Specification of the NC

This documentation contains all TwinCAT 3 specific modifications and new features.

Index-Group (Hex)	Description		Remarks
0x1000	Ring-0-Manager: Parameter		Optional!
0x1100	Ring-0-Manager: State		Optional!
0x1200	Ring-0-Manager: Functions		Optional!
0x1300	Ring-0-Manager: Cyclic process data		Not implemented!

0x2000 + ID	Channel with corresponding ID: parameters
0x2100 + ID	Channel with corresponding ID: state
0x2200 + ID	Channel with corresponding ID: functions
0x2300 + ID	Channel with corresponding ID: cyclic process data

0x3000 + ID	Group with corresponding ID: parameters		Optional!
0x3100 + ID	Group with corresponding ID: state		Optional!
0x3200 + ID	Group with corresponding ID: functions		Optional!
0x3300 + ID	Group with corresponding ID: cyclic process data		Not implemented!

0x4000 + ID	Axis with corresponding ID: parameters
0x4100 + ID	Axis with corresponding ID: state
0x4200 + ID	Axis with corresponding ID: functions
0x4300 + ID	Axis with corresponding ID: cyclic process data

0x5000 + ID	Encoder with corresponding ID: parameters		Optional!
0x5100 + ID	Encoder with corresponding ID: state		Optional!
0x5200 + ID	Encoder with corresponding ID: functions		Optional!
0x5300 + ID	Encoder with corresponding ID: cyclic process data		Optional!

0x6000 + ID	Controller with corresponding ID: Parameter		Optional!
0x6100 + ID	Controller with corresponding ID: State		Optional!
0x6200 + ID	Controller with corresponding ID: Functions		Optional!
0x6300 + ID	Controller with corresponding ID: cyclic process data		Not implemented!

0x7000 + ID	Drive with corr. ID: parameters		Optional!
0x7100 + ID	Drive with corr. ID: state		Optional!
0x7200 + ID	Drive with corr. ID: functions		Optional!
0x7300 + ID	Drive with corr. ID: cyclic process data		Optional!

0x0A000 + ID	Tables (n x m) with corresponding ID: parameters 0x0A000+ID for table ID [1..255] 0x1A000+ID for table ID [256..4095] . . . 0xFA000+ID for table ID [3840..4095]		Maximum number of tables extended to 4095 (from TC3.1 B4021)
0x0A100 + ID	Tables (n x m) with corresponding ID: state 0x0000A100+IDLowByte for table ID [1..255] 0x0001A100+IdLowByte for table ID [256..4095] … 0x000FA100+IdLowByte for table ID [3840..4095] 0x000nA100+IdLowByte for table ID [1..4095] (TabID = n * 256 + IdLowByte)
0x0A200 + ID	Tables (n x m) with corresponding ID: functions 0x0000A100+IDLowByte for table ID [1..255] 0x0001A100+IdLowByte for table ID [256..4095] … 0x000FA100+IdLowByte for table ID [3840..4095] 0x000nA100+IdLowByte for table ID [1..4095] (TabID = n * 256 + IdLowByte)
0x0A300 + ID	Tables (n x m) with corresponding ID: cyclic process data 0x0000A100+IDLowByte for table ID [1..255] 0x0001A100+IdLowByte for table ID [256..4095] … 0x000FA100+IdLowByte for table ID [3840..4095] 0x000nA100+IdLowByte for table ID [1..4095] (TabID = n * 256 + IdLowByte)		Not implemented!

0xF000 ... 0xFFFF	reserved area (TwinCAT system area)
IndexGroup:	IndexOffset:
0xF081	0x00000000 ... 0xFFFFFFFF (n elements)	ADSIGRP_SUMUP_WRITE The Read-Write-command contains a list in the Write-data of multiple separate ADS-Write-commands (like a group request). Structure of the Write-Data: [ IdxGrp(1), IdxOff(1), WriteLen(1), ..., IdxGrp(n), IdxOff(n), WriteLen(n), WriteData(1), ..., WriteData(n) ] Structure of the Read-Data: [ Error(1), ..., Error(n) ]
0xF082	0x00000000 ... 0xFFFFFFFF (n elements)	ADSIGRP_SUMUP_READWRITE The Read-Write-command contains a list in the Write-data of multiple separate ADS-Read-Write-commands (like a group request). Structure of the Write-Data: [ IdxGrp(1), IdxOff(1),ReadLen(1), WriteLen(1), ..., IdxGrp(n), IdxGrp(n), ReadLen(n), WriteLen(n), WriteData(1), ..., WriteData(n) ] Structure of the Read-Data: [ Error(1), ReadLen(1), ..., Error(n), ReadLen(n), ReadData(1), ..., ReadData(n) ]
0xF084	0x00000000 ... 0xFFFFFFFF (n elements)	ADSIGRP_SUMUP_READ (READEX2) The Read-Write-command contains a list in the Write-data of multiple separate ADS-Read-commands (like a group request). Structure of the Write-Data: [ IdxGrp(1), IdxOff(1), ReadLen(1), ..., IdxGrp(n), IdxGrp(n), ReadLen(n) ] Structure of the Read-Data: [ Error(1), ReadLen(1), ..., Error(n), ReadLen(n), ReadData(1), ..., ReadData(n) ]

Specification of the NC 1:

Further Information