"Index offset" specification for group parameter (Index group 0x3000 + ID)
Index offset (Hex) | Access | Group type | Data type | Phys. Unit | Definition range | Description | Note |
|---|---|---|---|---|---|---|---|
0x00000001 | Read | every | UINT32 | 1 |
| Group ID |
|
0x00000002 | Read | every | UINT8[30+1] | 1 |
| Group name |
|
0x00000003 | Read | every | UINT32 | 1 |
| Group type |
|
0x00000004 | Read | every | UINT32 | µs |
| SAF cycle time group |
|
0x00000005 | Read | every | UINT32 | µs |
| SVB cycle time group |
|
0x00000006 | Read/Write | every | UINT16 | 1 | 0/1 | Single block operation mode? |
|
0x0000000B | Read | every | UINT32 | 1 |
| Size of the SVB table (max. number of SVB entries |
|
0x0000000C | Read | every | UINT32 | 1 |
| Size of the SAF table (max. number of SAF entries |
|
|
|
|
|
|
|
|
|
0x00000010 | Read/Write | every | UINT32 | 1 | [1,2...32] | Internal SAF cycle time divisor (divides the internal SAF cycle time by this factor) | Default: 1 |
|
|
|
|
|
|
|
|
0x00000021 | Read | Channel: every | UINT32 | 1 |
| Channel ID |
|
0x00000022 | Read | Channel: every | UINT8[30+1] | 1 |
| Channel name |
|
0x00000023 | Read | Channel: every | UINT32 | 1 |
| Channel type |
|
0x00000024 | Read | Channel: every | UINT32 | 1 | >0 | Number in the Channel |
|
|
|
|
|
|
|
|
|
0x00000500 | Read/Write | DXD group | INT32 | ENUM | [0, 1] | Curve velocity reduction method 0: Coulomb-Scattering 1: Cosinus law 2: VeloJump |
|
0x00000501 | Read/Write | DXD group | REAL64 | 1 | [0.0...1.0] | Velocity reduction factor C0 transition (continual course, but neither once nor twice differentiable) |
|
0x00000502 | Read/Write | DXD group | REAL64 | 1 | [0.0...1.0] | Velocity reduction factor C1 transition (continual course and once differentiable) |
|
0x00000503 | Read/Write | DXD group | REAL64 | degree | [0.0...180.0] | Critical angle on the segment transition "Low" (must genuinely be smaller than or equal to the velocity reduction angle C0) |
|
0x00000504 | Read/Write | DXD group | REAL64 | degree | [0.0...180.0] | Critical angle on the segment transition "High" (must genuinely be smaller than or equal to the velocity reduction angle C0) |
|
0x00000505 | Read/Write | DXD group | REAL64 | mm/s | ≥ 0 | Minimum velocity that must be maintained at segment transitions in spite of any possible velocity reduction. |
|
0x00000506 | Read/Write | DXD group | REAL64 | e.g. mm | [0.0...1000.0] | Radius of the tolerance sphere for smoothing | Not implemented! |
0x00000507 | Read/Write | DXD group | REAL64 | 1 |
| Velocity reduction factor C2 transition |
|
0x00000508 | Read/Write | DXD group | UINT32 | 1 | 0/1 | Enables calculation of the total remaining path length |
|
0x00000509 | Read/Write | DXD group | UINT16 | 1 | 0/1 | General activation of the software limit position monitoring for the main axes (X, Y, Z) | From TwinCAT V2.9 B959 |
0x0000050A | Read/Write | DXD group | UINT32 | 1 | 0/1 | NCI Override type 0: related to internal reduced velocity (without iteration) 1: related to original external (programmed) velocity | From TwinCAT V2.9 B948 |
0x0000050B | Read/Write | DXD group | UINT16 | 1 | 0/1 | NCI override 0: Override limited to 100% 1: Override >100% possible | From TwinCAT V2.10 B1226 |
|
|
|
|
|
|
|
|
0x00000510 | Read/Write | DXD group | REAL64 | 1 | ≥ 0 | For reduction method VeloJump Reduction factor for C0 transitions: X axis | Not implemented! |
0x00000511 | Read/Write | DXD group | REAL64 | 1 | ≥ 0 | For reduction method VeloJump Reduction factor for C0 transitions: Y axis | Not implemented! |
0x00000512 | Read/Write | DXD group | REAL64 | 1 | ≥ 0 | For reduction method VeloJump Reduction factor for C0 transitions: Z axis | Not implemented! |
0x00000513 | Read/Write | DXD group | LREAL64 | 1 | ]0.0..1.0[ | Blending for auxiliary axes: If the effective path velo is smaller than the programmed one multiplied with this factor, then an accurate stop is inserted and the tolerance ball is deleted | From TwinCAT V2.11 B1552 |
|
|
|
|
|
|
|
|
0x00000604 | Read/Write | Encoder group | REAL64 | e.g. mm/s | [0.0...1000.0] | Velocity window resp. standstill window | Base Unit / s |
0x00000605 | Read/Write | Encoder group | REAL64 | s | [0.0...60.0] | Filter time for standstill window in seconds |
|
0x00000606 | Read/Write | Encoder group | REAL64 | s | [0.0...60.0] | Dead time compensation master/slave coupling ("angle pre-control") |
|
|
|
|
|
|
|
|
|
0x00000701 | Read | FIFO group | UINT32 | 1 | [1...8] resp. [1...16] | FIFO dimension (m = number of axes) (from TC 2.11 Build 1547 the FIFO dimension has been increased from 8 to 16) | (n x m)-FIFO Boot data! |
0x00000702 | Read | FIFO group | UINT32 | 1 | [1...10000] | FIFO size (length) (n = number of FIFO entries) | (n x m)-FIFO Boot data! |
0x00000703 | Read | FIFO group | UINT32 | 1 | [0, 1, 4] | Interpolation type for FIFO setpoint generator 0: INTERPOLATIONTYPE_LINEAR (Default) 1: INTERPOLATIONTYPE_4POINT 4: INTERPOLATIONTYPE_CUBICSPLINE (with 6 points) | From TwinCAT 211R3 Build 2257 |
0x00000704 | Read/Write | FIFO group | UINT32 | 1 | [1, 2] | Override type for FIFO setpoint generator type 1: OVERRIDETYPE_INSTANTANEOUS (default) type 2: OVERRIDETYPE_PT2 |
|
0x00000705 | Read/Write | FIFO group | REAL64 | s | > 0.0 | P-T2-time for override change (T1=T2=T0) |
|
0x00000706 | Read/Write | FIFO group | REAL64 | s | ≥ 0.0 | Time delta for two sequenced FIFO entries (FIFO entry timebase) |
|
|
|
|
|
|
|
|
|
0x00000801 | Read/Write | Kinematic group | Write |
|
| Calculation of the kinematic forward transformation for the positions (ACS -> MCS) |
|
{ |
|
|
| ||||
REAL64 [8] | e.g. degree | ±∞ | Positions of the ACS axes (Axis Coordinate System), max. dimension: 8 | ||||
UINT32 | 1 | ≥ 0 | Reserve | ||||
UINT32 | 1 | ≥ 0 | Reserve | ||||
} |
|
|
| ||||
Read |
|
|
| ||||
{ |
|
|
| ||||
REAL64 [8] | e.g. mm | ±∞ | Positions of the MCS axes (Machine Coordinate System), max. dimension: 8 | ||||
UINT32 | 1 | ≥ 0 | Reserve | ||||
UINT32 | 1 | ≥ 0 | Reserve | ||||
} |
|
|
| ||||
0x00000802 | ReadWrite | Kinematic group | Write |
|
| Calculation of the kinematic backward transformation for the positions (MCS -> ACS) |
|
{ |
|
|
| ||||
REAL64 [8] | e.g. mm | ±∞ | Positions of the MCS axes (Machine Coordinate System), max. dimension: 8 | ||||
UINT32 | 1 | ≥ 0 | Reserve | ||||
UINT32 | 1 | ≥ 0 | Reserve | ||||
} |
|
|
| ||||
Read |
|
|
| ||||
{ |
|
|
| ||||
REAL64 [8] | e.g. degree | ±∞ | Positions of the ACS axes (Axis Coordinate System), max. dimension: 8 | ||||
UINT32 | 1 | ≥ 0 | Reserve | ||||
UINT32 | 1 | ≥ 0 | Reserve | ||||
} |
|
|
| ||||
|
|
|
|
|
|
|
|