Configuration (Config)

The dynamic parameters are scaled in user units.

Variable name

Description

eReferenceTravelType

Data type: E_REFSTRATEGY

Reference travel types:

  • Deactivated
  • Reference travel deactivated
  • ZeroPulseNegDir (not supported)
  • Zero pulse – negative direction
  • RefCamNegEnd
  • Reference cam – negative end
  • RefCamPosEnd
  • Reference cam – positive end
  • LimitSwitchPos
  • Positive limit switch
  • LimitSwitchNeg
  • Negative limit switch
  • ReferencingWithoutRefTravel
  • Referencing without reference travel
  • RefCamFlushLimitSwitchPos
  • Reference cam flush – positive limit switch
  • RefCamFlushLimitSwitchNeg
  • Reference cam flush – negative limit switch
  • ReferencingWithoutRefTravelRT8 (not supported)
  • Referencing without reference travel
  • FixedStopPos (not supported)
  • Positive fixed stop
  • FixedStopNeg (not supported)
  • Negative fixed stop
  • AbsolutePosition
  • Absolute position of encoder

lrReferenceOffset

Data type: LREAL

Reference offset

lrSearchVelocity

Data type: LREAL

Search speed for reference travel

lrClearVelocity

Data type: LREAL

Retraction speed for reference travel

lrAcceleration

Data type: LREAL

Acceleration

lrDeceleration

Data type: LREAL

Deceleration

lrJerk

Data type: LREAL

Jerk

xMoveToStartPosition

Data type: BOOL

  • TRUE: Perform homing immediately after referencing
  • FALSE: Do not perform homing immediately after referencing

lrStartPosition

Data type: LREAL

Target position of homing

lrStartPosVelocity

Data type: LREAL

Homing speed

Additional information