nAx

I32

Axis number

preset

REAL

Preset quota [units]

velPos

REAL

Speed for preliminary movement to actual cycle0 [units/sec].

NOTE: If selected zero cycle to end of strokes, it represents error epos(nAx) in units to consider end of strokes reached.

velZc

REAL

Speed for final movement during cycle0 [units/sec]

acc

REAL

Acceleration [units/sec²]

jerk

REAL

Jerk [units/sec³]

spSch

REAL

Movement space on final movement [units]

filter

REAL

Time filter in seconds to filter out bounces of the micro (the micro must remain in the same state for the specified time for it to be assumed valid).

NOTE: If zero cycle to end of strokes is selected and you have drive in CANopen/EtherCAT present in the transducer selection list of the project configurator, it represents the torque reduction value in percent [0-:-100].

zcFlag.0 [bit 0]

U32

Speed sign:

With homing without micro (zcFlag.3=1) or monodirectional (zcFlag.4=1):

•0, negative speed

•1, positive speed

With homing using micro (zcFlag.3=0):

•0, negative speed if micro state in 1, positive if micro state in 0

•1, positive speed if micro state in 1, negative if micro state in 0

zcFlag.1 [bit 1]

U32

Micro switching edge selection:

With homing using micro only (zcFlag.3=0, zcFlag.2=0) the micro's edge is the preset quota assignment point:

•0, the falling edge of the micro

•1, the rising edge of the micro

With homing using micro + full-precision (zcFlag.3=0, zcFlag.2=1) the preset quota assignment point is the one identified by the full-precision with the micro in the state indicated by this bit:

•0, the logic low state of the micro

•1, the logic high state of the micro

With homing that do not use micro (zcFlag.3=1) it is not considered

zcFlag.2 [bit 2]

U32

Enable/disable full-precision:

•0, disable full precision

•1, enable full precision

NOTE: Full-precision is the maximum possible precision that can be obtained from the axis transducer, and whether it can be used depends on the type of transducer itself.

Examples:

•the CH0 if the transducer is enc_inc type

•the motor electric revolution quota if Fieldbus type transducer (if the device is managed and if it is available)

zcFlag.3 [bit 3]

U32

Micro usage selection:

•0, enable micro

•1, disable micro (NOTE: In this case full-precision must be enabled (zcFlag.2=1))

zcFlag.4 [bit 4]

U32

Selection of the homing direction:

•0, execution of the homing is bidirectional

•1, the execution of the homing is monodirectional

zcFlag.5 [bit 5]

U32

Enable the limitation of space during preliminary movements between eos (max_str and min_str):

•0, the space during preliminary handling is unlimited

•1, the space during the preliminary movement is limited by the value (max_str(axis)-min_str(axis))

In case this value is exceeded it will be reported diagnostic (#1)

zcFlag.6 [bit 6]

U32

If bidirectional movement (zcFlag.4=0) or unused micro (zcFlag.3=1) is ignored.

If monodirectional movement (zcFlag.4=1) and micro used (zcFlag.3=0) is used to enable/disable preliminary movements (micro variation search) (#1)

•0, enabled

•1, disabled

zcFlag.7 [bit 7]

U32

Selection of cycle0 to end of strokes (#1)

•0, disabled

•1, enabled

zcFlag.8 [bit 8]

U32

ON_POSITION zero cycle selection. The current position of the axis becomes the indicated preset value. RTE also sets the relevant bit in the predefined variable c0_done

zcFlag.9 [bit 9]

U32

Flag enabling repositioning to the preset quota. The speed used is the speed specified in the velZc parameter.

This bit cannot be set to 1 if bit 10 is also set to 1. If bits 9 and 10 are both set to 1 alarm 9900 will be generated.

NOTE: When monodirectional zero cycles are selected, this flag is ignored.

zcFlag.10 [bit 10]

U32

Flag to enable repositioning within the software end of strokes(min_str and max_str). In case the preset quota is outside the software end of strokes and zcFlag.10 = 1 RTE provides movement of the axis to the nearest end of stroke. The axis is stopped (with ramping) as soon as RTE detects that its quota is inside the end of strokes. The speed used is that indicated in the velPos parameter.

This bit cannot be set to 1 if bit 9 is also set to 1. If bits 9 and 10 are both set to 1 the alarm 9900 will be generated

zcFlag.11 [bit 11]

U32

The bit is used only if a monodirectional homing is selected, with the zero micro and search of the initial variation.

In this case if the bit is in 1, when the zero micro variation is detected the speed velPos is kept for a space equal to the parameter spSch. Then speed velZc is activated to perform the final path.

Actually the initial positioning phase is prolonged of spSch

zcFlag.12 [bit 12]

U32

It is used only for cycle of 0 to end of strokes. Enables, at the time of the crash the stopping of the evolution of the ideal quota in a controlled way with controlled return of the ip to the crash position

zcFlag.13 [bit 13]

U32

It is used only for cycle of 0 to end of strokes. Disables speed control (abs(ip-cp) > zc.velPos) when searching for end of strokes (#2)