en:software:devices:anpos2

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en:software:devices:anpos2 [2015/07/14 15:01] – [6.1. INTENBL] qem207en:software:devices:anpos2 [2019/08/29 17:01] (current) – external edit 127.0.0.1
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 +====== ANPOS2 Device ======
 +
 +====== - Introduction ======
 +
 +The internal device ANPOS2 allows the movement of an axis with position control and incremental encoder feedback.
 +The main features of the device are:
 +
 +  * programmable measurement resolution
 +  * software limit management
 +  * trajectory generation with trapezoidal and S-curve velocity profiles
 +  * programmable acceleration and deceleration
 +  * homing procedure
 +  * PID + FF regulator
 +  * position capture by interrupt
 +  * Calibration of analog output
 +  * work with open or closed position loop
 +  * JOGS movement
 +  * Management of a digital output to indicate one of the states of the positioning (still, tolerance, etc.).
 +
 +<html><pagebreak /></html>
 +
 +====== - Declaration ======
 +
 +To use the device you should declare it in the INTDEVICE section of configuration unit.
 +
 +<code QCL>
 +;---------------------------------
 +; Declaration internal devices
 +;---------------------------------
 +INTDEVICE
 +...
 +<nome>  ANPOS2  TCamp  ICont IdxA  HSwA IOutD IOutA
 +</code>
 +
 +Where:
 +
 +^ Field Name ^ Description ^ Example ^ Notes ^
 +| <name> | Name assigned to the device | Axe | - |
 +| ANPOS2 | Keyword that identifies the device ANPOS2 | - | - |
 +| TCamp | Time sampling device in milliseconds | 4 | - |
 +| ICont | Address of bidirectional incremental counter (check product hardware documentation to determine the right value). | 2.CNT01 | X.X Enter the value you will get a virtual count: the value of // posit // will coincide with that of // posvirt //. [( The value X.X can be used for testing the application without physically having the transducer (encoder) connected)] |
 +| IDXA | Address of interrupt used as index (zero) pulse in the homing procedure. | 1 | Enter the value X the field is ignored |
 +| HSwA | Address of the digital input used as a home switch in homing procedure. | 3.INP09 | Enter the value X.X field is ignored |
 +| IOutD | Coil address whose operation is determined by the parameter // funout //.| 3.OUT01 | Enter the value X.X the field is ignored |
 +| IOutA | Address of analog output or pulse output for driving the actuator (check the product hardware documentation to set the right value). | 3.AN01 or 3.PULSE01 | Enter the value X.X field is ignored |
 +
 +
 +^:important:^All fields of the declaration are mandatory and must be present on the same line. Set "X.X" or "X" if a resource is not available or is not used. Disabling a resource means disable all the functionality of the devices that use it.^
 +
 +
 +====== - Operation ======
 +
 +The operation of the device is illustrated by the following block diagram:
 +
 +{{software:devices:anpos2:anpos2_001.png?800&direct}}
 +
 +===== - Factors =====
 +The block "Factors" calculates the conversion factors of position and velocity.
 +The "position factor" (PF) is a coefficient for converting the position expressed by the unit of measurement of the transducer unit of measurement of the position (Um), and vice versa. Typically the unit of measurement of the position may be for example meters rather than millimeters rather than cents, while the unit of measurement of the transducer, the encoder is always pulses. The parameters that contribute to the calculation of the position factor are // pulse // and // measure // and is calculated as the ratio between these two.\\
 +The "velocity factor" (VF) is a coefficient for converting the speed expressed in the unit of measurement of the transducer unit of measurement of speed (Uv), and vice versa. Typically the unit of measurement of speed can be for example mt / min (meters per minute) rather than RPM (revolutions per minute), rather than mm / s (millimeters per second). Obviously, compared to the position factor, in the calculation of the VF also the unit of time and the position of the decimal point.
 +
 +<html><pagebreak /></html>
 +
 +===== - Trajectory generator =====
 +The block "Trajectory generator" generates the trajectory of positioning in respect of speed and acceleration set.\\
 +
 +===== - Closed loop position control =====
 +The block "closed loop position control" is composed mainly of the PID controller with the function of the integral windup and action antireset Feed forward. Also updates with the output value of the device IOutA implementation.
 +
 +{{images:en:software:devices:anpos2:anpos2_002.png?800&direct}}
 +
 +<html><pagebreak /></html>
 +
 +===== - Following error control =====
 +The block "Following error control" set or clear the // st_foller // status depending on whether the difference between the commanded position (// posvirt //) and the current position (// posit //) in absolute value exceeds the programmed threshold (// follerrthresh //). It also update the values ​​of // mxnegfoller // and // mxposfoller // which are the maximum values, positive and negative, achieved by the error tracking. \\
 +
 +===== - Homing sequence controller =====
 +The block "Homing sequence controller" manages the search mode of the "home position" as defined by the // prsmode //. These search modes provide the loading of the home position via the input home switch or via the input index (zero). The block "Homing sequence controller" interacts with the "Trajectory generator" to execute the sequence of movements of the axis provided for each search mode.
 +
 +
 +==== - Description of the input data ====
 +It is possibleto specify the speed and manner of research. Also it is possible to establish an offset to make the zero coincides with the coordinate system desired.
 +There are two speeds; On a typical sequence of a rapid speed search (// prsvel //) is used to search for the activation of the home switch, while a slow (// sprsvel //) is used to search the 'input index (zero).
 +
 +It is possible to indicate whether the home switch input must be held active with logic level zero (// prsswlogic = 0 //) or with logic level one (// prsswlogic = 1 //).
 +
 +It is possible to instruct if the search mode must be carried forward (// prsdir = 0 //) or back (// prsdir = 1 //).
 +
 +The search mode is defined by the parameter // prsmode // described below.
 +
 +
 +In the following images, the speed of movement is represented as follows:
 +
 +{{en:software:devices:anpos2:rpreset_speed.png?100&direct}}
 +
 +
 +==== - Description of the output data ====
 +
 +The state // st_prson // Indicates that the search procedure is active.
 +The state // st_prsok // indicates that the search procedure has been completed successfully.
 +The // deltaprspos // is updated at each end of the search and indicates to what has been corrected the position of the axis.
 +
 +<html><pagebreak /></ html>
 +
 +==== - Homing mode 0 ====
 +In this mode, the procedure does not use the input index (zero), but only the home switch input. The direction of movement depends on the parameter // prsdir // and the status of the home switch at the start of the procedure.
 +
 +{{en:software:devices:anpos2:rpreset_mode0.png?1000&direct}}
 +
 +
 +<html><pagebreak /></html>
 +
 +==== - Homing mode 1 ====
 +In this mode, the procedure uses both the input index (zero) that the home switch input. The direction of movement depends on the parameter // prsdir // and the status of the home switch at the start of the procedure.
 +
 +{{en:software:devices:anpos2:rpreset_mode1.png?1000&direct}}
 +
 +==== - Homing mode 2 ====
 +In this mode, activation of the home switch loads directly the proportion of homing on the count without activating the process with the command // PRESET //
 +
 +<html><pagebreak /></html>
 +
 +====== - Parameters list ======
 +
 +===== measure =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Measurement of reference for the calculation of the position factor |
 +|dim= Long |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= um |
 +|id= 01 |
 +|range= 1 to 999999 |
 +|wrcond= st_still = 1, st_grouped = 0 |
 +|longdescr= Indicates space, in units of measurement, distance from the axis to get the primary impulses set in the parameter pulse. This parameter is used for calculating the conversion factor between the primary pulse and measurement units.
 +
 +posit = (encoder ⋅ measure) / pulse
 +
 +
 +
 +
 +The ratio measure / pulse must have a value between 0.00935 and 1.}}
 +
 +----
 +<html><pagebreak /></html>
 +
 +===== pulse=====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Number of primary impulses to calculate the position factor |
 +|dim= Long |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= - |
 +|range= 1 to 999999 |
 +|id= 02 |
 +|wrcond= st_still = 1, st_grouped = 0 |
 +|longdescr= Indicates the number of primary impulses (1 pulse encoder = 4 primary impulses) that will generate the transducer to obtain a bi-directional movement of // measure //. This parameter is used for calculating the conversion factor between the primary pulse and measurement units.
 +
 +posit = (encoder · measure) / pulse
 +
 +The ratio measure / pulse must have a value between 0.00935 and 1.}}
 +
 +----
 +<html><pagebreak /></html>
 +
 +===== maxpos=====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= positive software limit switch |
 +|dim= Long |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= um |
 +|id= 03 |
 +|range= -999999 to 999999 | |
 +|wrcond= st_grouped = 0 |
 +|longdescr= Defines the maximum limit for the commanded position (// setpos //). In addition, the upper limit for the movement JOG forward (// MANFW //).}}
 +----
 +<html><pagebreak /></html>
 +===== minpos=====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Negative software limit |
 +|dim= Long |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= um |
 +|id= 04 |
 +|range= -999999 to 999999 | |
 +|wrcond= st_grouped = 0 |
 +|longdescr= Defines the minimum limit for the commanded position (// setpos //). In addition, the minimum limit for the movement JOG reverse (// MANBW //).}}
 +----
 +<html><pagebreak /></html>
 +===== prspos=====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=Home offset |
 +|dim= Long |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= um |
 +|id= 05 |
 +|range= - |
 +|wrcond= - |
 +|longdescr= represents the difference between the zero position of the application and the home position sought during the homing procedure. When the homing procedure ends the zero position is shifted relative to the home position by adding a value of the parameter // prspos //. During the homing search the position of the axis distance between the home position and the position where loading takes place homing offset}}
 +
 +{{software:devices:anpos2:prspos_001.png?600&direct}}
 +
 +----
 +<html><pagebreak /></html>
 +===== deltaprspos =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Difference between the home positions |
 +|dim= Long |
 +|default=0 |
 +|accesstype= Read |
 +|um= Um/10 |
 +|id= 06 |
 +|range= 0 to 999999 |
 +|wrcond= - |
 +|longdescr= E 'the difference between the home position before and the home position after homing. This value can be used to verify the correct operation of the transducer.}}
 +----
 +<html><pagebreak /></html>
 +===== maxvel =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Maximum speed |
 +|dim= Long |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= Uv |
 +|id= 07 |
 +|range= 0 to 999999 |
 +|wrcond= st_still = 1, st_grouped = 0 |
 +|longdescr= is the setting of the speed limit. For a correct operation of the PID it must coincide with the speed that the axis reaches when the output value of implementation is maximum.}}
 +----
 +<html><pagebreak /></html>
 +===== prsvel =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Speed ​​for home switch search . |
 +|dim= Long |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= Uv |
 +|id= 08 |
 +|range= 0 to maxvel |
 +|wrcond= - |
 +|longdescr= is the speed of the axis used during the homing procedure for the search of the home switch.}}
 +----
 +<html><pagebreak /></html>
 +===== sprsvel =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= speed used to search for index (zero) pulse. |
 +|dim= Long |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= Uv |
 +|id= 09 |
 +|range= 0 to maxvel |
 +|wrcond= - |
 +|longdescr= is the speed used during the homing procedure for the search for index (zero) pulse.}}
 +----
 +
 +<html><pagebreak /></html>
 +===== toll =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Tolerance.|
 +|dim= Long |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= Um/10 |
 +|id= 10 |
 +|range= -999999 to 999999 |
 +|wrcond= - |
 +|longdescr= Defines a window, expressed in tenths of a unit of measurement, symmetrical around the positioning height (// setpos //).If the actual position (// posit //) is located within this window, you enter a state of tolerance axis (// st_toll //). The activation of // st_toll // does not occur as soon as the axis enters in this window, but after the delay time defined by parameter // toldly // and only if the condition of the actual position within the window remains during this time.}}
 +
 +{{en:software:devices:anpos2:tolleranza.png?800&direct}}
 +
 +----
 +<html><pagebreak /></html>
 +===== follerrthresh =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= alarm threshold tracking error.|
 +|dim= Long |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= Um/10 |
 +|id= 11 |
 +|range= 0 to 2147483648 |
 +|wrcond= st_intenbl = 0 |
 +|longdescr= Defines a window, expressed in tenths of a unit of measure, around the virtual position (// posvirt //).
 +If the actual position (// posit //) is outside of this window is activated the status of tracking error (// st_foller //) for a minimum of 300ms can not be set. If the actual position is inside, // ​​st_foller // off (after the minimum time).
 +This threshold is controlled only if the conditions are valid :// st_error // = 0, // ​​st_regoff // = 0, // ​​st_calon // = 0 and // st_loopon // = 1.}}
 +
 +{{software:devices:anpos2:errore_inseguimento.png?800&direct}}
 +
 +----
 +<html><pagebreak /></html>
 +===== funint ====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Operation entering the interrupt.|
 +|dim= Byte |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= - |
 +|id= 12 |
 +|range= 0 to 2 |
 +|wrcond= - |
 +|longdescr= Select the input operation in interrupt. The values ​​have the following meanings:
 +
 +0 = used for homing.\\
 +1 = capture the count and stores it in the // delta //.\\
 +2 = capture the count, reverses the sign, and stores it in the // delta //.\\
 +
 +
 +To use the operation modes 1 and 2 must be set // st_intenbl // = 1 through the command // INTENBL //.}}
 +----
 +<html><pagebreak /></html>
 +===== funout =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= digital output operation.|
 +|dim= Byte |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= - |
 +|id= 13 |
 +|range= 0 to 4 |
 +|wrcond= - |
 +|longdescr= Selects the operation of the digital output.
 +
 +0 = output is not used. (The condition is never updated by the device) \\
 +1 = output state is equal to // st_toll //.\\
 +2 = output state is equal to // st_still //.\\
 +3 = output state is equal to // st_foller //.\\
 +4 = output state is equal to // st_vconst //.\\
 +
 +}}
 +
 +----
 +<html><pagebreak /></html>
 +===== ramptype =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +| Shortdescr type = ramp.|
 +|dim= Byte |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= - |
 +|id= 14 |
 +|range= 0 to 1 |
 +|wrcond= st_still = 1 |
 +|longdescr= Select the ramp type.
 +
 +0 = linear ramp.\\
 +1 = ramp to S.
 +}}
 +
 +----
 +<html><pagebreak /></html>
 +===== tacc =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Acceleration time.|
 +|dim= Word |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= hundredths of a second |
 +|id= 15 |
 +|range= 0 to 32767 |
 +|wrcond= st_grouped = 0 |
 +|longdescr= is used to define the acceleration and the time it takes to go from the axis speed 0 (zero speed) at maximum speed (// maxvel //).
 +E 'can change the time // tacc // if a motion is in progress, in which case the value will be accepted provided that the positioning can be concluded properly to the command position. }}
 +----
 +<html><pagebreak /></html>
 +===== tdec =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Deceleration time.|
 +|dim= Word |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= hundredths of a second |
 +|id= 16 |
 +|range= 0 to 32767 |
 +|wrcond= st_grouped = 0 |
 +|longdescr= is used to define the deceleration and the time it takes to go from the axis maximum speed (// maxvel //) at speed 0 (zero speed).
 +E 'can change the time // tacc // if a motion is in progress, in which case the value will be accepted provided that the positioning can be concluded properly to the command position. }}
 +----
 +<html><pagebreak /></html>
 +===== tinv =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Delay for reversing the direction.|
 +|dim= Word |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= hundredths of a second |
 +|id= 17 |
 +|range= 0 to 32767 |
 +|wrcond= - |
 +|longdescr= E 'the minimum waiting time between the end of a positioning and starting the next if the two directions are opposite. A motion command (// START //, // ​​MANBW //, ...) performed during this minimum time is tracked and the status // st_still // immediately goes to 0.}}
 +----
 +<html><pagebreak /></html>
 +===== mxnegfoller =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Maximum negative tracking error.|
 +|dim= Long |
 +|default=0 |
 +|accesstype= Read - Write |
 +|um= Um/10 |
 +|id= 18 |
 +|range= 0 to 2147483648 |
 +|wrcond= - |
 +|longdescr= is the maximum value of the tracking error detected negative expressed in tenths of units.}}
 +
 +----
 +<html><pagebreak /></html>
 +===== mxposfoller =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Maximum positive value tracking error.|
 +|dim= Long |
 +|default=0 |
 +|accesstype= Read - Write |
 +|um= Um/10 |
 +|id= 19 |
 +|range= 0 to 2147483648 |
 +|wrcond= - |
 +|longdescr= is the maximum value of the tracking error detected positive expressed in tenths of units.}}
 +
 +----
 +<html><pagebreak /></html>
 +===== toldly =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= signal delay tolerance.|
 +|dim= Word |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= hundredths of a second |
 +|id= 20 |
 +|range= 0 to 32767 |
 +|wrcond= - |
 +|longdescr= Defines the time between the arrival of the axis in the tolerance band and the corresponding status message (// st_toll //).}}
 +
 +----
 +<html><pagebreak /></html>
 +===== pgain =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= proportional gain.|
 +|dim= Word |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= - |
 +|id= 21 |
 +|range= 0 to 32767 |
 +|wrcond= - |
 +|longdescr= is the value of the proportional gain in the PID controller. Is entered in milliseconds (thus entering 1000, the coefficient will be equal to 1).}}
 +----
 +<html><pagebreak /></html>
 +===== feedfw =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= coefficient of feed forward.|
 +|dim= Word |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= ‰ |
 +|id= 22 |
 +|range= 0 to 2000 |
 +|wrcond= - |
 +|longdescr= is the coefficient percentage which, multiplied by the theoretical speed, generates the feed forward part of the control output.
 +The value is entered in tenths (thus entering the 1000 share will be 100.0%)}}
 +
 +----
 +<html><pagebreak /></html>
 +===== integt =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Integration time of the 'tracking error.|
 +|dim= Word |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= milliseconds |
 +|id= 23 |
 +|range= 0 to 32767 |
 +|wrcond= - |
 +|longdescr= is the integration time of the error for the integral action of the PID controller.}}
 +
 +----
 +<html><pagebreak /></html>
 +===== derivt =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Derivation time lag error.|
 +|dim= Word |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= milliseconds |
 +|id= 24 |
 +|range= 0 to 32767 |
 +|wrcond= - |
 +|longdescr= is the derivation time of the PID controller of the derivative.}}
 +
 +----
 +<html><pagebreak /></html>
 +===== prsmode =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=home position search mode|
 +|dim= Byte |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= - |
 +|id= 25 |
 +|range= 0 to 2 |
 +|wrcond= st_prson = 0 |
 +|longdescr= Select the mode of operation of the positioning of home
 +
 +0 = homing with home switch input loading.\\
 +1 = Homing with input loading index (pulse).\\
 +2 = loading position homing home switch input without performing movements.\\
 +
 +}}
 +
 +----
 +<html><pagebreak /></html>
 +===== prsdir =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Direction of movement for the initial homing.|
 +|dim= Byte |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= - |
 +|id= 26 |
 +|range= 0 to 1 |
 +|wrcond= st_prson = 0 |
 +|longdescr= Select the initial direction of motion in procesura homing.
 +
 +0 = forward.\\
 +1 = reverse.\\
 +
 +}}
 +
 +----
 +<html><pagebreak /></html>
 +===== prsswlogic =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +| Home shortdescr = home switch active level|
 +|dim= Byte |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= - |
 +|id= 27 |
 +|range= 0 to 1 |
 +|wrcond= st_prson = 0 |
 +|longdescr= Select the logic of the state of the home switch.
 +
 +0 = input switch home normally zero (off).\\
 +1 = input switch home normally one (active).\\
 +
 +}}
 +
 +----
 +<html><pagebreak /></html>
 +===== unitvel =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Unit of time for the speed calculation.|
 +|dim= Byte |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= - |
 +|id= 28 |
 +|range= 0 to 1 |
 +|wrcond= st_still = 1, st_grouped = 0 |
 +|longdescr= Select the unit of time for the parameters of speed.
 +
 +0 = Um / min.\\
 +1 = Um / sec.\\
 +
 +}}
 +
 +----
 +<html><pagebreak /></html>
 +===== decpt =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Conversion factor for the unit of measurement of speed.|
 +|dim= Byte |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= - |
 +|id= 29 |
 +|range= 0 to 3 |
 +|wrcond= st_still = 1, st_grouped = 0 |
 +|longdescr= E 'the exponent of the scale factor of the unit of measurement for the speed of the position calculated as 10 <sup> decpt </ sup>.
 +For example, if the unit of measurement of the position is millimeters, and unitvel = 1, the unit of measurement of the speed will be:
 +
 +  * Mm / s (with // decpt // = 0), \\
 +  * Cm / s (with // decpt // = 1), \\
 +  * Dm / s (with // decpt // = 2), \\
 +  * M / s (with // decpt // = 3).\\
 +
 +Therefore, both the // speed // that the settings of veloocità (// setvel //, // ​​prsvel //, ...) will be expressed with this unit.
 +}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== offset =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Offset analog output.|
 +|dim= Word |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= bits |
 +|id= 30 |
 +|range= -32768 to 32767 |
 +|wrcond= - |
 +|longdescr=
 +Defines the bit values ​​of the correction relating to the analog output to compensate for any offset of the analog input stage of the drive.\\
 +If the analog output is ± 10 volts then the value 32767 corresponds to +10 V and-10V to -32768.}}
 +----
 +<html><pagebreak /></html>
 +
 +===== setpos =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Position controlled.|
 +|dim= Long |
 +|default=0 |
 +|accesstype= Read - Write |
 +|um= um |
 +|id= 31 |
 +|range= MINPOS to maxpos |
 +|wrcond= See Description |
 +|longdescr= E 'commanded position and expressed in units of measurement (um). E 'can change the commanded position even if a movement is in progress, in which case the axis will move to the new commanded position provided that this can be done without having to reverse the direction of movement.  For example, if during a forward movement, is controlled to a lower position than the current axis of the new value // setpos // is not accepted and will trigger the warning status (// st_warning //).}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== setvel =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Speed ​​controlled.|
 +|dim= Long |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= Uv|
 +|id= 32 |
 +|range= 0 to maxvel |
 +|wrcond= See Description |
 +|longdescr= is the speed with which placements are controlled by the // START //, // ​​MANBW // and // MANFW //.
 +
 +And 'possible to change the commanded speed even if a movement is under way to condition the trajectory generator is not in the deceleration phase.}}
 +
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== vout =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= output voltage.|
 +|dim= Byte |
 +|default=0 |
 +|accesstype= Read - Write |
 +|um= tenths of Volts |
 +|id= 33 |
 +|range= -100 to 100 |
 +|wrcond= st_error = 0, st_cal = 1, st_grouped = 0, st_emrg = 0 |
 +|longdescr=
 +During the calibration procedure (// st_cal = 1 //) is the value of the analog output voltage can be set.
 +If // st_cal = 0 // the parameter is read-only and indicates the voltage on the analog output generated PID controller.}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== vel =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Current speed |
 +|dim= Long |
 +|default=0 |
 +|accesstype= Read |
 +|um= Uv |
 +|id= 34 |
 +|range= - |
 +|wrcond= - |
 +|longdescr= is the value of the actual velocity of the axis expressed as a unit of measurement of speed. The update is performed every 250 ms. The unit of measurement depends on the parameters // unitvel // and // decpt //.}}
 +
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== frq =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= frequency of the input signals.|
 +|dim= Long |
 +|default=0 |
 +|accesstype= Read |
 +|um= Hz |
 +|id= 35 |
 +|range= - |
 +|wrcond= - |
 +|longdescr= is the frequency value of the input signals to the bidirectional counter. The update is executed every 250 ms.}}
 +
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== posit =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=actual position.|
 +|dim= Long |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= um |
 +|id= 36 |
 +|range= - |
 +|wrcond= See Description |
 +|longdescr= is the value of the current axis position.\\
 +
 +posit = encoder · measure / pulse
 +
 +E 'can change this parameter even if a movement is in progress, provided that the new current location allows to conclude the positioning without having to reverse the direction of movement.}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== encoder =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Current position in encoder pulses.|
 +|dim= Long |
 +|default=Retentive |
 +|accesstype= Read - Write |
 +|um= - |
 +|id= 37 |
 +|range= - |
 +|wrcond= See Description |
 +|longdescr= The value of the current position of the encoder pulses.\\
 +
 +E 'can change this parameter even if a movement is in progress, provided that the new current location allows to conclude the positioning without having to reverse the direction of movement.}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== follerr =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Following error.|
 +|dim= Long |
 +|default=0 |
 +|accesstype= Read |
 +|um= Um/10 |
 +|id= 38 |
 +|range= - |
 +|wrcond= - |
 +|longdescr= is the instantaneous value of the following error expressed in tenths of units.}}
 +
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== outreg =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Value of 'PID output + FF. |
 +|dim= Long |
 +|default=0 |
 +|accesstype= Read |
 +|um= bits |
 +|id= 39 |
 +|range= -32768 to 32767 |
 +|wrcond= - |
 +|longdescr= the instantaneous value is expressed in bits of the output of the PID controller.}}
 +
 +^:info:^If the output of implementation is an analog output value corresponds to 32767 -32768 corresponds to 10V and-10V.^
 +
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== ffwdreg =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Value of feed forward.|
 +|dim= Long |
 +|default=0 |
 +|accesstype= Read |
 +|um= bits |
 +|id= 40 |
 +|range= -32768 to 32767 |
 +|wrcond= - |
 +|longdescr= the instantaneous value is expressed in bits of the feed forward.}}
 +
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== propreg =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= output value proportional.|
 +|dim= Long |
 +|default=0 |
 +|accesstype= Read |
 +|um= bits |
 +|id= 41 |
 +|range= -32768 to 32767 |
 +|wrcond= - |
 +|longdescr= is proportional to the instantaneous value of the output in the PID controller.}}
 +
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== intreg =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Value of output drive.|
 +|dim= Long |
 +|default=0 |
 +|accesstype= Read |
 +|um= bits |
 +|id= 42 |
 +|range= -32768 to 32767 |
 +|wrcond= - |
 +|longdescr= is the instantaneous value of the output in the integral PID controller.}}
 +
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== derreg =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Value of 'output derivative.|
 +|dim= Long |
 +|default=0 |
 +|accesstype= Read |
 +|um= bits |
 +|id= 43 |
 +|range= -32768 to 32767 |
 +|wrcond= - |
 +|longdescr= is the instantaneous value of the derivative in the PID controller output.}}
 +
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== delta =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= sum value for the command DELCNT. |
 +|dim= Long |
 +|default=0 |
 +|accesstype= Read - Write |
 +|um= um |
 +|id= 44 |
 +|range= -999999 to 999999 |
 +|wrcond= st_intenbl = 0 |
 +|longdescr= This is the value that is used by the // DELCNT // to be added to the current position. Moreover, this parameter is also used to store the current position when the capture occurs from input interrupt. }}
 +
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== posvirt =====
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr=virtual position.|
 +|dim= Long |
 +|default=0 |
 +|accesstype= Read |
 +|um= um |
 +|id= 45 |
 +|range= - |
 +|wrcond= - |
 +|longdescr= The value of the instantaneous position commanded.}}
 +
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== brakepos =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Starting position for braking.|
 +|dim= Long |
 +|default=0 |
 +|accesstype= Read |
 +|um= um |
 +|id= 46 |
 +|range= - |
 +|wrcond= - |
 +|longdescr= is the value of the position in which will start the deceleration ramp. }}
 +
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== wrncode =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Identification code warning |
 +|dim= Byte |
 +|default=0 |
 +|accesstype= Read |
 +|um= - |
 +|id= 47 |
 +|range= |
 +|wrcond= - |
 +|longdescr= Indicates the type of warning detected by the device. For more information, refer to the chapter.}}
 +
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== wrnpar =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= id parameter that caused the warning.|
 +|dim= Byte |
 +|default=0 |
 +|accesstype= Read |
 +|um= - |
 +|id= 48 |
 +|range= |
 +|wrcond= - |
 +|longdescr= Indicates which parameter caused the warning detected by the device. For more information, refer to the chapter.}}
 +
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== wrnvalue =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Code identifying the cause of the warning |
 +|dim= Byte |
 +|default=0 |
 +|accesstype= Read |
 +|um= - |
 +|id= 49 |
 +|range= - |
 +|wrcond= - |
 +|longdescr= Indicates the cause of the warning detected by the device. For more information, refer to the chapter.}}
 +
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== errcode =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Identification code of the error.|
 +|dim= Byte |
 +|default=0 |
 +|accesstype= Read |
 +|um= - |
 +|id= 50 |
 +|range= - |
 +|wrcond= - |
 +|longdescr= Indicates the type of error detected by the device. For more information, refer to the chapter.}}
 +
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== errpar =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= id parameter that caused the error.|
 +|dim= Byte |
 +|default=0 |
 +|accesstype= Read |
 +|um= - |
 +|id= 51 |
 +|range= - |
 +|wrcond= - |
 +|longdescr= Indicates the parameter that caused the error detected by the device. For more information, refer to the chapter.}}
 +
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== errvalue =====
 +
 +{{template>en:lib:tpl:tpl-s-tapardev-010
 +|shortdescr= Code identifying the cause of the error |
 +|dim= Byte |
 +|default=0 |
 +|accesstype= Read |
 +|um= - |
 +|id= 52 |
 +|range= - |
 +|wrcond= - |
 +|longdescr= Indicates the type of cause of the error detected by the device. For more information, refer to the chapter. }}
 +
 +----
 +
 +<html><pagebreak /></html>
 +
 +
 +====== - States list ======
 +
 +===== st_capture =====
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr= Status counting captured.|
 +|default=0 |
 +|id= 53 |
 +|longdescr= Indicates that the capture count has occurred.
 +
 +0 = capture count void.\\
 +1 = capture count occurred.\\
 +
 +}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== st_emrg =====
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr= state of emergency.|
 +|default=0 |
 +|id= 54 |
 +|longdescr= Indicates the state of emergency axis.
 +
 +0 = axis is not in an emergency.\\
 +1 = axis in an emergency.\\
 +
 +}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== st_toll =====
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr= Status of tolerance.|
 +|default=0 |
 +|id= 55 |
 +|longdescr= Indicates the status of axis tolerance.
 +
 +0 = axis is not within tolerance.\\
 +1 = axis tolerance.\\
 +
 +}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== st_prsok =====
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr= Result of homing sequence.|
 +|default=0 |
 +|id= 56 |
 +|longdescr= Indicates whether the homing sequence was successful
 +
 +0 = homing procedure is not carried out or not completed correctly.\\
 +1 = Homing carried out and completed successfully.\\
 +
 +The state is deactivated with the command // RSPRSOK //.\\
 +}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== st_still =====
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr= Status of movement.|
 +|default=1 |
 +|id= 57 |
 +|longdescr= Indicates the status of the axis.
 +
 +0 = moving axis.\\
 +1 = axis is stationary.\\
 +
 +}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== st_prson =====
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr= Status of the homing procedure.|
 +|default=0 |
 +|id= 58 |
 +|longdescr= Indicates whether homing procedure is running.
 +
 +0 = Homing is not running.\\
 +1 = Homing running.\\
 +
 +}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== st_movdir =====
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr= Direction of movement.|
 +|default=0 |
 +|id= 59 |
 +|longdescr= Indicates the direction of movement.
 +
 +0 = forward.\\
 +1 = reverse.\\
 +
 +When the axis has stopped the status indicates the direction of the last movement you make.
 +}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== st_loopon =====
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr= Activation of the position loop.|
 +|default=0 |
 +|id= 60 |
 +|longdescr= It indicates the position loop.
 +
 +0 = position loop off.\\
 +1 = position loop active.\\
 +}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== st_foller =====
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr= Error status tracking.|
 +|default=0 |
 +|id= 61 |
 +|longdescr= Indicates that the value of following error (// follerr //) exceeded the alarm threshold (// follerrthresh //). When you activate this remains for a minimum period of 300 ms.
 +
 +0 = tracking error below the alarm threshold.\\
 +1 = tracking error exceeds the threshold alarm.\\
 +
 +}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== st_regoff =====
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr= Disable output of the positioner and implementation.|
 +|default=0 |
 +|id= 62 |
 +|longdescr= Indicates whether the device allows placements and updates the output implementation.
 +
 +0 = placements enabled.\\
 +1 = placements disabled.\\
 +}}
 +----
 +<html><pagebreak /></html>
 +
 +===== st_cal =====
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr= Calibration status.|
 +|default=0 |
 +|id= 63 |
 +|longdescr= Indicates that the calibration status is active.
 +
 +0 = not active calibration status.\\
 +1 = active calibration status.\\
 +
 +}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== st_acc =====
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr= State of acceleration.|
 +|default=0 |
 +|id= 64 |
 +|longdescr = Indicates that the trjectory generator is in the acceleration phase.
 +
 +0 = not during acceleration.\\
 +1 = acceleration phase.\\
 +
 +}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== st_dec =====
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr= State of deceleration.|
 +|default=0 |
 +|id= 65 |
 +|longdescr = Indicates that the trjectory generator is in the deceleration phase.
 +
 +0 = not decelerating.\\
 +1 = deceleration phase.\\
 +
 +}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== st_vconst =====
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr= Status of constant speed.|
 +|default=0 |
 +|id= 66 |
 +|longdescr = Indicates that the trjectory generator is in the phase of constant velocity.
 +
 +0 = not at a constant speed.\\
 +1 = constant velocity phase.\\
 +
 +}}
 +
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== st_warning =====
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr= Presence of a warning.|
 +|default=0 |
 +|id= 67 |
 +|longdescr= Indicates the status of the warning device to recognize the type of warning you should refer to the variables // wrncode //, // ​​wrnvalue // and // wrnpar //.
 +
 +0 = not present warning.\\
 +1 = this warning.\\
 +
 +}}
 +---
 +
 +<html><pagebreak /></html>
 +
 +===== st_error =====
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr= Presence of an error.|
 +|default=0 |
 +|id= 68 |
 +|longdescr= Indicates the error status of the device, to recognize the type of error should refer to the variables // errcode // and // errvalue //.
 +
 +0 = no error present.\\
 +1 = error present.\\
 +
 +}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== st_intenbl =====
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr= Counter capture by interrupt enabled.|
 +|default=0 |
 +|id= 69 |
 +|longdescr= Indicates whether the capture of the count by input interrupt is enabled.
 +
 +0 = Interrupt not enabled by capturing count.\\
 +1 = interrupt enabled by capturing count.\\
 +
 +}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== st_cntlock =====
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr= Indicates whether or not the count is updated by reading the encoder pulses.|
 +|default=Retentive |
 +|id= 70 |
 +|longdescr= Indicates the enable status of the update of the count.
 +
 +0 = the count is updated.\\
 +1 = the count is not updated and remains frozen at the last value acquired.\\
 +
 +}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== st_cntrev =====
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr= State of the counterclockwise direction for the increase in the count.|
 +|default=Retentive |
 +|id= 71 |
 +|longdescr= Indicates the direction of rotation that causes the increase of the count.
 +
 +0 = clockwise.\\
 +1 = counterclockwise.\\
 +
 +}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== st_grouped =====
 +{{template>en:lib:tpl:tpl-s-statedev-010
 +|shortdescr= Indicates whether the device belongs to a device or not.|
 +|default=0 |
 +|id= 72 |
 +|longdescr= During some operations such as interpolation ANPOS2 a device can belong to a device group. If the // st_grouped // = 1 you can not edit the count values ​​will use positioning commands.
 +
 +0 = Device does not belong to a group.\\
 +1 = Device in a group.\\
 +
 +}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +
 +
 +====== - Commands list ======
 +
 +===== INTENBL =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_error = 0, funint> 0 |
 +|shortdescr= Enable the capture of the count.|
 +|id= 73 |
 +|longdescr= Enable the capture of the count}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== INTDSBL =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_error = 0, funint> 0 |
 +|shortdescr= Disable the capture of the count.|
 +|default=0 |
 +|id= 73 |
 +|longdescr= Disable the capture of the count}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== EMRG =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_error = 0 |
 +|shortdescr= Emergency.|
 +|id= 74 |
 +|longdescr= Puts the axis in emergency stopping, without deceleration ramp, the possible positioning and puts // st_emrg // 1. Also inhibits the execution of all the movement controls and disables the position loop.}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== RESUME =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_error = 0, st_emrg = 1 |
 +|shortdescr= Recovering from an emergency condition.|
 +|id= 74 |
 +|longdescr= Reset the emergency condition of the axis, are rehabilitated the position loop and positioning commands.}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== STOP =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_error = 0, st_regoff = 0, st_emrg = 0, st_still = 0, st_cal = 0, st_grouped = 0 |
 +|shortdescr= Stops the current positioning.|
 +|id= 75 |
 +|longdescr= Kills the current positioning of the axis by backing the arrest with the programmed deceleration ramp. }}
 +----
 +<html><pagebreak /></html>
 +
 +===== START =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_error = 0, st_regoff = 0, st_emrg = 0, st_still = 1, st_cal = 0, st_grouped = 0 |
 +|shortdescr= Start of placement.|
 +|id= 76 |
 +|longdescr= Controls the positioning at the level // setpos // speed // setvel //. }}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== PRESET =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_error = 0, st_regoff = 0, st_emrg = 0, st_still = 1, st_cal = 0, prsvel> 0, sprevel> 0 |
 +|shortdescr= Start search the home position.|
 +|id= 77 |
 +|longdescr= Starts the search of the home position, active state // st_prson // turns off state // st_prsok //. If the search is already active, the command performs the inversion of the direction of movement. }}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== LOOPON =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_error = 0, st_grouped = 0 |
 +|shortdescr= Enable the position loop.|
 +|id= 78 |
 +|longdescr= Enable the position loop by activating the PID controller and puts // st_loopon //. }}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== LOOPOFF =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_error = 0, st_grouped = 0 |
 +|shortdescr= Disable the position loop.|
 +|id= 78 |
 +|longdescr= Disables the disabling the PID position loop and sets // st_loopon // 0; E 'can still perform movements but the output of the implementation is calculated by the value of virtual speed and K OpenLoop (see description block CLOSED LOOP POSITION CONTROL). }}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== MANFW =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_error = 0, st_regoff = 0, st_emrg = 0, st_still = 1, st_cal = 0, st_prson = 0, st_grouped = 0 |
 +|shortdescr= command JOG forward.|
 +|id= 79 |
 +|longdescr= Command positioning // maxpos // with the speed // setvel //. If the current position is greater than or equal to // maxpos //, the command has no effect. }}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== MANBW =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_error = 0, st_regoff = 0, st_emrg = 0, st_still = 1, st_cal = 0, st_prson = 0, st_grouped = 0 |
 +|shortdescr= JOG command back.|
 +|id= 80 |
 +|longdescr= Command positioning // MINPOS // with the speed // setvel //. If the current position is less than or equal to // MINPOS //, the command has no effect. }}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== CALON =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_error = 0, st_grouped = 0 |
 +|shortdescr= Enable calibration status.|
 +|id= 81 |
 +|longdescr= Enable the calibration status of implementation in which the output is no longer updated by the PID controller but you can set the value using the // vout //. }}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== CALOFF =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_error = 0, st_grouped = 0 |
 +|shortdescr= Disable calibration status.|
 +|id= 81 |
 +|longdescr= Exit the calibration state of the output so that the implementation goes back to being controlled by the PID controller. }}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== RSCAPTURE =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_error = 0 |
 +|shortdescr= Reset status st_capture.|
 +|id= 82 |
 +|longdescr= Clears the capture status of the count // st_capture //. }}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== CNTLOCK =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_error = 0, st_grouped = 0 |
 +|shortdescr= Disable the update count.|
 +|id= 83 |
 +|longdescr= Disable the update of the count.}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== CNTUNLOCK =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_error = 0, st_grouped = 0 |
 +|shortdescr= Enable the update count.|
 +|id= 83 |
 +|longdescr= Enable the update count if it is locked (// st_cntlock // = 1). }}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== CNTREV =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_error = 0, st_grouped = 0 |
 +|shortdescr= Direction increase counting counterclockwise.|
 +|id= 84 |
 +|longdescr= Sets the direction of increase of the count to CCW.}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== CNTDIR =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_error = 0, st_grouped = 0 |
 +|shortdescr= Direction increase in counting time.|
 +|id= 84 |
 +|longdescr= Sets the direction of increase of the count-time.}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== REGOFF =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_still = 1, st_error = 0, st_grouped = 0 |
 +|shortdescr= Disable positioner output and implementation.|
 +|id= 85 |
 +|longdescr= Disable the positioner and the output of implementation. }}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== REGON =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_regoff = 1, st_error = 0, st_grouped = 0 |
 +|shortdescr= Enable output of the positioner and implementation.|
 +|id= 85 |
 +|longdescr= Enable the positioner and the output of implementation. }}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== DELCNT =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= st_psron = 0, = 0 st_cal, st_error = 0, st_grouped = 0, see description |
 +|shortdescr= Command to modify // posit // the value of // delta //.|
 +|id= 86 |
 +|longdescr= Total current position (// posit //) the value specified by the // delta //. E 'can run this command even if a movement is under way on condition that the new current position for concluding the placement without having to reverse the direction of movement.}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== RSPRSOK =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= - |
 +|shortdescr= Reset state homing OK. |
 +|id= 87 |
 +|longdescr= Reset state // st_prsok //. }}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== RSERR =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= - |
 +|shortdescr= Reset error state.|
 +|id= 88 |
 +|longdescr= Clears the error status (// st_error //) in the case is no longer on the error condition.}}
 +----
 +
 +<html><pagebreak /></html>
 +
 +===== RSWRN =====
 +{{template>en:lib:tpl:tpl-s-cmddevice-010
 +|cond= - |
 +|shortdescr= Reset state warning.|
 +|id= 89 |
 +|longdescr= Reset state // st_warning //. }}
 +----
 +
 +<html><pagebreak /></html>
 +
 +
 +
 +====== - Errori e Warnings ======
 +
 +===== - Errors =====
 +When the device is not able to perform the operations resulting from an incorrect user programming signals this condition through the activation status // st_error //. The device also makes available, through the values ​​of the parameters // errcode //, // ​​errvalue // and // errpar // some information to better understand the type of error condition and which generated it. Such information and error status // st_error //, there remain until you run the appropriate command // RSERR // that deletes them.\\
 +The following table specifies the values ​​of // errcode //: \\
 +^//errcode// ^Description ^
 +| 0 | No mistake.|
 +| 1 | Data error: There are values ​​out of range in the parameters.|
 +| 2 | Configuration error.|
 +
 +Use the parameters // errvalue // and // errpar // you can get more detailed information about the error.\\
 +The // errpar // always indicates the ID of the parameter that caused the error. \\
 +Instead currently the // errvalue // is not used and is always 0.
 +
 +<html><pagebreak /></html>
 +
 +===== - Warnings =====
 +When a parameter setting of the device is not accepted or a command cannot be executed, the device signals this condition by activating the // st_warning // status.
 +The device also makes available, through the values ​​of the parameters // wrncode //, // ​​wrnvalue // and // wrnpar // information to better understand the type of warning and what condition generated it.
 +Such information and the status of warning // st_warning //, there remain until you run the appropriate command // RSWRN // that deletes them.\\
 +The following table specifies the values ​​of // wrncode //: \\
 +
 +^//wrncode// ^Description ^
 +| 0 | No warning.|
 +| 1 | Setting data out of range.|
 +| 2 | Change parameter is not accepted.|
 +| 3 | Command not accepted: the execution conditions are not met.|
 +
 +Use the // wrnvalue // and // wrnpar // parameters to get more details about the warning.\\
 +The // wrnpar // always indicates the ID of the parameter that caused the warning.\\
 +The // wrnvalue // is currently not used and is always 0.