Configurable runtime commands:

0

0x00000001

If set to 1 there is a slave stop at qParkSlave during the next cycle (the next cycle is not executed)

(active on level)

1

0x00000002

If set to 1 there is initial positioning at qParkSlave

(auto-reset by RTE)

2

0x00000004

If set to 1 you have the initial positioning is done with the master cycle

(auto-reset by RTE)

3

0x00000008

Forcing the end of the synchronism segment

(auto-reset by RTE)

4

0x00000010

If linear type slave, forces stop at end of forward cycle as long as such flag is present

(active on level)

5

0x00000020

Indicates that the supplied master sync position is not yet the real one (only assumed).

Useful if used with OB ELEMENT LOCATION. In that case, the next docking is not performed and the slave remains still

(active on level)

Configuration flag:

16

0x00010000

•0, fixed-cycle master(masterCycle = cycle length, qSyncMaster = sync quota relative to the cycle)

•1, variable-cycle master(masterCycle = minimum cycle length, qSyncMaster = absolute sync quota updated at each cycle, e.g., on a photocell reading)

17

0x00020000

If I set to 1 there is a disabling of the test on maxSpe

18

0x00040000

If I set to 1 you have the disabling of the test on maxAcc

19

0x00080000

•0, qSyncMaster aligned to qSyncSlave

•1, qSyncMaster aligned to the midpoint between qSyncSlave and qOutSlave

20

0x00100000

Valid only for cyclic slave(slaveCycle>0).

•1, enables slave stop at qParkSlave at each cycle for the duration spaceWaitInPark

In case of linear slave(slaveCycle=0) the stop at park quota is implied

21

0x00200000

Valid only for cyclic slave(slaveCycle>0).

•0, slave can also move backward (during positioning)

•1, slave can move forward only

22

0x00400000

Valid only for cyclic slave(slaveCycle>0), variable cycle master (BIT 16=1) and stop at qParkSlave disabled (BIT 20=0)

•1, Enables the recover of the synchronism during the slowdown ramp