NC->PLC axis interface (128 bytes)

1

UINT32

0-3

-

-

nStateDWord

StateDWord

State double word.
See also detailed description of the StateDWord

0

0/1

Operational

Operational

Axis is ready for operation

1

0/1

Homed

Homed

Axis is referenced ("axis calibrated")

2

0/1

NotMoving

NotMoving

Axis is logically stationary ("Axis not moving")

3

0/1

InPositionArea

InPositionArea

Axis is in position window (physical feedback)

4

0/1

InTargetPosition

InTargetPosition

Axis is at target position (PEH) (physical feedback)

5

0/1

Protected

Protected

Axis is in protected operation mode (e.g. slave axis)

6

0/1

ErrorPropagationDelayed

ErrorPropagationDelayed

Axis signals a preliminary error warning (from TC 2.11)

7

0/1

HasBeenStopped

HasBeenStopped

Axis has been stopped or is presently executing a stop

8

0/1

HasJob

HasJob

Axis has job, is executing job

9

0/1

PositiveDirection

PositiveDirection

Axis moving to logically larger values

10

0/1

NegativeDirection

NegativeDirection

Axis moving to logically smaller values

11

0/1

HomingBusy

HomingBusy

Axis is referencing ("axis is being calibrated")

12

0/1

ConstantVelocity

ConstantVelocity

Axis has reached its constant velocity or rotary speed

13

0/1

Compensating

Compensating

Section compensation passive[0]/active[1] (see MC_MoveSuperImposed)

14

0/1

ExtSetPointGenEnabled

ExtSetPointGenEnabled

Enable external setpoint generation

15

0/1

Operation mode not yet executed (Busy). Not yet released!

16

0/1

ExternalLatchValid

ExternalLatchValid

External latch value or measuring probe has become valid

17

0/1

NewTargetPos

NewTargetPos

Axis has received a new end position or a new velocity

18

0/1

Axis not in target position or cannot/will not reach it (e.g. axis stop). Not yet released!

19

0/1

ContinuousMotion

ContinuousMotion

Axis executing endless positioning task

20

0/1

ControlLoopClosed

ControlLoopClosed

Axis ready to operate and axis control loop closed (e.g. position control)

21

0/1

CamTableQueued

CamTableQueued

New table ready for "Online Change" and waiting for activation

22

0/1

CamDataQueued

CamDataQueued

Table data (MF) ready for "Online Change" and waiting for activation

23

0/1

CamScalingPending

CamScalingPending

Table scalings ready for "Online Change" and waiting for activation

24

0/1

CmdBuffered

CmdBuffered

Follow-up command is available in the command buffer (see BufferMode) (from TwinCAT V2.10 Build 1311)

25

0/1

PTPmode

PTPmode

Axis in PTP operating mode (no slave, no NCI axis, no FIFO axis) (from TC 2.10 Build 1326)

26

0/1

SoftLimitMinExceeded

SoftLimitMinExceeded

Software minimum end position is active/occupied (from TC 2.10 Build 1327)

27

0/1

SoftLimitMaxExceeded

SoftLimitMaxExceeded

Software maximum end position is active/occupied (from TC 2.10 Build 1327)

28

0/1

DriveDeviceError

DriveDeviceError

Drive hardware has an error (no warning); interpretation possible only if drive is in I/O data exchange. e.g. EtherCAT "OP" state (from TC 2.10 Build 1326)

29

0/1

MotionCommandsLocked

MotionCommandsLocked

Axis is blocked for motion commands (TcMc2)

30

0/1

IoDataInvalid

IoDataInvalid

I/O data invalid (e.g. "WcState" or "CdlState" of the fieldbus)

31

0/1

Error

Error

Axis is in an error state

2

UINT32

4-7

-

≥0

nErrorCode

ErrorCode

Axis error code

3

UINT32

8-11

-

ENUM

nAxisState

AxisState

Present state of the axis movement

4

UINT32

12-15

-

ENUM

nAxisModeCon

AxisModeConfirmation

Axis operating mode (feedback from the NC)

5

UINT32

16-19

-

ENUM

nCalibrationState

HomingState

Reference status of the axis ("calibration status")

6

UINT32

20-23

-

ENUM

nCoupleState

CoupleState

Axis coupling state

7

UINT32

24-27

-

≥0

nSvbEntries

SvbEntries

SPP entries/tasks

8

UINT32

28-31

-

≥0

nSafEntries

SafEntries

SEC entries/tasks (NC interpreter, FIFO group)

9

UINT32

32-35

-

>0

nAxisId

AxisId

Axis ID

10

UINT32

36-39

-

-

nOpModeDWord,
bOpMode

OpModeDWord,
OpMode...

Axis operation mode double word

0

0/1

PosAreaMonitoring

...PosAreaMonitoring

Position range monitoring

1

0/1

TargetPosMonitoring

...TargetPosMonitoring

Target position window monitoring

2

0/1

Loop

...Loop

Looping distance

3

0/1

MotionMonitoring

...MotionMonitoring

Physical motion monitoring

4

0/1

PEHTimeMonitoring

...PEHTimeMonitoring

PEH time monitoring

5

0/1

BacklashComp

...BacklashComp

Backlash compensation

6

0/1

DelayedErrorReaction

...DelayedErrorReaction

Delayed error reaction of the NC

7

0/1

Modulo

...Modulo

Modulo axis (modulo display)

8-15

0/1

RESERVE

16

0/1

PosLagMonitoring

...PosLagMonitoring

Lag monitoring - position

17

0/1

VeloLagMonitoring

...VeloLagMonitoring

Lag monitoring - velocity

18

0/1

SoftLimitMinMonitoring

...SoftLimitMinMonitoring

End position monitoring min.

19

0/1

SoftLimitMaxMonitoring

...SoftLimitMaxMonitoring

End position monitoring max.

20

0/1

PosCorrection

...PosCorrection

Position correction ("Measuring system error compensation")

21

0/1

AllowSlaveCommands

...AllowSlaveCommands

Allow motion commands to slave axes

22

0/1

RESERVE

23

0/1

ApplicationRequest

ApplicationRequest

Request bit for the application software (PLC code), e.g. for an "ApplicationHomingRequest"

from TwinCAT V2.11 Build 1546

24-31

0/1

RESERVE

11

UINT16

40-41

-

≥0

nActiveControlLoopIndex

ActiveControlLoopIndex

Active axis control loop index (identical with old variable "nCtrlLoopIndex")

from TwinCAT V2.10 Build 1311

12

UINT16

42-43

-

≥0

nControlLoopIndex

ControlLoopIndex

Axis control loop index (0, 1, 2, if more than one axis control loop is used)

from TwinCAT V2.10 Build 1311

13

REAL64

44-51

-

±∞

fPosIst

ActPos

Actual position (calculated absolute value)

14

REAL64

52-59

-

>∞

fModuloPosIst

ModuloActPos

Modulo actual position (calculate value in, for example, degrees)

15

INT32

60-63

-

±∞

nModuloTurns

ModuloActTurns

Modulo actual rotations

16

REAL64

64-71

-

±∞

fVeloIst

ActVelo

Actual velocity (optional)

17

REAL64

72-79

-

±∞

fPosDiff

PosDiff

Lag error (position)

18

REAL64

80-87

-

±∞

fPosSoll

SetPos

Set position (calculated absolute value)

19

REAL64

88-95

-

±∞

fVeloSoll

SetVelo

Set velocity

20

REAL64

96-103

-

±∞

fAccSoll

SetAcc

Set acceleration

21

REAL64

104-111

-

±∞

fPosTarget

TargetPos

Estimated target position of the axis

from TwinCAT V2.10 Build 1311

22

REAL64

112-119

-

>∞

fModuloPosSoll

ModuloSetPos

Modulo set position (calculate value in, for example, degrees)

from TwinCAT V2.10 Build 1311

23

INT32

120-123

-

±∞

nModuloTurnsSoll

ModuloSetTurns

Modulo set rotations

from TwinCAT V2.10 Build 1311

24

UINT16

124-125

-

≥0

nCmdNo

CmdNo

Command number of the active axis job (see BufferMode)

from TwinCAT V2.10 Build 1311

25

UINT16

126-127

-

≥0

nCmdState

CmdState

Command status information (see Buffer Mode)

from TwinCAT V2.10 Build 1311

0

Referencing process completed (READY)

1

Continuous start in the direction of the referencing cam. Info: If the cam is occupied at the beginning, then the program starts directly with referencing status 3.

2

Wait for positive edge of the referencing cam and initiate axis stop

3

Wait until the axis is stopped (check whether cam is still occupied) and then endless start of the referencing cam in the direction of the sync pulse

4

Wait for falling edge of the referencing cam

5

Activate latch, wait until latch has become valid and then initiate axis stop

6

If axis has stopped, then set actual position (actual position = reference position + braking distance)

0

Single axis that is neither a master nor a slave (SINGLE)

1

Master axis with any number of slaves (MASTER)

2

Slave axis that is the master of another slave (MASTERSLAVE)

3

Slave axis only (SLAVE)

Define

Master: motion state / travel phase of the continuous master axis (servo) (nAxisState or AxisState)

0

Setpoint generator not active (INACTIVE)

1

Setpoint generator active (RUNNING)

2

Velocity override is zero (OVERRIDE_ZERO)

3

Constant velocity (PHASE_VELOCONST)

4

Acceleration phase (PHASE_ACCPOS)

5

Deceleration phase (PHASE_ACCNEG)

Define

Master: motion state / travel phase of the discrete master axis (rapid/creep) (nAxisState or AxisState)

0

Setpoint generator not active

1

Travel phase (rapid or slow traverse)

2

Switchover delay from rapid to slow traverse

3

Creep motion (within the creep distance)

4

Deceleration time (starting from the braking distance in front of the target)

Define

Slave: motion state / travel phase of the continuous slave axis (servo) (nAxisState or AxisState)
Note: for the time being only for slaves of the synchronizing generator type!

0

Slave generator not active (INACTIVE)

11

Slave is in a movement pre-phase (PRE-PHASE)

12

Slave is synchronizing (SYNCHRONIZING)

13

Slave is synchronized and moves synchronously (SYNCHRON)

TwinCAT v2.7.0

PC (i386)

PlcNc.Lib

TwinCAT v2.8.0

PC (i386)

TcNC.Lib