Operating mode of an axis (PAXIS00015)
PAXIS00015  Operating mode of an axis  
Description  Axes can be traversed in different operating modes:  
Parameter  kenngr.achs_mode  
Data type  UNS32  
Data range  0x00000001  0x10000000  
Axis types  T, R, S  
Dimension  T:   R,S:  
Default value  0x00000001  
Drive types    
Remarks 

The following operation modes can be parameterised^{(1)}:
Value  Meaning  Axis type  Interpolator type  
 Description  ACHSMODE_ 
 Path  Spindle 
0x00000001  The axis is operated like a linear axis; no modulo calculation is executed. For example, rotary axis with restricted motion range; must be set as default for linear axes.  ..LINEAR^{(1)}  T, R  X 

0x00000004  A modulo calculation is always executed after the target position is reached. Regardless of the mode selected for rotary axes, a modulo calculation is always executed in the position controller. In this way, modulo circle compensation can be executed if required.  ..MODULO^{(1)}  R  X  X 
0x00000040  Axis is used as a face turning axis (turning functions).  ..PLANDREHEN  T  X 

0x00000080  Axis is used as a longitudinal turning axis (turning functions).  ..LAENGSDREHEN  T  X 

0x00000100  In the case of a spindle, automatic referencing before spindle setup can be prevented. This is only relevant if the axis is not referenced. The function is drivedependent.  ..KEINE_AUTO_RPF  R 
 X 
0x00000200  Axis can be used for the kinematic 'C axis' transformation.  ..CAX  R  X  X 
0x00000400  Modulo calculation for linear axis. (Example: conveyor belt with drive motor where the position on the belt is programmed in mm).  ..MODULO_LINEAR  R  X 

0x00000800  Axis is released for mechanical blocking by the PLC. This axis mode is not available for TwinCAT systems  ..CLAMPABLE  T, R  X 

0x00001000  Axis carries a rotary workpiece table.  ..ROT_TABLE  T, R  X 

0x00008000  Monitor for axis collision.  ..COLL_CHECK  T  X 

0x00010000  Master axis of gantry coupling.  ..GANTRY_MASTER  T, R  X 

0x00020000  Slave axis of gantry coupling.  ..GANTRY_SLAVE  T, R  X 

0x00040000  Identifier for controlled spindle.  ..SPINDLE_EXT_CTRL  R 
 X 
0x00080000  Input axis for additional external position command values (e.g. distance control).  ..EXT_CTRL_INPUT  T  X 

0x00100000  Pure encoder axis, only for displaying current values (e.g. conveyor belt).  ..COUNTER  T, R  X  X 
0x00400000  The resolution (wegaufz/wegaufn) of this axis can be changed.  ..ALLOW_RESOLUTION_  T, R  X  X 
0x00800000  Pathdependent dynamic weighting for this axis is possible.  ..DYNAMIC_WEIGHTING  T, R  X 

0x02000000  Path axis for tool centre point path  ..PATH_LENGTH_TCP  R  X 

0x04000000  Path axis for contour path  ..PATH_LENGTH_  R  X 

0x08000000  Virtual lead axis for path interpolation  ..VIRT_LEAD_AXIS  R  X 

0x10000000  Axis carries the pressure roller for edge bending.  ..LAH_OFFSET_AXIS  R  X 

Notice
(1) One of the two following axis modes must always be specified:
 ACHSMODE_LINEAR or
 ACHSMODE_MODULO
All other bits of the parameter achs_mode are additional specifications. For example, the ACHSMODE_MODULO_LINEAR bit is only useful if combined with the ACHSMODE_MODULO bit.
Notice
(2) Changing certain axis parameters while the controller is running may be critical, e.g. path resolution. Therefore, this parameter can be enabled by setting the bit ALLOW_RESOLUTION_CHANGE in axis mode. Otherwise, these parameters (PAXIS00234, PAXIS00233) can no longer be changed after controller startup.
When the bit ALLOW_RESOLUTION_CHANGE is set, a check is first made whether the axis is interpolated, also when other critical parameters change. If the axis is currently in motion, this parameter update is rejected.