Short overview of all parameters

Subindex/Name		Category	Subindex/Name		Category
Index offset 0: Diagnostics
1	axes group index	Diagnostics	6	Error number	Diagnostics
2	Name	Diagnostics	7	Error by (source)	Diagnostics
3	Kinematics type	Diagnostics	15	Setpoint path velocity	Diagnostics
4	PLCopen status	Diagnostics	16	Setpoint path acceleration	Diagnostics
5	Status word	Diagnostics	103	Creating logbook entries	Diagnostics
Index offset 0: Mechanical parameter
29	Virtual mode	Mechanical parameters
Index offset 0: Path planning
30	Path planning horizon	Path planning	36	Curved paths: Limitation of the path	Path planning
31	Standard angular velocity	Path planning	37	Path continuity: Tolerance angle of exact stop	Path planning
32	Standard angular acceleration	Path planning	38	Path continuity: Max. acceleration jump	Path planning
33	Standard angular jerk	Path planning	39	Rotation convention	Path planning
34	Task utilisation - path preparation	Path planning	41	Jerk limitation	Path planning
35	Complete path smoothing	Path planning	42	Ramp time s-shaped ramp	Path planning
Index offset 0: Limitations
40	Considering Cartesian axis limits	Limitations	46	Maximum path acceleration	Limitations
45	Maximum path velocity	Limitations	47	Maximum path jerk	Limitations
Index offset 0: Connected drives
51	Connected drive A1	Connected drives	57	Connected drive Aux1	Connected drives
52	Connected drive A2	Connected drives	58	Connected drive Aux2	Connected drives
53	Connected drive A3	Connected drives	59	Connected drive Aux3	Connected drives
54	Connected drive A4	Connected drives	60	Connected drive Aux4	Connected drives
55	Connected drive A5	Connected drives	61	Connected drive Aux5	Connected drives
56	Connected drive A6	Connected drives	62	Connected drive Aux6	Connected drives
Index offset 0: Error stop
102	Resp. to wrong FB param.	Errorstop

Subindex/Name		Category	Subindex/Name		Category
Index offset 1: Coordinate systems
2	PCS 1 : Coordinate type	Coordinate systems	66	PCS 10 : Offset X	Coordinate systems
3	PCS 1 : Offset X	Coordinate systems	67	PCS 10 : Offset Y	Coordinate systems
4	PCS 1 : Offset Y	Coordinate systems	68	PCS 10 : Offset Z	Coordinate systems
5	PCS 1 : Offset Z	Coordinate systems	69	PCS 10 : Orientation A	Coordinate systems
6	PCS 1 : Orientation A	Coordinate systems	70	PCS 10 : Orientation B	Coordinate systems
7	PCS 1 : Orientation B	Coordinate systems	71	PCS 10 : Orientation C	Coordinate systems
8	PCS 1 : Orientation C	Coordinate systems	72	PCS 11 : Coordinate type	Coordinate systems
9	PCS 2 : Coordinate type	Coordinate systems	73	PCS 11 : Offset X	Coordinate systems
10	PCS 2 : Offset X	Coordinate systems	74	PCS 11 : Offset Y	Coordinate systems
11	PCS 2 : Offset Y	Coordinate systems	75	PCS 11 : Offset Z	Coordinate systems
12	PCS 2 : Offset Z	Coordinate systems	76	PCS 11 : Orientation A	Coordinate systems
13	PCS 2 : Orientation A	Coordinate systems	77	PCS 11 : Orientation B	Coordinate systems
14	PCS 2 : Orientation B	Coordinate systems	78	PCS 11 : Orientation C	Coordinate systems
15	PCS 2 : Orientation C	Coordinate systems	79	PCS 12 : Coordinate type	Coordinate systems
16	PCS 3 : Coordinate type	Coordinate systems	80	PCS 12 : Offset X	Coordinate systems
17	PCS 3 : Offset X	Coordinate systems	81	PCS 12 : Offset Y	Coordinate systems
18	PCS 3 : Offset Y	Coordinate systems	82	PCS 12 : Offset Z	Coordinate systems
19	PCS 3 : Offset Z	Coordinate systems	83	PCS 12 : Orientation A	Coordinate systems
20	PCS 3 : Orientation A	Coordinate systems	84	PCS 12 : Orientation B	Coordinate systems
21	PCS 3 : Orientation B	Coordinate systems	85	PCS 12 : Orientation C	Coordinate systems
22	PCS 3 : Orientation C	Coordinate systems	86	PCS 13 : Coordinate type	Coordinate systems
23	PCS 4 : Coordinate type	Coordinate systems	87	PCS 13 : Offset X	Coordinate systems
24	PCS 4 : Offset X	Coordinate systems	88	PCS 13 : Offset Y	Coordinate systems
25	PCS 4 : Offset Y	Coordinate systems	89	PCS 13 : Offset Z	Coordinate systems
26	PCS 4 : Offset Z	Coordinate systems	90	PCS 13 : Orientation A	Coordinate systems
27	PCS 4 : Orientation A	Coordinate systems	91	PCS 13 : Orientation B	Coordinate systems
28	PCS 4 : Orientation B	Coordinate systems	92	PCS 13 : Orientation C	Coordinate systems
29	PCS 4 : Orientation C	Coordinate systems	93	PCS 14 : Coordinate type	Coordinate systems
30	PCS 5 : Coordinate type	Coordinate systems	94	PCS 14 : Offset X	Coordinate systems
31	PCS 5 : Offset X	Coordinate systems	95	PCS 14 : Offset Y	Coordinate systems
32	PCS 5 : Offset Y	Coordinate systems	96	PCS 14 : Offset Z	Coordinate systems
33	PCS 5 : Offset Z	Coordinate systems	97	PCS 14 : Orientation A	Coordinate systems
34	PCS 5 : Orientation A	Coordinate systems	98	PCS 14 : Orientation B	Coordinate systems
35	PCS 5 : Orientation B	Coordinate systems	99	PCS 14 : Orientation C	Coordinate systems
36	PCS 5 : Orientation C	Coordinate systems	100	PCS 15 : Coordinate type	Coordinate systems
37	PCS 6 : Coordinate type	Coordinate systems	101	PCS 15 : Offset X	Coordinate systems
38	PCS 6 : Offset X	Coordinate systems	102	PCS 15 : Offset Y	Coordinate systems
39	PCS 6 : Offset Y	Coordinate systems	103	PCS 15 : Offset Z	Coordinate systems
40	PCS 6 : Offset Z	Coordinate systems	104	PCS 15 : Orientation A	Coordinate systems
41	PCS 6 : Orientation A	Coordinate systems	105	PCS 15 : Orientation B	Coordinate systems
42	PCS 6 : Orientation B	Coordinate systems	106	PCS 15 : Orientation C	Coordinate systems
43	PCS 6 : Orientation C	Coordinate systems	107	PCS 16 : Coordinate type	Coordinate systems
44	PCS 7 : Coordinate type	Coordinate systems	108	PCS 16 : Offset X	Coordinate systems
45	PCS 7 : Offset X	Coordinate systems	109	PCS 16 : Offset Y	Coordinate systems
46	PCS 7 : Offset Y	Coordinate systems	110	PCS 16 : Offset Z	Coordinate systems
47	PCS 7 : Offset Z	Coordinate systems	111	PCS 16 : Orientation A	Coordinate systems
48	PCS 7 : Orientation A	Coordinate systems	112	PCS 16 : Orientation B	Coordinate systems
49	PCS 7 : Orientation B	Coordinate systems	113	PCS 16 : Orientation C	Coordinate systems
50	PCS 7 : Orientation C	Coordinate systems	121	MCS : Offset X	Coordinate systems
51	PCS 8 : Coordinate type	Coordinate systems	122	MCS : Offset Y	Coordinate systems
52	PCS 8 : Offset X	Coordinate systems	123	MCS : Offset Z	Coordinate systems
53	PCS 8 : Offset Y	Coordinate systems	124	MCS : Orientation A	Coordinate systems
54	PCS 8 : Offset Z	Coordinate systems	125	MCS : Orientation B	Coordinate systems
55	PCS 8 : Orientation A	Coordinate systems	126	MCS : Orientation C	Coordinate systems
56	PCS 8: Orientation B	Coordinate systems
57	PCS 8: Orientation C	Coordinate systems
58	PCS 9: Coordinate type	Coordinate systems
59	PCS 9: Offset X	Coordinate systems
60	PCS 9: Offset Y	Coordinate systems
61	PCS 9: Offset Z	Coordinate systems
62	PCS 9: Orientation A	Coordinate systems
63	PCS 9: Orientation B	Coordinate systems
64	PCS 9: Orientation C	Coordinate systems
65	PCS 10: Coordinate type	Coordinate systems

Subindex/Name		Category	Subindex/Name		Category
Index offset 1: Tools
150	Active tool	Tools	191	Tool 3 : Tool type	Tools
151	Tool 1 : Tool type	Tools	192	Tool 3 : Offset X	Tools
152	Tool 1 : Offset X	Tools	193	Tool 3 : Offset Y	Tools
153	Tool 1 : Offset Y	Tools	194	Tool 3 : Offset Z	Tools
154	Tool 1 : Offset Z	Tools	195	Tool 3 : Orientation A	Tools
155	Tool 1 : Orientation A	Tools	196	Tool 3 : Orientation B	Tools
156	Tool 1 : Orientation B	Tools	197	Tool 3 : Orientation C	Tools
157	Tool 1 : Orientation C	Tools	198	Tool 3 : Switch-on time	Tools
158	Tool 1 : Switch-on time	Tools	199	Tool 3 : Switch-off time	Tools
159	Tool 1 : Switch-off time	Tools	211	Tool 4 : Tool type	Tools
171	Tool 2 : Tool type	Tools	212	Tool 4 : Offset X	Tools
172	Tool 2 : Offset X	Tools	213	Tool 4 : Offset Y	Tools
173	Tool 2 : Offset Y	Tools	214	Tool 4 : Offset Z	Tools
174	Tool 2 : Offset Z	Tools	215	Tool 4 : Orientation A	Tools
175	Tool 2 : Orientation A	Tools	216	Tool 4 : Orientation B	Tools
176	Tool 2 : Orientation B	Tools	217	Tool 4 : Orientation C	Tools
177	Tool 2 : Orientation C	Tools	218	Tool 4 : Switch-off time	Tools
178	Tool 2 : Switch-on time	Tools	219	Tool 4 : Switch-off time	Tools
179	Tool 2 : Switch-off time	Tools

Subindex/Name		Category
Index offset 3: Delta3_3dof
2	Arm length L1	Machine parameters
3	Arm length L2	Machine parameters
4	Basic radius Rbase	Machine parameters
5	End effector radius R _TCP	Machine parameters
6	Parallelogram width D	Machine parameters
51	Coulomb friction A1	Machine parameters
52	Coulomb friction A2	Machine parameters
53	Coulomb friction A3	Machine parameters
57	Viscous friction A1	Machine parameters
58	Viscous friction A2	Machine parameters
59	Viscous friction A3	Machine parameters
71	Gravitation X	Machine parameters
72	Gravitation y	Machine parameters
73	Gravitation z	Machine parameters
74	Torque feedforward control: minimum parameter1	Machine parameters
75	Torque feedforward control: minimum parameter2	Machine parameters
76	Torque feedforward control: minimum parameter3	Machine parameters
77	Torque feedforward control: minimum parameter4	Machine parameters
Index offset 3: Delta3_4dof
2	Arm length L1	Machine parameters
3	Arm length L2	Machine parameters
4	Basic radius Rbase	Machine parameters
5	End effector radius R _TCP	Machine parameters
6	Parallelogram width D	Machine parameters
51	Coulomb friction A1	Machine parameters
52	Coulomb friction A2	Machine parameters
53	Coulomb friction A3	Machine parameters
54	Coulomb friction A4	Machine parameters
57	Viscous friction A1	Machine parameters
58	Viscous friction A2	Machine parameters
59	Viscous friction A3	Machine parameters
60	Viscous friction A4	Machine parameters
71	Gravitation X	Machine parameters
72	Gravitation y	Machine parameters
73	Gravitation z	Machine parameters
74	Torque feedforward control: minimum parameter1	Machine parameters
75	Torque feedforward control: minimum parameter2	Machine parameters
76	Torque feedforward control: minimum parameter3	Machine parameters
77	Torque feedforward control: minimum parameter4	Machine parameters
78	Torque feedforward control: minimum parameter5	Machine parameters
79	Torque feedforward control: minimum parameter6	Machine parameters
80	Torque feedforward control: minimum parameter7	Machine parameters
Index offset 3: Delta3_5dof
2	Arm length L1	Machine parameters
3	Arm length L2	Machine parameters
4	Basic radius Rbase	Machine parameters
5	End effector radius Rtcp	Machine parameters
6	Parallelogram width D	Machine parameters
7	Vertical TCP offset L3	Machine parameters
8	Horizontal TCP offset L4	Machine parameters
9	Flange length L5	Machine parameters
10	Axis offset A4Offx	Machine parameters
11	Axis offset A4Offy	Machine parameters
51	Coulomb friction A1	Machine parameters
52	Coulomb friction A2	Machine parameters
53	Coulomb friction A3	Machine parameters
54	Coulomb friction A4	Machine parameters
55	Coulomb friction A5	Machine parameters
57	Viscous friction A1	Machine parameters
58	Viscous friction A2	Machine parameters
59	Viscous friction A3	Machine parameters
60	Viscous friction A4	Machine parameters
61	Viscous friction A5	Machine parameters
71	Gravitation X	Machine parameters
72	Gravitation y	Machine parameters
73	Gravitation z	Machine parameters
74	Torque feedforward control: minimum parameter1	Machine parameters
75	Torque feedforward control: minimum parameter2	Machine parameters
76	Torque feedforward control: minimum parameter3	Machine parameters
77	Torque feedforward control: minimum parameter4	Machine parameters
Index offset 3: Scara_3dof
2	Arm length L1	Machine parameters
3	Arm length L2	Machine parameters
51	Coulomb friction A1	Machine parameters
52	Coulomb friction A2	Machine parameters
53	Coulomb friction A3	Machine parameters
57	Viscous friction A1	Machine parameters
58	Viscous friction A2	Machine parameters
59	Viscous friction A3	Machine parameters
71	Gravitation X	Machine parameters
72	Gravitation y	Machine parameters
73	Gravitation z	Machine parameters
74	Torque feedforward control: minimum parameter1	Machine parameters
75	Torque feedforward control: minimum parameter2	Machine parameters
76	Torque feedforward control: minimum parameter3	Machine parameters
77	Torque feedforward control: minimum parameter4	Machine parameters
78	Torque feedforward control: minimum parameter5	Machine parameters
79	Torque feedforward control: minimum parameter6	Machine parameters
80	Torque feedforward control: minimum parameter7	Machine parameters
Index offset 3: Scara_4dof
2	Arm length L1	Machine parameters
3	Arm length L2	Machine parameters
51	Coulomb friction A1	Machine parameters
52	Coulomb friction A2	Machine parameters
53	Coulomb friction A3	Machine parameters
54	Coulomb friction A4	Machine parameters
57	Viscous friction A1	Machine parameters
58	Viscous friction A2	Machine parameters
59	Viscous friction A3	Machine parameters
60	Viscous friction A4	Machine parameters
71	Gravitation X	Machine parameters
72	Gravitation y	Machine parameters
73	Gravitation z	Machine parameters
74	Torque feedforward control: minimum parameter1	Machine parameters
75	Torque feedforward control: minimum parameter2	Machine parameters
76	Torque feedforward control: minimum parameter3	Machine parameters
77	Torque feedforward control: minimum parameter4	Machine parameters
78	Torque feedforward control: minimum parameter5	Machine parameters
79	Torque feedforward control: minimum parameter6	Machine parameters
80	Torque feedforward control: minimum parameter7	Machine parameters
81	Torque feedforward control: minimum parameter8	Machine parameters
82	Torque feedforward control: minimum parameter9	Machine parameters
83	Torque feedforward control: minimum parameter10	Machine parameters
Index offset 3: Delta2_2dof
2	Arm length L1	Machine parameters
3	Arm length L2	Machine parameters
4	Basic radius Rbase	Machine parameters
5	End effector radius R _TCP	Machine parameters
Index offset 3: LinearDelta3_3dof
2	Linear angle a	Machine parameters
3	Arm length L2	Machine parameters
4	Basic radius Rbase	Machine parameters
5	End effector radius Rtcp	Machine parameters
6	Parallelogram width D	Machine parameters
Index offset 3: LinearDelta3_4dof
2	Linear angle a	Machine parameters
3	Arm length L2	Machine parameters
4	Basic radius Rbase	Machine parameters
5	End effector radius Rtcp	Machine parameters
6	Parallelogram width D	Machine parameters
Index offset 3: BeltKinematic_2dof
2	Feed constant	Machine parameters
Index offset 3: ArticulatedP_4dof
2	Axis offset A2Off	Machine parameters
3	Arm length L1	Machine parameters
4	Axis offset A3Off	Machine parameters
5	Arm length L2	Machine parameters
6	A4Off axis offset	Machine parameters
10	Mounting location A3	Machine parameters
Index offset 3: ArticulatedPLinA1_4dof
2	Axis offset A2Off	Machine parameters
3	Arm length L1	Machine parameters
4	Axis offset A3Off	Machine parameters
5	Arm length L2	Machine parameters
6	A4Off axis offset	Machine parameters
10	Mounting location A3	Machine parameters