Config

Variable name

Description

eModuloMode

Data type: E_MODULOMODE

Modulo travel strategy:

  • MODULO_OFF
  • Absolute
  • MODULO_SHORT
  • Modulo – shortest distance
  • MODULO_CW
  • Modulo – positive direction
  • MODULO_CCW
  • Modulo – negative direction
  • MODULO_RELATIVE
  • Modulo relative (direction dependent on sign)

 

The parameter must be set at a rising edge at "xActivate". A fault occurs in the following cases:

  • In modulo mode, the "MODULO_OFF" mode is set.
  • The "MODULO_OFF" mode is not set in linear mode.

With relative positioning, activating MODULO_SHORT has the same effect as MODULO_RELATIVE.

ePresetMode

Data type: E_PRESETMODE

Initialization behavior of profile generation:

  • ACTPOS_STANDSTILL
    Profile generation starts from standstill (e.g. during overlap).
  • ACTPOS_MOVING
    Profile generation starts with current values (e.g. during on-the-fly changeover).
  • PRESET_DATA
    Profile generation starts with the specified preset values.

eMode

Data type: E_POSRELATIVEMODE

Behavior of the profile generation when changing the lrDistance variable:

  • DistanceChangeOFF
    Any change during ongoing movement is ignored. The new value is applied with the rising edge at xStart.
  • StartPositionBased
    A change during ongoing movement is possible and is applied immediately. The new target position is calculated based on the original start position.
  • ActualPositionBased
    A change during ongoing movement is possible and is applied immediately. The new target position is calculated based on the current position of the profile generation.
  • TargetPositionBased
    A change during ongoing movement is possible and is applied with a rising edge at xAcceptNewDistance. The new target position is calculated based on the original target position.

xTargetPositionMonitoring

Data type: BOOL

  • TRUE – Before starting the movement, the profile generation checks if the target position is outside the travel range defined by the software limit switches. If so, the profile generation does not start.
  • FALSE – Profile generation does not check if the target position is outside the defined travel range.

xContinueRelativeMove

Data type – BOOL

  • TRUE – Continue an interrupted relative positioning if, for example, the interpolating operating mode has been left in the meantime due to the loss of the enable.
  • FALSE – Do not continue an initiated relative positioning