Parameter

Data type

Description

ACOPOS-ParID

DisableStateInit

USINT

ncON … Parameters for this state are not transferred to the drive by MC_BR_AutControl or MC_BR_InitAutData.

ncOFF … Parameters for this state are transferred to the drive by MC_BR_AutControl or MC_BR_InitAutData.

CamProfileIndex

UINT

Index of cam data for a state transferred with MC_BR_DownloadCamProfileObj or MC_BR_DownloadCamProfileData

References download data (instead of name)

1..14 Curve index for a state

0xFFFF Preconfigured 1:1 line

0xFFFE Preconfigured 0 curve, point with slope

AUT_ST_DATA_INDEX

MasterFactor

DINT

Multiplication factor for the master axis

AUT_MA_FACTOR

SlaveFactor

DINT

Multiplication factor for the slave axis

AUT_SL_FACTOR

CompMode

USINT

Compensation gearing mode

AUT_COMP_MODE

MasterCompDistance

REAL

Compensation distance of the master axis [PLCopen units of master]

AUT_COMP_MA_S

SlaveCompDistance

REAL

Compensation distance of the slave axis [PLCopen units of slave]

AUT_COMP_SL_S

RepeatCounterInit

UINT

Starting value of state repetitions for the ncCOUNT event

Once this number of states has been run through, the ncCOUNT event is triggered. It is reinitialized with counter state zero when transitioning to the state the next time.

AUT_ST_COUNT_INIT

RepeatCounterSet

UINT

State repetition counter for the ncCOUNT event

For setting the current counter state for the number of repetitions remaining until the ncCOUNT event

AUT_ST_COUNT_SET

MasterCamLeadIn

REAL

Relative entry position of the master axis into the state [PLCopen units of master]

AUT_MA_CAM_LEADIN

ExtendedCompLimits

UINT

Additional compensation parameters:

ncOFF / ncON

Note:

When set to ncON, the following parameters are used. When set to ncOFF, they are not used.

MinMasterCompDistance

REAL

Minimum compensation distance of the master axis [PLCopen units of master]

For limiting the calculated "effective" compensation distance

Note:

This parameter is only used when ".ExtendedCompLimits" = ncON.

AUT_COMP_MA_S_MIN

MinSlaveCompDistance

REAL

Minimum compensation distance of the slave axis [slave PLCopen unit]

For limiting the calculated "effective" compensation distance

Note:

This parameter is only used when ".ExtendedCompLimits" = ncON.

AUT_COMP_SL_S_MIN

MaxSlaveCompDistance

REAL

Maximum compensation distance of the slave axis [PLCopen units of slave]

For limiting the calculated "effective" compensation distance

Note:

This parameter is only used when ".ExtendedCompLimits" = ncON.

AUT_COMP_SL_S_MAX

MinSlaveCompVelocity

REAL

Minimum velocity of the slave axis during compensation [PLCopen units of slave/s]

Note:

This parameter is only used when ".ExtendedCompLimits" = ncON.

"AUT_COMP_SL_V_MIN"

MaxSlaveCompVelocity

REAL

Maximum velocity of the slave axis during compensation [PLCopen units of slave/s]

Note:

This parameter is only used when ".ExtendedCompLimits" = ncON.

AUT_COMP_SL_V_MAX

MaxSlaveAccelComp1

REAL

Maximum acceleration of the slave axis during compensation phase 1 [PLCopen units of slave/s²]

Acceleration/Deceleration from the beginning to the maximum/minimum velocity for calculating compensation polynomials

Note:

This parameter is only used when ".ExtendedCompLimits" = ncON.

AUT_COMP_SL_A1_MAX

MaxSlaveAccelComp2

REAL

Maximum acceleration of the slave axis during compensation phase 2 [PLCopen units of slave/s²]

Acceleration/Deceleration from the maximum/minimum speed to the end for calculating compensation polynomials

Note:

This parameter is only used when ".ExtendedCompLimits" = ncON.

AUT_COMP_SL_A2_MAX

SlaveCompJoltTime

REAL

Jerk time of the slave axis during compensation [s]

For compensation mode ncV_COMP_A_SL

Note:

This parameter is only used when ".ExtendedCompLimits" = ncON.

AUT_COMP_SL_T_JOLT

MasterParID

UINT

Parameter ID of the master axis for a state

0 = The global axis AUT_MA_AXIS is active (default)

AUT_MA_ID

Event

MC_AUTDATA_EVENT_TYP[5]

Definition of the event for a state