1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 | <?xml version="1.0" encoding="utf-8"?> <ParameterSection> <Name name="local:AXIS_REF">AXIS_REF: Standard</Name> <Parameter ParameterId="1021" type="std:WORD"> <Attributes download="true" functional="false" /> <Default>1</Default> <Name name="x">wDriveID</Name> <Description name="x">Unique ID of the drive</Description> <Custom /> </Parameter> <Parameter ParameterId="1040" type="std:BOOL"> <Attributes download="true" functional="false" /> <Default>FALSE</Default> <Name name="x">bVirtual</Name> <Description name="x">Whether the drive is simulated</Description> <Custom /> </Parameter> <Parameter ParameterId="1060" type="std:INT"> <Attributes download="true" functional="false" /> <Default>1</Default> <Name name="x">iMovementType</Name> <Description name="x">Movement type: 0: modulo, 1: finite</Description> <Custom /> </Parameter> <Parameter ParameterId="1061" type="std:LREAL"> <Attributes download="true" functional="false" /> <Default>360.0</Default> <Name name="x">fPositionPeriod</Name> <Description name="x">Modulo period value for modulo drives [u]</Description> <Custom /> </Parameter> <Parameter ParameterId="1205" type="std:BOOL"> <Attributes download="true" functional="false" /> <Default>FALSE</Default> <Name name="x">bSWLimitEnable</Name> <Description name="x">Activate/deactivate software limits</Description> <Custom /> </Parameter> <Parameter ParameterId="1201" type="std:LREAL"> <Attributes download="true" functional="false" /> <Default>0.0</Default> <Name name="x">fSWLimitNegative</Name> <Description name="x">Software limit in negative direction</Description> <Custom /> </Parameter> <Parameter ParameterId="1200" type="std:LREAL"> <Attributes download="true" functional="false" /> <Default>1000.0</Default> <Name name="x">fSWLimitPositive</Name> <Description name="x">Software limit in positive direction</Description> <Custom /> </Parameter> <Parameter ParameterId="1062" type="std:INT"> <Attributes download="true" functional="false" /> <Default>0</Default> <Name name="x">eRampType</Name> <Description name="x">The velocity ramp used for trajectories.</Description> <Custom /> </Parameter> <Parameter ParameterId="1144" type="std:LREAL"> <Attributes download="true" functional="false" /> <Default>0</Default> <Name name="x">fRampJerk</Name> <Description name="x">Jerk used for bringing acceleration to 0 when sin² ramp is interrupted.</Description> <Custom /> </Parameter> <Parameter ParameterId="1113" type="std:LREAL"> <Attributes download="true" functional="false" /> <Default>30</Default> <Name name="x">fSWMaxVelocity</Name> <Description name="x">Maximum velocity magnitude (software limit)</Description> <Custom /> </Parameter> <Parameter ParameterId="1123" type="std:LREAL"> <Attributes download="true" functional="false" /> <Default>1000</Default> <Name name="x">fSWMaxAcceleration</Name> <Description name="x">Maximum acceleration magnitude (software limit)</Description> <Custom /> </Parameter> <Parameter ParameterId="1133" type="std:LREAL"> <Attributes download="true" functional="false" /> <Default>1000</Default> <Name name="x">fSWMaxDeceleration</Name> <Description name="x">Maximum deceleration magnitude (software limit)</Description> <Custom /> </Parameter> <Parameter ParameterId="1143" type="std:LREAL"> <Attributes download="true" functional="false" /> <Default>10000</Default> <Name name="x">fSWMaxJerk</Name> <Description name="x">Maximum jerk magnitude (software limit)</Description> <Custom /> </Parameter> <Parameter ParameterId="1207" type="std:INT"> <Attributes download="true" functional="false" /> <Default>0</Default> <Name name="x">eCheckPositionLag</Name> <Description name="x">Position lag mode</Description> <Custom /> </Parameter> <Parameter ParameterId="1208" type="std:LREAL"> <Attributes download="true" functional="false" /> <Default>1.0</Default> <Name name="x">fMaxPositionLag</Name> <Description name="x">Maximum position lag (magnitude) [u]</Description> <Custom /> </Parameter> <Parameter ParameterId="1203" type="std:LREAL"> <Attributes download="true" functional="false" /> <Default>0</Default> <Name name="x">fSWLimitDeceleration</Name> <Description name="x">Deceleration for stop on software error [u/s²]</Description> <Custom /> </Parameter> <Parameter ParameterId="1250" type="std:LREAL"> <Attributes download="true" functional="false" /> <Default>0</Default> <Name name="x">fSWErrorMaxDistance</Name> <Description name="x">Maximum distance that may be travelled for ramping down after a software error has been detected [u]</Description> <Custom /> </Parameter> </ParameterSection> |