Parameter

Data type

Description

ACOPOS-ParID

Master

UDINT

Axis reference of the master axis

The following ParID is written to according to the axis reference:

AUT_MA_AXIS

StartPosition

REAL

Starting position of the master axis [PLCopen units of master]

AUT_MA_S_START

StartInterval

REAL

Starting interval of the master axis [PLCopen units of master]

AUT_MA_IVSTART

EventStartPositionInInterval

REAL[5]

Relative starting positions of the master axis in the interval for generating the ncS_START_IV1, ncS_START_IV2, ncS_START_IV3 and ncS_START_IV4 events

[PLCopen units of master] (V2.270 and higher)

Note:

"EventStartPositionInInterval[0]" must always be set to "0" currently; otherwise, the initializing function block will report an error.

Note:

The position values must also increment with rising index numbers and be less than or equal to "StartInterval". 1 ≤ s[i] ≤ s[i+1] ≤ "StartInterval"

AUT_MA_S_START_IV

StartState

USINT

Index for the starting state

State index 0-14 after the automat start (default 0 = base state)

AUT_START_ST_INDEX

StartMaRelPos

REAL

Relative master position in the cam [PLCopen units of master]

AUT_CAM_MA_S_REL

MasterStartPosMode

USINT

Mode for the ncS_START event type

0: Starting position recalculated when transitioning back to state 0

1: No recalculation

Note:

+128: Uses "StartPositionDINT" instead of "StartPosition" (no effect on the ACOPOS ParID) (V2.380 and higher)

AUT_S_START_MODE

StartPositionDINT

DINT

Starting position of the master axis [axis units of master]

(V2.380 and higher)

AUT_MA_S_START

MaxMasterVelocity

REAL

Maximum velocity of the master axis [PLCopen units of master]

For calculating the compensation polynomial

Note:

This value is used to calculate the compensating movement for coupling, changing the gear ratio or cams as well as between the cutting areas (depending on the function). This parameter has a considerable effect on the occurrence of ACOPOS error 37113: "Cam compensation gear: Limit values exceeded".

No value specified: A master speed that changes or a parameter update via "InitData" or "Execute" can result in different, automatically calculated motion profiles.

Value specified: Specifying the maximum speed value of the master axis that is achieved while coupled to the slave axis results in a motion profile that is always automatically calculated the same.

AUT_MA_V_MAX

MasterParID

UINT

Parameter ID of the master axis

Note:

When using a value other than 0 (even if the position ParID), the PLCopen factor of the master axis is not applied to any of the parameters involving the master axis.

AUT_MA_AXIS

AddMasterParID

UINT

Parameter ID of the additive master axis

AUT_MA_ADD_AXIS

AddSlaveParID

UINT

Parameter ID of the additive slave axis

AUT_SL_ADD_AXIS

SlaveFactorParID

UINT

Parameter ID for multiplication factor of the slave axis

0= Disabled, i.e. factor 1

Input for multiplication factor of curve slave period

AUT_SL_FACTOR_ID

EventParID

UINT

Parameter ID for event input 1 (ncPARID1)

0= Disabled

AUT_EVENT_ID1

EventParID2

UINT

Parameter ID for event input 2 (ncPARID2)

0= Disabled

AUT_EVENT_ID2

EventParID3

UINT

Parameter ID for event input 3 (ncPARID3)

0= Disabled

AUT_EVENT_ID3

EventParID4

UINT

Parameter ID for event input 4 (ncPARID4)

0= Disabled

AUT_EVENT_ID4

SlaveLatchParID

UINT

Parameter ID for the latch value of the slave axis

0= Disabled

AUT_SL_LATCH_ID

State

MC_AUTDATA_STATE_TYP[15]

Defines the basis state and 14 other states