"Index offset" specification for cyclic axis process data (Index group 0x4300 + ID)
Index offset ( Hex ) | Access | Axis type | Data type | Phys. unit | Definition range | Description | Note |
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0x00n00000 | Read/Write | every (PLC→NC) | { 128 bytes} |
| STRUCT see axis interface | AXIS STRUCTURE (PLC→NC) n = 0: standard axis interface n > 0: n-th axis interface (optional) | Write command only optional! Consider safety aspects! PLCTONC_AXIS_REF |
0x00n00001 | Read/Write | every (PLC→NC) | UINT32 | 1 | >0 | Control double word | Write command only optional! Symbolic access possible! "ControlDWord" |
0x00n00002 | Read/Write | every (PLC→NC) | UINT16 | 1 | 0/1 | Controller enable | Cannot be traced by oscilloscope! |
0x00n00003 | Read/Write | every (PLC→NC) | UINT16 | 1 | 0/1 | Feed enable plus | Cannot be traced by oscilloscope! |
0x00n00004 | Read/Write | every (PLC→NC) | UINT16 | 1 | 0/1 | Feed enable minus | Cannot be traced by oscilloscope! |
0x00n00007 | Read/Write | every (PLC→NC) | UINT16 | 1 | 0/1 | Referencing cam | Cannot be traced by oscilloscope! |
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0x00n00021 | Read/Write | every (PLC→NC) | UINT32 | % | 0...1000000 | Velocity override (1000000 == 100%) | Write command only optional! Symbolic access possible! "OverrideV" |
0x00n00022 | Read/Write | every (PLC→NC) | UINT32 | 1 | ENUM | Operation mode axis | Write command only optional! |
0x00n00025 | Read/Write | every (PLC→NC) | REAL64 | e.g. mm |
| Actual position correction value (measurement system error correction) | Write command only optional! |
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0x00n00026 | Read/Write | every (PLC→NC) | REAL64 | e.g. mm/s |
| External controller component (position controller component) | Write command only optional! |
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0x00n00027 | Read/Write | every (PLC→NC) | { |
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| External setpoint generation | Write command only optional!
Modified from TC3 |
REAL64 | e.g. mm | ±∞ | External set position | ||||
REAL64 | e.g. mm/s | ±∞ | External set velocity | ||||
REAL64 | e.g. mm/s^2 | ±∞ | External set acceleration | ||||
INT32 | 1 | +1, 0, -1 | External set travel direction | ||||
UINT32 |
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| Reserve (TC3) | ||||
REAL64 |
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| Reserve (TC3) | ||||
} |
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0x00n00080 | Read | every (PLC→NC) | { 256 bytes} |
| STRUCT see axis interface | AXIS STRUCTURE (NC→PLC) Note: size and alignment changed n = 0: standard axis interface n > 0: n-th axis interface (optional) | Changed from TC3.NCTOPLC_AXIS_REF |
0x00n00071 | Read | every (PLC→NC) | UINT8 | 1 | >0 | State double word: byte 1 |
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0x00n00072 | Read | every (PLC→NC) | UINT8 | 1 | >0 | State double word: byte 2 |
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0x00n00073 | Read | every (PLC→NC) | UINT8 | 1 | >0 | State double word: byte 3 |
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0x00n00074 | Read | every (PLC→NC) | UINT8 | 1 | >0 | State double word: byte 4 |
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0x00n00081 | Read | every (PLC→NC) | UINT32 | 1 | >0 | State double word (complete) | Symbolic access possible! "StateDWord" |
0x00n00082 | Read | every (PLC→NC) | UINT16 | 1 | 0/1 | Axis is ready for operation | Cannot be traced by oscilloscope! |
0x00n00083 | Read | every (PLC→NC) | UINT16 | 1 | 0/1 | Axis has been referenced | Cannot be traced by oscilloscope! |
0x00n00084 | Read | every (PLC→NC) | UINT16 | 1 | 0/1 | Axis in protected operation mode (e.g. slave axis) | Cannot be traced by oscilloscope! |
0x00n00085 | Read | every (PLC→NC) | UINT16 | 1 | 0/1 | Axis is in rapid mode | Cannot be traced by oscilloscope! |
0x00n00088 | Read | every (PLC→NC) | UINT16 | 1 | 0/1 | Axis has invalid I/O data | Cannot be traced by oscilloscope! |
0x00n00089 | Read | every (PLC→NC) | UINT16 | 1 | 0/1 | Axis is in an error state | Cannot be traced by oscilloscope! |
0x00n0008A | Read | every (PLC→NC) | UINT16 | 1 | 0/1 | Axis moving to larger values | Cannot be traced by oscilloscope! |
0x00n0008B | Read | every (PLC→NC) | UINT16 | 1 | 0/1 | Axis moving to smaller values | Cannot be traced by oscilloscope! |
0x00n0008C | Read | every (PLC→NC) | UINT16 | 1 | 0/1 | Axis is at a logical standstill (position controller?) | Cannot be traced by oscilloscope! |
0x00n0008D | Read | every (PLC→NC) | UINT16 | 1 | 0/1 | Axis is being referenced | Cannot be traced by oscilloscope! |
0x00n0008E | Read | every (PLC→NC) | UINT16 | 1 | 0/1 | Axis is in position window | Cannot be traced by oscilloscope! |
0x00n0008F | Read | every (PLC→NC) | UINT16 | 1 | 0/1 | Axis is at target position (target position reached) | Cannot be traced by oscilloscope! |
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0x00n00090 | Read | every (PLC→NC) | UINT16 | 1 | 0/1 | Axis has constant velocity or rotary speed | Cannot be traced by oscilloscope! |
0x00n0009A | Read | every (PLC→NC) | UINT16 | 1 | 0/1 | Operation mode not executed (busy) | Cannot be traced by oscilloscope! |
0x00n0009B | Read | every (PLC→NC) | UINT16 | 1 | 0/1 | Axis has instructions, is carrying instructions out | Cannot be traced by oscilloscope! |
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0x00n000B1 | Read | every (PLC→NC) | UINT32 | 1 | ≥0 | Axis error code |
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0x00n000B2 | Read | every (PLC→NC) | UINT32 | 1 | ENUM | Motion state of the axis (master state / slave state) | Symbolic access possible! "AxisState" |
0x00n000B3 | Read | every (PLC→NC) | UINT32 | 1 | ENUM | Operation mode of the axis (rev. NC) |
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0x00n000B4 | Read | every (PLC→NC) | UINT32 | 1 | ENUM | Axis referencing status | Symbolic access possible! "HomingState" |
0x00n000B5 | Read | every (PLC→NC) | UINT32 | 1 | ENUM | Axis coupling state | Symbolic access possible! "CoupleState" |
0x00n000B6 | Read | every (PLC→NC) | UINT32 | 1 | ≥0 | SVB entries/tasks of the axis (PRE table) |
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0x00n000B7 | Read | every (PLC→NC) | UINT32 | 1 | ≥0 | SAF entries/tasks of the axis (EXE table) |
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0x00n000B8 | Read | every (PLC→NC) | UINT32 | 1 | ≥0 | Axis ID |
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0x00n000B9 | Read | every (PLC→NC) | UINT32 | 1 | ≥0 | Operation modes state double word:Bit 0: Position range monitoring active? Bit 1: target position window monitoring active? Bit 2: looping distance active? Bit 3: physical motion monitoring active? Bit 4: PEH time monitoring active? Bit 5: backlash compensation active? Bit 6: delayed error reaction mode active? Bit 7: modulo operation mode active (modulo axis)? Bit 16: following error monitoring position active? Bit 17: following error monitoring vel. active? Bit 18: end position monitoring min. active? Bit 19: end position monitoring max. active? Bit 20: actual position correction active? |
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0x00n000BA | Read | every (PLC→NC) | REAL64 | e.g. mm |
| Actual position (calculated absolute value) |
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0x00n000BB | Read | every (PLC→NC) | REAL64 | e.g. mm |
| Modulo actual position |
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0x00n000BC | Read | every (PLC→NC) | INT32 | 1 |
| Modulo rotations |
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0x00n000BD | Read | every (PLC→NC) | REAL64 | e.g. mm/s |
| Actual velocity (optional) |
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0x00n000BE | Read | every (PLC→NC) | REAL64 | e.g. mm |
| Following error position |
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0x00n000BF | Read | every (PLC→NC) | REAL64 | e.g. mm |
| Set position |
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0x00n000C0 | Read | every (PLC→NC) | REAL64 | e.g. mm/s |
| Set velocity |
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0x00n000C1 | Read | every (PLC→NC) | REAL64 | e.g. mm/s^2 |
| Set acceleration |
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0x00n10000 | Read/Write | Encoder: every | { 40 bytes |
| STRUCT see encoder IO interface | ENCODER OUTPUT STRUCTURE (NC→IO, 40 bytes)NCENCODERSTRUCT_OUT2 | Write command only optional! Consider safety aspects! |
0x00n10080 | Read | Encoder: every | { 40 bytes |
| STRUCT see encoder IO interface | ENCODER-INPUT-STRUCTURE (IO→NC, 40 bytes)NCENCODERSTRUCT_IN2 |
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0x00n30000 | Read/Write | Drive: every | { 40 bytes |
| STRUCT see drive IO interface | DRIVE-OUTPUT-STRUCTURE (NC→IO, 40 bytes)NCDRIVESTRUCT_OUT2 | Write command only optional! Consider safety aspects! |
0x00n30080 | Read | Drive: every | { 40 bytes |
| STRUCT see drive IO interface | DRIVE-INPUT-STRUCTURE (NC→IO, 40 bytes)NCDRIVESTRUCT_IN2 |
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