Config

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 absolute positioning, activating MODULO_RELATIVE has the same effect as MODULO_SHORT.

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.

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.

xWithoutReferencedEncoder

Data type – BOOL

• TRUE – Enable positioning with a non-referenced source.
• FALSE – Allow positioning only with a referenced source.