You have a two options when dealing with undefined URL's:
This is a strict option that will not allow anything to be passed to pages through the URL, if you want to specify a page to be able to take parameters you can add:
"PassParams" = true
.. to the OverrideObjectData array at the top of the page. To see this in action have a look here. In "help/vars.php" PassParams has been set to true in the configuration instance, so any parameters passed will be accessible on that page.
To use this method you simply have to make sure that the config file at "/config.php" has the following property set to true:
"PassParams" => true
To explain what this does.. say you have a page located at "/help/test.php" which can be accessed by simply using "/help/test" as a URL, if you were to put "/help/test/value1/value2" that page would be able to access them variables (as explained here).
Also if you didn't have a page at "/help/test.php" then using the same URL as above would return all of them parameters to the home or index page.
If you wish to have a specific page that doesn't allow parameters through you would have to add the following to the top of the page in the OverrideObjectData array:
"PassParams" => false
You can specify a 404 page to fall back on if PassParams is turned off and the page passed does not exist, for more information check here: help/configuration.
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