"Index offset" specification for cyclic axis process data (Index group 0x4300 + ID)

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!

0x00n00001

Read/Write

every (PLC→NC)

UINT32

1

>0

Control double word

Write command only optional!

0x00n00002

Read/Write

every (PLC→NC)

UINT16

1

0/1

Enable controller

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!

0x00n00021

Read/Write

every (PLC→NC)

UINT32

%

0...1000000

Speed override (1000000 == 100%)

Write command only optional!

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!

0x00n00026

Read/Write

every (PLC→NC)

REAL64

e.g. mm/s

External controller part

(position controller part)

Write command only optional!

0x00n00027

Read/Write

every (PLC→NC)

{

External setpoint generation

Write command only optional!

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

}

0x00n00080

Read

every (PLC→NC)

{

128 bytes

}

STRUCT

see axis interface

AXIS STRUCTURE (NC→PLC)

n = 0: standard axis interface

n > 0: n-th axis interface (optional)

NCTOPLC_AXLESTRUCT

0x00n00071

Read

every (PLC→NC)

UINT8

1

>0

Status double word: byte 1

0x00n00072

Read

every (PLC→NC)

UINT8

1

>0

Status double word: byte 2

0x00n00073

Read

every (PLC→NC)

UINT8

1

>0

Status double word: byte 3

0x00n00074

Read

every (PLC→NC)

UINT8

1

>0

Status double word: byte 4

0x00n00081

Read

every (PLC→NC)

UINT32

1

>0

Status double word (complete)

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 IO data

Cannot be traced by oscilloscope!

0x00n00089

Read

every (PLC→NC)

UINT16

1

0/1

Axis is in a fault 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 (only set values are considered) (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!

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!

0x00n000B1

Read

every (PLC→NC)

UINT32

1

≥0

Axis error code

0x00n000B2

Read

every (PLC→NC)

UINT32

1

ENUM

Present state of the axis movement

0x00n000B3

Read

every (PLC→NC)

UINT32

1

ENUM

Axis operation mode (feedback from the NC)

0x00n000B4

Read

every (PLC→NC)

UINT32

1

ENUM

Axis referencing status

0x00n000B5

Read

every (PLC→NC)

UINT32

1

ENUM

Axis coupling status

0x00n000B6

Read

every (PLC→NC)

UINT32

1

≥0

SVB entries/tasks of the axis (PRE table)

0x00n000B7

Read

every (PLC→NC)

UINT32

1

≥0

SAF entries/tasks of the axis (EXE table)

0x00n000B8

Read

every (PLC→NC)

UINT32

1

≥0

Axis ID

0x00n000B9

Read

every (PLC→NC)

UINT32

1

≥0

Operation modes status double word:

Bit 0: position range monitoring active?

Bit 1: target position window monitoring active?

Bit 2: loop travel active?

Bit 3: physical movement monitoring active?

Bit 4: PEH time monitoring active?

Bit 5: backlash compensation active?

Bit 6: NEW: delayed error reaction mode active?

Bit 7: NEW: modulo operation mode active (modulo axis)?

Bit 16: trailing separation monitoring position active?

Bit 17: following error monitoring speed active?

Bit 18: end position monitoring min. active?

Bit 19: end position monitoring max. active?

Bit 20: actual position correction active?

0x00n000BA

Read

every (PLC→NC)

REAL64

e.g. mm

Actual position (calculated absolute value)

0x00n000BB

Read

every (PLC→NC)

REAL64

e.g. mm

Modulo actual position

0x00n000BC

Read

every (PLC→NC)

INT32

1

Modulo rotations

0x00n000BD

Read

every (PLC→NC)

REAL64

e.g. mm/s

Actual velocity (optional)

0x00n000BE

Read

every (PLC→NC)

REAL64

e.g. mm

Following error position

0x00n000BF

Read

every (PLC→NC)

REAL64

e.g. mm

Set position

0x00n000C0

Read

every (PLC→NC)

REAL64

e.g. mm/s

Set velocity

0x00n000C1

Read

every (PLC→NC)

REAL64

e.g. mm/s^2

Set acceleration

0x00n000C2

Read

every (PLC→NC)

REAL64

Reserve 2

0x00n000C3

Read

every (PLC→NC)

REAL64

Reserve 3

0x00n000C4

Read

every (PLC→NC)

REAL64

Reserve 4

0x00n10000

Read/Write

Encoder: every
(NC→IO)

{

12 bytes
}

STRUCT

s. encoder-interface

ENCODER-OUTPUT-STRUCTURE

(NC→IO, 12 bytes)

Write command only optional!

Consider safety aspects!

0x00n10000

Read/Write

Encoder: every
(NC→IO)

{

40 bytes
}

STRUCT

s. new encoder-interface

ENCODER-EXTENDED-OUTPUT-STRUCTURE (new)

(NC→IO, 40 bytes)

Write command only optional!

Consider safety aspects!

0x00n10080

Read

Encoder: every
(IO→NC)

{

12 bytes
}

STRUCT

s. encoder-interface

ENCODER-INPUT-STRUCTURE

(IO→NC, 12 bytes)

0x00n10080

Read

Encoder: every
(IO→NC)

{

40 bytes
}

STRUCT

s. new encoder-interface

ENCODER-EXTENDED-INPUT-STRUCTURE (new)

(IO→NC, 40 bytes)

0x00n30000

Read/Write

Drive: every
(NC→IO)

{

12 bytes
}

STRUCT

see drive interface

DRIVE-OUTPUT-STRUCTURE

(NC→IO, 12 bytes)

Write command only optional!

Consider safety aspects!

0x00n30000

Read/Write

Drive: every
(NC→IO)

{

40 bytes
}

STRUCT

See new drive interface

DRIVE-EXTENDED-OUTPUT-STRUCTURE (new)

(NC→IO, 40 bytes)

Write command only optional!

Consider safety aspects!

0x00n30080

Read

Drive: every
(IO→NC)

{

12 bytes
}

STRUCT

see drive interface

DRIVE-INPUT-STRUCTURE

(NC→IO, 12 bytes)

0x00n30080

Read

Drive: every
(IO→NC)

{

40 bytes
}

STRUCT

See new drive interface

DRIVE-EXTENDED-INPUT-STRUCTURE (new)

(NC→IO, 40 bytes)