Inserting Free Drive Units Free drive units are not permanently coupled with other devices in the device tree. They are inserted in the device tree below SoftMotion General Drive Pool . :

Kinematic Transformations :

F FF E EF H L/O S [...] 0 movements. F Path [...] in F is not taken

to the fSetPosition , fSetVelocity , and f [...] to the fSetPosition , f

Position control loop f [...] of the system f [...] velocity. f

Only the numerical derivative of fSetPosition is used. 1 : Only f [...] position control. f

*) fEditorMasterMin: REAL := 0; fEditorMasterMax: REAL := 1; f

C P Q U V W F E H [...] W F E H L/O D S G [...] V W F E H L/O D S

V W F E H L/O D S [...] of the additional axes F E Path [...] 200 Z0 F100 N020 G

Q U V W F E H L [...] W F E H L/O D S G [...] of the additional axes F E Path