructTControllerCfgInputFilterParameter - TemperatureControllerType
Input filter
controlTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Input filter: Filter time constant control value

displayTimeConstant
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 s

Input display filter: Filter time constant

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

17-843

TemperatureControllerType

StructTControllerCfgInputGradientCheckParameter - TemperatureControllerType
Input value gradient check parameter
checkMode
Data type:

EnumTControllerInputGradientCheckMode

Changeable online:

Yes, active immediately

System default:

INACTIVE

Check mode
maxNegativeGradient
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1 K/s

Maximum negative input value change

maxPositiveGradient
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.1 K/s

Maximum positive input value change

numberOfTolerancedViolations
Data type:

UDINT

Changeable online:

Yes, active immediately

System default:

Number of violations tolerated

EnumTControllerInputGradientCheckMode
ACTIVE (4)

Active

INACTIVE (61)

Not active

StructTControllerCfgInputLimitCheckParameter - TemperatureControllerType
Input-value-check parameter
Associated parameters (maximum):
innerLimitCheck
(StructTControllerCfgInputSingleLimitCheckParameter)
outerLimitCheck
(StructTControllerCfgInputSingleLimitCheckParameter)

17-844

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

TemperatureControllerType

StructTControllerCfgInputSingleLimitCheckParameter - TemperatureControllerType
Input-value-check parameter
lowerLimitMode
Data type:

EnumTControllerInputLimitCheckMode

Changeable online:

Yes, active immediately

System default:

INACTIVE

Lower limit mode

lowerLimitValue
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 C

Lower limit value

upperLimitMode
Data type:

EnumTControllerInputLimitCheckMode

Changeable online:

Yes, active immediately

System default:

INACTIVE

Upper limit mode

upperLimitValue
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 C

Upper limit value

EnumTControllerInputLimitCheckMode
ABSOLUTE (1)

Active, check relative (to setpoint)

INACTIVE (61)

Inactive

RELATIVE (115)

Active, check absolute

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

17-845

TemperatureControllerType

StructTControllerCfgLimits - TemperatureControllerType
Limit values
Associated parameters (maximum):

17-846

controller
(StructTControllerCfgLimitsControllerParameter)

Controller parameter limits

general
(StructTControllerCfgLimitsGeneralParameter)

General limits for temperature controller

process
(StructTControllerCfgLimitsProcessParameter)

Limit values of system to be controlled

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

TemperatureControllerType

StructTControllerCfgLimitsControllerParameter - TemperatureControllerType
Controller parameter limits
maxControllerCycle
Data type:

LREAL

Changeable online:

No

System default:

600.0 s

Maximum controller cycle

maxDerivativeActionTime
Data type:

LREAL

Changeable online:

No

System default:

100.0 s

Maximum value for the controller derivative-action time (D component)

maxDerivativeActionTime2
Data type:

LREAL

Changeable online:

No

System default:

100.0 s

Maximum value for the controller derivative-action time of the 2nd order (D2 component)
maxGain
Data type:

LREAL

Changeable online:

No

System default:

1000.0 %/K

Maximum value for the controller gain (P component)

maxIntegrationTime
Data type:

LREAL

Changeable online:

No

System default:

86400.0 s

Maximum value for the controller integral-action time (I component)

minControllerCycle
Data type:

LREAL

Changeable online:

No

System default:

0.2 s

Minimum controller cycle

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

17-847

TemperatureControllerType

minDerivativeActionTime
Data type:

LREAL

Changeable online:

No

System default:

0.0 s

Minimum value for the controller derivative-action time (D component)

minDerivativeActionTime2
Data type:

LREAL

Changeable online:

No

System default:

0.0 s

Minimum value for the controller derivative-action time of the 2nd order (D2 component)
minGain
Data type:

LREAL

Changeable online:

No

System default:

0.0 %/K

Minimum value for the controller gain (P component)

minIntegrationTime
Data type:

LREAL

Changeable online:

No

System default:

0.001 s

Minimum value for the controller integral-action time (I component)

17-848

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

TemperatureControllerType

StructTControllerCfgLimitsGeneralParameter - TemperatureControllerType
General limits for temperature controller
maxTemperature
Data type:

LREAL

Changeable online:

No

System default:

10000.0 C

Maximum value for a temperature

maxTime
Data type:

LREAL

Changeable online:

No

System default:

3153600000.0 s

Maximum value for a controller time

minTemperature
Data type:

LREAL

Changeable online:

No

System default:

-273.15 C

Minimum value for a temperature

minTime
Data type:

LREAL

Changeable online:

No

System default:

0.0 s

Minimum value for a controller time

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

17-849

TemperatureControllerType

StructTControllerCfgLimitsProcessParameter - TemperatureControllerType
Controlled-system limits
maxDelayTime
Data type:

LREAL

Changeable online:

No

System default:

7200.0 s

Maximum value for the delay time of the controlled system

maxGradient
Data type:

LREAL

Changeable online:

No

System default:

10.0 K/s

Maximum value for a temperature change

maxProcGain
Data type:

LREAL

Changeable online:

No

System default:

10000.0 K/%

Maximum value for the controlled-system gain

maxRiseTime
Data type:

LREAL

Changeable online:

No

System default:

86400.0 s

Maximum value for the rise time of the controlled system

minDelayTime
Data type:

LREAL

Changeable online:

No

System default:

0.0 s

Minimum value for the delay time of the controlled system

minGradient
Data type:

LREAL

Changeable online:

No

System default:

0.0 K/s

Minimum value for a temperature change

17-850

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

TemperatureControllerType

minProcGain
Data type:

LREAL

Changeable online:

No

System default:

0.0 K/%

Minimum value for the controlled-system gain

minRiseTime
Data type:

LREAL

Changeable online:

No

System default:

180.0 s

Minimum value for the rise time of the controlled system

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

17-851

TemperatureControllerType

StructTControllerCfgOutput - TemperatureControllerType
Output configuration
Associated parameters (maximum):
out
(StructTControllerCfgOutputSingleOutput)

Parameters of the 1st output

outSecondary
(StructTControllerCfgOutputSingleOutput)

Parameters of the 2nd output

StructTControllerCfgOutputAnalog - TemperatureControllerType
Analog output parameter
Associated parameters (maximum):
device
(StructTControllerCfgAnalogDevice)

17-852

Parameters of an analog output

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

TemperatureControllerType

StructTControllerCfgOutputPwm - TemperatureControllerType
PWM output parameter
Associated parameters (maximum):
PWMParameter
(StructTControllerCfgPwmParameter)

PWM parameters

binaryDevice
(StructTControllerCfgBinaryDevice)

Parameters of the digital output

StructTControllerCfgOutputSingleOutput - TemperatureControllerType
Controller output parameter
outputType
Data type:

EnumTControllerOutputType

Changeable online:

No

System default:

PWM

Output type
EnumTControllerOutputType
Possible output types
PWM (780)

Pulse-width modulated binary output

Associated parameters (maximum):

PWM_
(StructTControllerCfgOutputPwm)

Parameters of the PWM output

analog
(StructTControllerCfgOutputAnalog)

Parameters of the analog output

conversion
(StructTControllerCfgDataConversionOutput)

Output adaptation parameters

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

17-853

TemperatureControllerType

StructTControllerCfgParameterMatlab - TemperatureControllerType
Configuration for Matlab access
portNumber

17-854

Data type:

UDINT

Changeable online:

Yes, active after restart

System default:

7000

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

TemperatureControllerType

StructTControllerCfgParameterNetwork1 - TemperatureControllerType
Type 1 thermal network controlled-system parameters
C1
Data type:

LREAL

Changeable online:

No

System default:

0.0

Factor that describes the heat storage capability of the first subsystem.
C2
Data type:

LREAL

Changeable online:

No

System default:

0.0

Factor that describes the heat storage capability of the second subsystem.
Ih
Data type:

LREAL

Changeable online:

No

System default:

0.0

Factor that describes the impressed heat flow

R1
Data type:

LREAL

Changeable online:

No

System default:

0.0

Factor that describes the heat loss in the first subsystem.

R12
Data type:

LREAL

Changeable online:

No

System default:

0.0

Factor that describes heat transfer between the first and the second subsystem.
R2
Data type:

LREAL

Changeable online:

No

System default:

0.0

Factor that describes the heat loss in the second subsystem.

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

17-855

TemperatureControllerType

RK
Data type:

LREAL

Changeable online:

No

System default:

0.0

Factor that describes the heat loss caused by active cooling in the second subsystem.
UK
Data type:

LREAL

Changeable online:

No

System default:

0.0 C

Factor that describes the coolant temperature.

17-856

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

TemperatureControllerType

StructTControllerCfgParameterPT4Tt - TemperatureControllerType
PT4 element with dead time controlled-system parameter
exponentialGain
Data type:

LREAL

Changeable online:

No

System default:

1.0

Data type:

LREAL

Changeable online:

No

System default:

1.0 K/%

Data type:

LREAL

Changeable online:

No

System default:

0.0 s

Data type:

LREAL

Changeable online:

No

System default:

0.0 s

Data type:

LREAL

Changeable online:

No

System default:

0.0 s

Data type:

LREAL

Changeable online:

No

System default:

0.0 s

linearGain

timeConstant1

timeConstant2

timeConstant3

timeConstant4

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

17-857

TemperatureControllerType

StructTControllerCfgPlausibilityParameter - TemperatureControllerType
Gradient check parameters
checkMode
Data type:

EnumTControllerPlausibilityCheckMode

Changeable online:

Yes, active immediately

System default:

INACTIVE

Activates or deactivates the gradient check

delayTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

600.0 s

Delay time
lowerLimitOutputValue
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

100.0 %

Lower output value limit for gradient check

lowerLimitTemperatureValue
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

-273.15 C

Lower temperature limit for gradient check

minimalTemperatureGradient
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 K/s

Minimum permissible temperature gradient

17-858

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

TemperatureControllerType

upperLimitTemperatureValue
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

10000.0 C

Upper temperature limit for gradient check

EnumTControllerPlausibilityCheckMode
ACTIVE (4)

Active

INACTIVE (61)

Inactive

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

17-859

TemperatureControllerType

StructTControllerCfgProcessMode - TemperatureControllerType
Controller adaptation parameter for heating controller
mode
Data type:

EnumTControllerProcessMode

Changeable online:

Yes, active immediately

System default:

INACTIVE

Process adaptation mode

EnumTControllerProcessMode
Information regarding process type setting for adaptive control.
With INACTIVE, adaptation is not set.
With CONTINUOUS, adaptation is set for a continuous process mode.
With DISCONTINUOUS, adaptation is set for a discontinuous process mode.

17-860

INACTIVE (61)

Deactivated

CONTINUOUS (621)

Continuous process

DISCONTINUOUS (622)

Discontinuous process

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

TemperatureControllerType

StructTControllerCfgPwmParameter - TemperatureControllerType
PWM output parameter
lowerOperatingThreshold
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 %

Lower threshold value: Influences effective manipulated variable

if (manipulated variable < lowerOperatingThreshold)
effective manipulated variable = 0%
else
effective manipulated variable = manipulated variable
numberOfOutputCycles
Data type:

UDINT

Changeable online:

Yes, active immediately

System default:

Number of PWM blocks within a PWM cycle, clocked actuating signal output
upperOperatingThreshold
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

100.0 %

Upper threshold: Influences effective manipulated variable

if (manipulated variable > upperOperatingThreshold)
effective manipulated variable = 100%
else
effective manipulated variable = manipulated variable

StructTControllerCfgSetpointHandling - TemperatureControllerType
Processing the setpoint
Associated parameters (maximum):
smoothingParameter
(StructTControllerCfgSetpointSmoothing)

Parameters for the setpoint smoothing

startupProfileParameter
(StructTControllerCfgSetpointStartupProfile)

Parameters for startup profile

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

17-861

TemperatureControllerType

StructTControllerCfgSetpointSmoothing - TemperatureControllerType
Parameters for the setpoint smoothing
mode
Data type:

EnumTControllerSetpointSmoothingMode

Changeable online:

Yes, active immediately

System default:

INACTIVE

Setpoint smoothing mode

negativeGradient
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 K/s

Cooling gradient
positiveGradient
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 K/s

Heating gradient
startCondition
Data type:

EnumTControllerSetpointSmoothingStartCondition

Changeable online:

Yes, active immediately

System default:

ACTUALVALUE_START

Setpoint smoothing type

threshold
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

1.0 K

Effective separation of the smoothing

EnumTControllerSetpointSmoothingMode
ACTIVE (4)

Active

INACTIVE (61)

Inactive

EnumTControllerSetpointSmoothingStartCondition

17-862

ACTUALVALUE_START (830)

Ramp start after the actual value

SETPOINT_START (831)

Ramp start after the current setpoint

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

TemperatureControllerType

StructTControllerCfgSetpointStartupProfile - TemperatureControllerType
Parameters for startup profile
initialTime
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

100.0 s

Starting time
mode
Data type:

EnumTControllerSetpointStartupProfileMode

Changeable online:

Yes, active immediately

System default:

INACTIVE

Startup profile mode

outputValue
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

100.0 %

Startup actuator value

setpoint
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

60.0 C

Startup setpoint
temperature
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

60.0 C

Startup temperature
EnumTControllerSetpointStartupProfileMode
ACTIVE (4)

Active

INACTIVE (61)

Inactive

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

17-863

TemperatureControllerType

StructTControllerCfgSimulation - TemperatureControllerType
Configuration of simulation internal to technology object
mode
Data type:

EnumTControllerSimulationMode

Changeable online:

No

System default:

INACTIVE

Simulation ON/OFF
EnumTControllerSimulationMode
Simulation mode
INACTIVE (61)

Simulation off

Associated parameters (maximum):

17-864

parameter
(StructTControllerCfgSimulationParameter)

PT2 simulation model parameters

parameterMatlab
(StructTControllerCfgParameterMatlab)

Matlab access parameters

parameterNetwork1
(StructTControllerCfgSimulationSystemNetwork
1)

Network model type 1 parameters

parameterPT4Tt
(StructTControllerCfgSimulationSystemPT4Tt)

PT4 model with dead time parameters

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

TemperatureControllerType

StructTControllerCfgSimulationControlledSystemParameter - TemperatureControllerType
Simulation controlled-system parameters (PT2 element)
exponentialGain
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0

Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0 K/%

Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0 s

Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0 s

linearGain

timeConstant1

timeConstant2

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

17-865

TemperatureControllerType

StructTControllerCfgSimulationParameter - TemperatureControllerType
Simulation parameter
noiseLevel
Data type:

LREAL

Changeable online:

No

System default:

0.0 K

Noise in temperature signal

quantification
Data type:

LREAL

Changeable online:

No

System default:

0.0 K

Quantization of the measurement signal

Associated parameters (maximum):

17-866

controlledSystemParameter
(StructTControllerCfgSimulationControlledSystemParameter)

1. PT2 simulation model

controlledSystemParameterSecondary
(StructTControllerCfgSimulationControlledSystemParameter)

2. PT2 simulation model

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

TemperatureControllerType

StructTControllerCfgSimulationSystemNetwork1 - TemperatureControllerType
Simulation system network type 1 parameters
noiseLevel
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0 K

Noise in temperature signal

quantification
Data type:

LREAL

Changeable online:

Yes, active after restart

System default:

0.0 K

Quantization of the measurement signal

Associated parameters (maximum):
systemParameter
(StructTControllerCfgParameterNetwork1)

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

Simulation model for all controlled system types

17-867

TemperatureControllerType

StructTControllerCfgSimulationSystemPT4Tt - TemperatureControllerType
Simulation system network type 1 parameters
noiseLevel
Data type:

LREAL

Changeable online:

No

System default:

0.0 K

Noise in temperature signal

quantification
Data type:

LREAL

Changeable online:

No

System default:

0.0 K

Quantization of the measurement signal

Associated parameters (maximum):

17-868

systemParameter
(StructTControllerCfgParameterPT4Tt)

1. PT4 simulation model with dead time

systemParameterSecondary
(StructTControllerCfgParameterPT4Tt)

2. PT4 simulation model with dead time

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

TemperatureControllerType

StructTControllerConversionConverterRange - TemperatureControllerType
AD converter range
maxNominalRange
Data type:

INT

Changeable online:

Yes, active immediately

System default:

27648

AD converter range: Linear range upper limit

minNominalRange
Data type:

INT

Changeable online:

Yes, active immediately

System default:

AD converter range: Linear range lower limit

overflowRange
Data type:

INT

Changeable online:

Yes, active immediately

System default:

32767

AD converter range: "Overload range upper limit"

underflowRange
Data type:

INT

Changeable online:

Yes, active immediately

System default:

-32768

AD converter range: Overload range lower limit

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

17-869

TemperatureControllerType

StructTControllerConversionLinear - TemperatureControllerType
Linear input normalization
factor
Data type:

LREAL

Changeable online:

No

System default:

1.0

Input normalization: Factor

offset
Data type:

LREAL

Changeable online:

No

System default:

0.0 C

Input normalization: Offset

StructTControllerConversionTemperatureRange - TemperatureControllerType
Range adaptation
maxTemperatureRange
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 C

Input: Adaptation of the temperature range to the AD converter range

minTemperatureRange
Data type:

LREAL

Changeable online:

Yes, active immediately

System default:

0.0 C

Range adaptation: Lower limit of the temperature measurement range

17-870

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

TemperatureControllerType

StructTControllerConversionVector - TemperatureControllerType
Input normalization vector
denFactor1
Data type:

LREAL

Changeable online:

No

System default:

1.0

Input normalization: 1. Nominal factor

denFactor2
Data type:

LREAL

Changeable online:

No

System default:

2.0

Input normalization: 2. Nominal factor

numFactor1
Data type:

LREAL

Changeable online:

No

System default:

1.0

Input normalization: 1. Counter factor

numFactor2
Data type:

LREAL

Changeable online:

No

System default:

1.0

Input normalization: 2. Counter factor

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010

17-871

TemperatureControllerType

StructTControllerDataConversionConfig - TemperatureControllerType
Input normalization
_type
Data type:

EnumTControllerDataConversionType

Changeable online:

No

System default:

LINEAR

EnumTControllerDataConversionType
LINEAR (72)

Rise and offset

VECTOR (952)

Vector

Associated parameters (maximum):

conversionLinear
(StructTControllerConversionLinear)
conversionVector
(StructTControllerConversionVector)

StructTcontrollerCfgIdentification - TemperatureControllerType
Configuration of controlled-system identification
Associated parameters (maximum):

17-872

actualIdentificationType
(StructTControllerCfgActualIdentificationType)

Current identification type

modifiedTangentMethod
(StructTControllerCfgIdentificationModifiedTangentMethod)

Modified step response

standardTangentMethod
(StructTControllerCfgIdentificationStandardType)

Standard method (step response)

SIMOTION Technology Packages Configuration Data

List Manual, 11/2010