; tncopt_sys.txt automatic generated by control
;----------------------------------------
;Definition of the CC-board configuration
;----------------------------------------

[Board]
	0,CC6xxx,0
	1,CC6xxx,0

;--------------------------------------
;Definition of the Axes configuration
;--------------------------------------

[Axis]
	X,0,0,0,0,0,32,0,,"PX0",X
	Y,0,0,1,0,1,32,1,,"PY0",Y
	Z,0,0,2,0,2,32,2,,"PZ0",Z
	C,0,1,0,1,0,32,3,,"PC0",C
	B,0,0,3,0,3,32,4,,"PB0",B
	S1,1,1,3,1,3,32,5,,"PS0_0",


[Param]

;--------------------------------------
; Definition of the Control parameters
;--------------------------------------
KPI:            "PropGain",      1,"NCK_KPI_UNIT", "NCK_KPI",      "CfgCurrentControl.iCtrlPropGain.","%.7lf",9999.99,0.00,0.0000000,COMPULSORY,1;
KII:            "IntGain",       1,"NCK_KII_UNIT", "NCK_KII",      "CfgCurrentControl.iCtrlIntGain.","%.7lf",9999999.00,0.00,0.0000000,COMPULSORY,1;
FFC:            "FFfreq",        1,"NCK_FFC_UNIT", "NCK_FFC",      "CfgCurrentControl.iCtrlDiffFreqFF.","%.7lf",5000.00,0.00,0.0000000,OPTIONAL,1;
DTCC:           "DTComp",        1,"NCK_DTTC_UNIT","NCK_DTCC",     "CfgCurrentControl.iCtrlAddInfo.","%d",4294967295,+0,+0,OPTIONAL,1;
KPV:            "PropGain",      1,"NCK_KPV_UNIT", "NCK_KPV",      "CfgSpeedControl.vCtrlPropGain.","%.7lf",1000000.00,0.00,0.0000000,COMPULSORY,1;
KIV:            "IntGain",       1,"NCK_KIV_UNIT", "NCK_KIV",      "CfgSpeedControl.vCtrlIntGain.","%.7lf",1000000000.00,0.00,0.0000000,COMPULSORY,1;
KIT:            "IntTime",       1,"NCK_KIT_UNIT", "NCK_KIT",      "CfgSpeedControl.vCtrlIntTime.","%.7lf",30.00,0.00,0.0000000,COMPULSORY,1;
KDV:            "DiffGain",      1,"NCK_KDV_UNIT", "NCK_KDV",      "CfgSpeedControl.vCtrlDiffGain.","%.7lf",1.00,0.00,0.0000000,COMPULSORY,1;

;---------------------------------
; Definition for filter general
;---------------------------------
FIR:            "EncInputFilt",  1,"NCK_FIR_UNIT", "NCK_FIR",      "CfgSpeedControl.vCtrlEncInputFilt.","%d",19,+0,+0,COMPULSORY,1;

;---------------------------------
; Definition for filter mode 1
;---------------------------------
PT2:            "FiltLowPassT",  1,"NCK_PT2_UNIT", "NCK_PT2",      "CfgSpeedControl.vCtrlFiltLowPassT.","%.7lf",1.00,0.00,0.0000000,COMPULSORY,1;
BGD:            "FiltDamping",   1,"NCK_BGD_UNIT", "NCK_BGD",      "CfgSpeedControl.vCtrlFiltDamping1.","%.7lf",90.00,-90.00,0.0000000,COMPULSORY,1;
BGF:            "FiltFreq",      1,"NCK_BGF_UNIT", "NCK_BGF",      "CfgSpeedControl.vCtrlFiltFreq1.","%.7lf",10000.00,0.00,0.0000000,COMPULSORY,1;

;---------------------------------
; Definition for filter mode 2
;---------------------------------
F1T:            "FiltType1",     1,"NCK_F1T_UNIT", "NCK_F1T",      "CfgSpeedControl.vCtrlFiltType1.","%d",300,+0,+0,OPTIONAL,1;
F1F:            "FiltFreq1",     1,"NCK_F1F_UNIT", "NCK_F1F",      "CfgSpeedControl.vCtrlFiltFreq1.","%.7lf",10000.00,0.00,0.0000000,COMPULSORY,1;
F1D:            "FiltDamping1",  1,"NCK_F1D_UNIT", "NCK_F1D",      "CfgSpeedControl.vCtrlFiltDamping1.","%.7lf",90.00,-90.00,0.0000000,COMPULSORY,1;
F1W:            "FiltBandWidth1",1,"NCK_F1W_UNIT", "NCK_F1W",      "CfgSpeedControl.vCtrlFiltBandWidth1.","%.7lf",30000.00,0.00,0.0000000,OPTIONAL,1;
F2T:            "FiltType2",     1,"NCK_F2T_UNIT", "NCK_F2T",      "CfgSpeedControl.vCtrlFiltType2.","%d",300,+0,+0,OPTIONAL,1;
F2F:            "FiltFreq2",     1,"NCK_F2F_UNIT", "NCK_F2F",      "CfgSpeedControl.vCtrlFiltFreq2.","%.7lf",10000.00,0.00,0.0000000,OPTIONAL,1;
F2D:            "FiltDamping2",  1,"NCK_F2D_UNIT", "NCK_F2D",      "CfgSpeedControl.vCtrlFiltDamping2.","%.7lf",90.00,-90.00,0.0000000,OPTIONAL,1;
F2W:            "FiltBandWidth2",1,"NCK_F2W_UNIT", "NCK_F2W",      "CfgSpeedControl.vCtrlFiltBandWidth2.","%.7lf",30000.00,0.00,0.0000000,OPTIONAL,1;
F3T:            "FiltType3",     1,"NCK_F3T_UNIT", "NCK_F3T",      "CfgSpeedControl.vCtrlFiltType3.","%d",300,+0,+0,OPTIONAL,1;
F3F:            "FiltFreq3",     1,"NCK_F3F_UNIT", "NCK_F3F",      "CfgSpeedControl.vCtrlFiltFreq3.","%.7lf",10000.00,0.00,0.0000000,OPTIONAL,1;
F3D:            "FiltDamping3",  1,"NCK_F3D_UNIT", "NCK_F3D",      "CfgSpeedControl.vCtrlFiltDamping3.","%.7lf",90.00,-90.00,0.0000000,OPTIONAL,1;
F3W:            "FiltBandWidth3",1,"NCK_F3W_UNIT", "NCK_F3W",      "CfgSpeedControl.vCtrlFiltBandWidth3.","%.7lf",30000.00,0.00,0.0000000,OPTIONAL,1;
F4T:            "FiltType4",     1,"NCK_F4T_UNIT", "NCK_F4T",      "CfgSpeedControl.vCtrlFiltType4.","%d",300,+0,+0,OPTIONAL,1;
F4F:            "FiltFreq4",     1,"NCK_F4F_UNIT", "NCK_F4F",      "CfgSpeedControl.vCtrlFiltFreq4.","%.7lf",10000.00,0.00,0.0000000,OPTIONAL,1;
F4D:            "FiltDamping4",  1,"NCK_F4D_UNIT", "NCK_F4D",      "CfgSpeedControl.vCtrlFiltDamping4.","%.7lf",90.00,-90.00,0.0000000,OPTIONAL,1;
F4W:            "FiltBandWidth4",1,"NCK_F4W_UNIT", "NCK_F4W",      "CfgSpeedControl.vCtrlFiltBandWidth4.","%.7lf",30000.00,0.00,0.0000000,OPTIONAL,1;
F5T:            "FiltType5",     1,"NCK_F5T_UNIT", "NCK_F5T",      "CfgSpeedControl.vCtrlFiltType5.","%d",300,+0,+0,OPTIONAL,1;
F5F:            "FiltFreq5",     1,"NCK_F5F_UNIT", "NCK_F5F",      "CfgSpeedControl.vCtrlFiltFreq5.","%.7lf",10000.00,0.00,0.0000000,OPTIONAL,1;
F5D:            "FiltDamping5",  1,"NCK_F5D_UNIT", "NCK_F5D",      "CfgSpeedControl.vCtrlFiltDamping5.","%.7lf",90.00,-90.00,0.0000000,OPTIONAL,1;
F5W:            "FiltBandWidth5",1,"NCK_F5W_UNIT", "NCK_F5W",      "CfgSpeedControl.vCtrlFiltBandWidth5.","%.7lf",30000.00,0.00,0.0000000,OPTIONAL,1;
F6T:            "FiltType6",     1,"NCK_F6T_UNIT", "NCK_F6T",      "CfgSpeedControl.vCtrlFiltType6.","%d",300,+0,+0,OPTIONAL,1;
F6F:            "FiltFreq6",     1,"NCK_F6F_UNIT", "NCK_F6F",      "CfgSpeedControl.vCtrlFiltFreq6.","%.7lf",10000.00,0.00,0.0000000,OPTIONAL,1;
F6D:            "FiltDamping6",  1,"NCK_F6D_UNIT", "NCK_F6D",      "CfgSpeedControl.vCtrlFiltDamping6.","%.7lf",90.00,-90.00,0.0000000,OPTIONAL,1;
F6W:            "FiltBandWidth6",1,"NCK_F6W_UNIT", "NCK_F6W",      "CfgSpeedControl.vCtrlFiltBandWidth6.","%.7lf",30000.00,0.00,0.0000000,OPTIONAL,1;

;------------------------------
; Definition for compensations
;------------------------------
CACV:           "compAcc",       1,"NCK_CACV_UNIT","NCK_CACV",     "CfgControllerComp.compAcc.","%.7lf",1000.00,0.00,0.0000000,OPTIONAL,1;
CFI1:           "Friction0",     1,"NCK_CFI1_UNIT","NCK_CFI1",     "CfgControllerComp.compFriction0.","%.7lf",100.00,0.00,0.0000000,OPTIONAL,1;
CFT1:           "FrictionT1",    1,"NCK_CFT1_UNIT","NCK_CFT1",     "CfgControllerComp.compFrictionT1.","%.7lf",1.00,0.00,0.0100000,OPTIONAL,1;
CFS2:           "FrictionT2",    1,"NCK_CFS2_UNIT","NCK_CFS2",     "CfgControllerComp.compFrictionT2.","%.7lf",1.00,0.00,0.0100000,OPTIONAL,1;
CFI2:           "FrictionNS",    1,"NCK_CFI2_UNIT","NCK_CFI2",     "CfgControllerComp.compFrictionNS.","%.7lf",100.00,0.00,0.0000000,OPTIONAL,1;
CHI:            "CurrentOffset", 1,"NCK_CHI_UNIT", "NCK_CHI",      "CfgControllerComp.compCurrentOffset.","%.7lf",100.00,-100.00,0.0000000,OPTIONAL,1;
CTO:            "TorsionFact",   1,"NCK_CTO_UNIT", "NCK_CTO",      "CfgControllerComp.compTorsionFact.","%.7lf",100.00,0.00,0.0000000,OPTIONAL,1;
IPC1:           "IpcT1",         1,"NCK_IPC1_UNIT","NCK_IPC1",     "CfgControllerComp.compIpcT1.","%.7lf",1.00,0.00,0.0000000,OPTIONAL,1;
IPC2:           "IpcT2",         1,"NCK_IPC2_UNIT","NCK_IPC2",     "CfgControllerComp.compIpcT2.","%.7lf",1.00,0.00,0.0000000,OPTIONAL,1;
IPCJ:           "IpcJerkFact",   1,"NCK_IPCJ_UNIT","NCK_IPCJ",     "CfgControllerComp.compIpcJerkFact.","%.7lf",10.00,0.00,0.0000000,OPTIONAL,1;
ADF:            "DampingFactor", 1,"NCK_ADF_UNIT", "NCK_ADF",      "CfgControllerComp.compActDampFact.","%.7lf",30.00,0.00,0.0000000,OPTIONAL,1;
ADT:            "DampingTime",   1,"NCK_ADT_UNIT", "NCK_ADT",      "CfgControllerComp.compActDampTime.","%.7lf",1.00,0.00,1.0000000,OPTIONAL,1;
ADFRQ:          "DampingFreq",   1,"NCK_ADFRQ_UNIT","NCK_ADFRQ",    "CfgControllerComp.compActDampFreq.","%.7lf",300.00,0.00,0.0000000,OPTIONAL,1;
CLIM:           "LimitTimeConst",1,"NCK_CLIM_UNIT","NCK_CLIM",     "CfgControllerComp.compTimeLimit.","%.7lf",1.00,0.00,0.0050000,OPTIONAL,1;

;---------------------------------
; Definition for synchronous axis
;---------------------------------
SATB:           "TorqueBias",    1,"NCK_SATB_UNIT","NCK_SATB",     "CfgAxisCoupling.torqueBias.","%.7lf",1000.00,-1000.00,0.0000000,COMPULSORY,1;
SAPG:           "PropGain",      6,"NCK_SAPG_UNIT","NCK_SAPG",     "CfgAxisCoupling.propGain.","%.7lf",10000.00,0.00,0.0010000,COMPULSORY,0.1666666666666667;
SADF:           "TorqueDist",    1,"NCK_SADF_UNIT","NCK_SADF",     "CfgAxisCoupling.torqueDistrFactor.","%.7lf",100.00,0.00,0.0000000,COMPULSORY,1;
SASR:           "Correct",       1,"NCK_SASR_UNIT","NCK_SASR",     "CfgAxisCoupling.speedCorrectRatio.","%.7lf",100.00,-100.00,0.0000000,COMPULSORY,1;
KVX:            "kvFactor",      16.667,"NCK_KVX_UNIT", "NCK_KVX",      "CfgPosControl.kvFactor.","%.7lf",,0.00,0.0000000,COMPULSORY,1;

;--------------------------------
; Look ahead parameters
;--------------------------------
IP_ACC:         "maxAcc",        1000,"NCK_ACC_UNIT", "NCK_ACC",      "CfgFeedLimits.maxAcceleration.","%.7lf",,0.00,3000.0000000,COMPULSORY,0.001;

;--------------------------------
; General parameters
;--------------------------------
MaxAxisSpeed:   "MaxFeed",       1,"",             "",             "CfgFeedLimits.maxFeed.","%.7lf",,0.00,4.4445000,COMPULSORY,60;
EvalRefMark:    "RefType",       1,"",             "",             "CfgReferencing.refType.","%s",,,"None",COMPULSORY;
MotName:        "MotorName",     1,"",             "NCK_MOTNAME",  "CfgServoMotor.motName.","%s",,,,COMPULSORY;
McCcSpeedPol:   "SpeedPol",      1,"NCK_POS_UNIT", "NCK_SPEEDPOL", "CfgAxisHardware.signCorrActualVal.",,,,"FALSE",COMPULSORY;
AmpName:        "AmplifierName", 1,"",             "NCK_AMPNAME",  "CfgPowerStage.ampName.","%s",,,,COMPULSORY;
AbsPosMax1:     "LimitPos",      1,"NCK_POS_UNIT", "NCK_POSMAX",   "CfgPositionLimits.swLimitSwitchPos.","%.7lf",,,0.0000000,COMPULSORY,1;
AbsPosMin1:     "LimitMin",      1,"NCK_POS_UNIT", "NCK_POSMIN",   "CfgPositionLimits.swLimitSwitchNeg.","%.7lf",,,0.0000000,COMPULSORY,1;
MachineDatum:   "RefPosition",   1,"NCK_POS_UNIT", "NCK_POSREF",   "CfgReferencing.refPosition.","%.7lf",,,0.0000000,COMPULSORY,1;
CountModulo:    "ShortestDistance",1,"NCK_POS_UNIT", "NCK_MODULO",   "CfgRollOver.shortestDistance.",,,,"FALSE",OPTIONAL;
SignCorrAVal:   "CorrVal",       1,"NCK_POS_UNIT", "NCK_CORRVAL",  "CfgAxisHardware.signCorrNominalVal.",,,,"FALSE",COMPULSORY;
CompSwitchOff:  "CompSwitchOff", 1,"",             "NCK_COMPOFF",  "CfgControllerComp.compSwitchOff.","%lu",,,0,OPTIONAL;
GenDPPeriod:    "posEncoderDist",1,"",             "",             "CfgAxisHardware.posEncoderDist.","%.7lf",100000.00,0.00,0.0200000,COMPULSORY,1;
GenPPDistance:  "posEncoderIncr",1,"",             "",             "CfgAxisHardware.posEncoderIncr.","%d",16777215,+1,+1,COMPULSORY,1;

;-------------------------------
; Parameters for the torque ripple compensation
;-------------------------------
TRCFile:        "TRCfile",       1,"",             "NCK_TRCFILE",  "CfgControllerComp.compTorqueRipple.","%s",,,,OPTIONAL;
TRCFolder:   "PLC:\table"; Folder-name for TRC files

;--------------------------------
; Parameters for tuning programs
;--------------------------------
NCPrgFolder: "TNC:\TNCOpt"; Root folder for TNCOpt tuning files
DinIsoPrgExt: ".i"; File extension for DIN/ISO tuning programs


;[Filter]
;--------------------------------------
;Definition of Filter Mode = 2
;CfgSpeedControl.vCtrlFiltType1.......5
;CfgSpeedControl.vCtrlFiltFreq1.......5
;CfgSpeedControl.vCtrlFiltBandWidth1..5
;CfgSpeedControl.vCtrlFiltDamping1....5
;--------------------------------------
FilterMode: 2


[Enable]

; Enable TncOpt control functions
;disableNcProgSubfolder         ; Tuning programs are all written in the main folder
disableDefaultEnableParameter  ; switch off the default PLC-markers, use the defined
enableDNCRemote                ; Enable the using of the LSV2 DNC-remote commands (start NC-program, control status, ...)
enableDNCRemoteExt             ; Enable the using of the extended LSV2 DNC-remote commands (stop NC-program, ..)
enableActiveDamping            ; Enable the using of the parameter of the active damping
enableStatusPositionController ; Status-information positioncontroller
enableStatusInterpolator       ; Status-information Interpolator
;enableStatusPlc                ; Status-information PLC
enableTestConnection           ; support of LSV2-command TestConnection(2)
enableTransmitKeyCode          ; support of LSV2-command TransmitKeyCode()
enableTransmitSysCommand       ; support of LSV2-command TransmitSysCommand(2)
enableEndatPosition            ; support of TNCOpt-command EndatInfoPositionControler
enableErrBuf                   ; support of access to the error memory of the CC
enableRestartCCU               ; support of TNCOpt-command RestartCCU
enableReadI2Cbus               ; TNCOpt is allowed to perform reading EEPROM over I2C-Bus

; Enable TncOpt operation functions
enableCurrentStep              ; Current-controller Step
enableVelocityPulse            ; Velocity-controller Pulse
enableVelocityStep             ; Velocity-controller Step
enableVelocityMMS              ; Velocity-controller moment master slave
enableVelocityAcceleration     ; Velocity acceleration
enableFeedForward              ; Feed- / Friction- Feedforward
enableReversalPeek             ; Reversal peek (MP 2512)
enableIPC                      ; IPC-filter
enableConturTransition         ; Shape-transitions
enableCircle                   ; Circle-measurements
enableConfiguration            ; Configuration
;enableMotorTest                ; Motor-test
;enableMotorTurnTest            ; Motor Turn-test
enablePositionEncTest          ; Position measuringsystem-test
enableTorsionComp              ; Torsion Compensation
enableTRC                      ; Torque ripple compensation
enableErrBuf                   ; support of access to the error memory of the CC
enableDSPStatusBasis           ; Basic-funktionality DSP-status
enableDSPStatusExtention01     ; Extended-functionality DSP-status 01
enableADCStatus                ; AD Converter values
enableLinearMotorOpt           ; Linearmotor optimalisation
enableBode                     ; Bode diagram
enableCascade                  ; Cascade diagram
enableKinematic                ; Kinematic compensation

enableConfiguration                ; view configuration
; Enable of MC functionality
enableBrakeTest                ; Support of TNCOpt command brake test
;enableIpoStep                  ; Support of TNCOpt command Interpolator step
enableWriteMpTemp              ; Support of reading and writing config data temporary
enableWriteMpPersist           ; Support of reading and writing config data persistent
enableDINISO                   ; Support of NC programs in DIN/ISO language
enableHHPlainLanguage          ; Support of NC programs in HEIDENHAIN plain language


;------------------ THE END ----------------------------------
