n

Number of axis (1÷32)

xxxxxx

Transducer type. Each of the following items may have additional parameters, so you should consult their documentation before use.

•OFF

•ENC_INC

•ABS

•INP_ANALOGIC

•CAN

•NVR

•R

•NVRR

•RR

•COE

•SOE

EA

If present enables transducer alarm (optional)

0Mnn

Specifies the channel of the zero micro. If 0 the transducer one is used (optional)

REPn

Repeats transducer definition by incrementing axis number and any indices n times (1÷32) (optional)

Notes

Diagnostics are issued for double axis definition or unknown xxxxxx code

Notes

Diagnostics are issued for double axis definition or unknown ttt code

en

Encoder channel number (1÷32)

RIT

If present enables CP storage management in retentive ram. (optional, default disabled)

Notes

Diagnostics are issued for double axis definition or unknown ttt code

en

SSI channel number (1÷32)

nbit

Output device bit number (1÷32) and mode of use (if negative is assumed signed, if positive unsigned) (optional, default -24)

freq

Working frequency in KHz. (optional, default 100)

SEMIABS

If present indicates that the SSI quota is to be used in semi absolute mode (optional, default is absent -> absolute mode)

Ooffset

Offset value to be removed from the SSI value (optional)

ia

Analog input channel number (1÷32)

nbit

Output device bit number (1÷32) and mode of use (if negative is assumed signed, if positive unsigned)

minvalue

Minimum value below which alarm is generated (optional, default -2048)

maxvalue

Maximum value above which alarm is generated (optional, default 2048)

offset

Offset value to be removed from the read value (optional)

Notes

Diagnostics are issued in case of out-of-range parameters

drive

Indicates the type of drive selected (default 0 -> generic drive)

par

Specifies the index of the auxiliary parameter The value of the auxiliary parameter is imposed according to the type of drive used

nbit

Output device bit number (1÷32) and usage mode (if negative is assumed signed, if positive unsigned)

RIT

If present enables real quota storage management in retentive ram. (optional, default disabled)

MODE

Indicates the mode in which the transducer is being used:

•ABS: if the transducer is absolute

•INC: if the transducer is incremental

•SEMI nn: if the transducer is semi-absolute. "nn" indicates the size of the absolute data

n

Index of an R register to be used as a flag for transducer alarm generation. If the register is imposed other than 0 I will generate the alarm. (optional)

Notes

This definition is accepted only if the axis has been previously defined as axis can

idx

R or NVR integer register index (1÷ num_r or num_nvr)

nbit

Output device bit number (1÷32) and usage mode (if negative is assumed signed, if positive unsigned) (optional, default 32)

ABS

If present indicates to use the register value as absolute position. (optional, default not present -> incremental)

n

Index of an R register to be used as a flag for transducer alarm generation. If the register is imposed other than 0 I will generate the alarm. (optional)

Notes

Diagnostics are output for out-of-range parameters

idx

RR or NVRR integer register index (1÷ num_rr or num_nvrr)

INC

If present indicates to use register value as incremental position (optional, default not present -> absolute)

ALn

Index of an R register to be used as a flag for transducer alarm generation. If the register is imposed other than 0 I will generate the alarm. (optional)

Notes

Diagnostics are output for out-of-range parameters

drive

Indicates the type of drive selected (default 0 -> generic drive)

par

Specifies the index of the auxiliary parameter The value of the auxiliary parameter is imposed based on the type of drive used

nbit

Output device bit number (1÷32) and usage mode (if negative is assumed signed, if positive unsigned)

RIT

If present enables real quota storage management in retentive ram. (optional, default disabled)

-IU0

If present indicates use of internal u0.

MODE

Indicates the mode in which the transducer is being used:

•ABS: if the transducer is absolute

•INC: if the transducer is incremental

•SEMI nn: if the transducer is semi-absolute. "nn" indicates the size of the absolute data

n

Index of an R register to be used as a flag for transducer alarm generation. If the register is imposed other than 0 I will generate the alarm. (optional)

Notes

This definition is accepted only if the axis has been previously defined as an EtherCAT network (CoE) node

drive

Indicates the type of drive selected (default 0 -> generic drive)

par

Specifies the index of the auxiliary parameter The value of the auxiliary parameter is imposed based on the type of drive used

nbit

Output device bit number (1÷32) and usage mode (if negative is assumed signed, if positive unsigned)

RIT

If present enables real quota storage management in retentive ram. (optional, default disabled)

MODE

Indicates the mode in which the transducer is being used:

•ABS: if the transducer is absolute

•INC: if the transducer is incremental

•SEMI nn: if the transducer is semi-absolute. "nn" indicates the size of the absolute data

n

Index of an R register to be used as a flag for transducer alarm generation. If the register is imposed other than 0 I will generate the alarm. (optional)

Notes

This definition is accepted only if the axis has been previously defined as an EtherCAT network node (SoE)