"Index offset" specification for group state (Index group 0x3100 + ID)
Index offset (Hex) | Access | Group type | Data type | Phys. unit | Definition range | Description | Note |
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0x00000001 | Read | every | INT32 | 1 | ENUM | Error code group |
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0x00000002 | Read | every | UINT32 | 1 |
| Number of master axes |
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0x00000003 | Read | every | UINT32 | 1 |
| Number of slave axes |
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0x00000004 | Read | every | UINT32 | 1 | s. ENUM | SVB group state (state) |
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0x00000005 | Read | every | UINT32 | 1 | s. ENUM | SEC group state (main state) |
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0x00000006 | Read | every | UINT32 | 1 | s. ENUM | Moving state (state) |
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0x00000007 | Read | every | UINT32 | 1 | s. ENUM | SEC sub-group state (sub state) |
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0x00000008 | Read | every | UINT32 | 1 | s. ENUM | Calibration state (state) |
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0x00000009 | read | every | UINT32 | 1 | s. ENUM | Coupling state (state) | Cannot be traced by oscilloscope! |
0x0000000A | read | every | UINT32 | 1 | ≥0 | Coupling table index | Cannot be traced by oscilloscope! |
0x0000000B | read | every | UINT32 | 1 | ≥0 | current number of SVB entries/tasks | Symbolic access: 'SvbEntries' (DXD) |
0x0000000C | read | every | UINT32 | 1 | ≥0 | Current number of SEC entries/tasks | Symbolic access: 'SafEntries' (DXD) |
0x0000000D | read | every | UINT32 | 1 |
| Current block number (active only for interpolation group) | Symbolic access: 'BlockNumber' (DXD) |
0x0000000E | read | every | UINT32 | 1 | ≥0 | current number of free SVB entries/tasks | From TwinCAT V2.9 B903 |
0x0000000F | read | every | UINT32 | 1 | ≥0 | Current number of free SEC entries/tasks | From TwinCAT V2.9 B903 |
0x00000011 | read | every | UINT16 | 1 | 0/1 | Emergency Stop (E-Stop) active? | Cannot be traced by oscilloscope! |
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0x00000110 | read | PTP group | { |
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| Internal NC information (resolutions) | Reserved |
REAL64 | e.g. mm | ± ∞ | ExternalEndPosition | ||||
REAL64 | e.g. mm/s | >0 | ExternalTargetVelocity | ||||
REAL64 | e.g. mm/s^2 | >0 | ExternalAcceleration | ||||
REAL64 | e.g. mm/s^2 | >0 | ExternalDeceleration | ||||
REAL64 | e.g. mm/s^3 | >0 | ExternalJerk | ||||
UINT32 | 1 | >0 | ExternalOverrideType | ||||
REAL64 | e.g. mm | ± ∞ | InternalEndPosition | ||||
REAL64 | e.g. mm/s | >0 | InternalTargetVelocity (refers to 100 %) | ||||
REAL64 | % | [0 ... 100] | InternalActualOverride | ||||
REAL64 | e.g. mm/s^2 | >0 | InternalAcceleration | ||||
REAL64 | e.g. mm/s^2 | >0 | InternalDeceleration | ||||
REAL64 | e.g. mm/s^3 | >0 | InternalJerk | ||||
REAL64 | e.g. mm | >0 | PositionResolution | ||||
REAL64 | e.g. mm/s | ≥0 | VelocityResolution | ||||
REAL64 | e.g. mm/s^2 | ≥0 | AccelerationResolution | ||||
REAL64 | e.g. mm/s | ≥0 | VelocityResolutionAtAccelerationZero | ||||
} |
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0x00000500 | read | DXD group | REAL64 | e.g. mm | ≥ 0 | Path rest way (remaining arc length) on the current path segment | Symbolic access: 'SetPathRemLength' |
0x00000501 | read | DXD group | REAL64 | e.g. mm | ≥ 0 | Racked out arc length on the current path segment | Symbolic access: 'SetPathLength' |
0x00000502 | read | DXD group | REAL64 | e.g. mm/s | ≥ 0 | Current path set velocity | Symbolic access: 'SetPathVelo' |
0x00000503 | read | DXD group | REAL64 | e.g. mm/s^2 | ± ∞ | Current path set acceleration | Symbolic access: 'SetPathAcc' |
0x00000504 | read | DXD group | REAL64 | e.g. mm/s^2 | ≥ 0 | amount of the current vectorial set acceleration | Symbolic access: 'SetPathAbsAcc' |
0x00000505 | read | DXD group | REAL64 | e.g. mm/s | ≥ 0 | Maximum segment end path set velocity | Symbolic access: 'SetPathVeloEnd' |
0x00000506 | read | DXD group | REAL64 | e.g. mm/s | ≥ 0 | Segment maximum path set velocity
| Symbolic access: 'SetPathVeloMax' |
0x00000507 | read | DXD group | REAL64 | e.g. mm | ≥ 0 | Current relative braking distance based on the current arc length | Symbolic access: 'SetPathStopDist' |
0x00000508 | read | DXD group | REAL64 | e.g. mm | ± ∞ | Safety distance = segment arc length - current arc length - relative braking distance | Symbolic access: 'SetPathSecurityDist' |
0x00000509 | read | DXD group | REAL64 | 1 | 0/1 | Segment transition | Symbolic access: 'SetPathSegmentChange' |
0x0000050A | read | DXD group | REAL64 | % | [0 ... 100] | Path velocity override | Symbolic access: 'SetPathOverride' |
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0x00000511 | read | DXD group | REAL64 | e.g. mm/s | ≥ 0 | Amount of the path actual velocity | Symbolic access: 'ActPathAbsVelo' |
0x00000512 | read | DXD group | REAL64 | e.g. mm/s^2 | ± ∞ | Path actual acceleration on the current segment | Symbolic access: 'ActPathAcc' |
0x00000513 | read | DXD group | REAL64 | e.g. mm/s^2 | ≥ 0 | Amount of the path actual acceleration on the current segment | Symbolic access: 'ActPathAbsAcc' |
0x00000514 | read | DXD group | REAL64 | e.g. mm | ± ∞ | Position error on the path in a tangential direction (signed for lead and lag) | Symbolic access: 'PathDiffTangential' |
0x00000515 | read | DXD group | REAL64 | e.g. mm | ≥ 0 | Position error on the path in orthogonal direction | Symbolic access: 'PathDiffOrthogonal' |
0x00000520 | read | DXD-group | REAL64 | 1 | ≥ 0 | Covered arc length of the current segment, normalized to 1.0 |
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0x00000521 | read | DXD-group | REAL64 | 1 | 0/1 | Change of partial segment (radius of tolerance sphere) |
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0x00000522 | read | DXD group | REAL64 | 1 | ≥ 0 | Total remaining path length to the last geometry entry or the next accurate stop. Refers to group parameter 0x508. |
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0x00000523 | read | DXD group | REAL64 | 1 | ≥ 0 | Programmed velocity of the current segment | From TC V2.9 B1031 |
0x00000530 | read | DXD group | { |
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| Current or last target position of the main axes X, Y and Z |
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REAL64 | e.g. mm | ± ∞ | Target position X-axis | ||||
REAL64 | e.g. mm | ± ∞ | Target position Y-axis | ||||
REAL64 | e.g. mm | ± ∞ | Target position Z-axis | ||||
} |
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0x00000531 | read | DXD group | { |
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| Current or last target position of the auxiliary axes Q1 to Q5 |
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REAL64[5] | e.g. mm | ± ∞ | Target position of axis Q1 to Q5 | ||||
} |
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0x00000532 | read | DXD group | { |
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| Reads path length, H parameter and Entry ID of the next 11 segments in relation to the current DC time | From TC 2.11 B2226 |
UINT32 |
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| DC Time | ||||
UINT32 |
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| Reserved | ||||
PreViewTab[11] |
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| 11*24 Bytes | ||||
} |
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{ |
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REAL64 | e.g. mm |
| Segment length | ||||
UINT32 | 1 |
| block number | ||||
UINT32 | 1 |
| H-Parmeter | ||||
UINT32 | 1 |
| Entry ID | ||||
UINT32 | 1 |
| Reserved | ||||
} |
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0x0000054n | read | DXD group | REAL64 | 1 | 0/1 | Within the tolerance sphere of the auxiliary axis n = 1..5 Number of the auxiliary axis (not axis ID) | From TC V2.9 B932 |
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0x00000550 | read | DXD group | { |
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| Reads the axis IDs within a 3D group: |
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UINT32 | 1 | [0, 1...255] | X axis ID | ||||
UINT32 | 1 | [0, 1...255] | Y axis ID | ||||
UINT32 | 1 | [0, 1...255] | Z axis ID | ||||
} |
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0x00000552 | read | DXD group FIFO group Kinematic group | { UINT32[m] | 1 | [0, 1...255] | Axis allocation of the group: 1st axis ID – mth axis ID m: Dimension of the 3D group with main and auxiliary axes (X, Y, Z, Q1, Q2, Q3, Q4, Q5) or the FIFO group or the ACS axes of the kinematic group |
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0x00000553 | read | Kinematic group | { |
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| Reading the axis allocation (ID's) inside the kinematic group: |
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UINT32[8] | 1 | [0, 1...255] | MCS axis IDs (machine coordinate system) | ||||
UINT32[8] | 1 | [0, 1...255] | ACS axis IDs (axis coordinate system) | ||||
UINT32 | 1 | ≥ 0 | Reserve | ||||
UINT32 | 1 | ≥ 0 | Reserve (NEW) | ||||
} |
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0x00000556 | read | DXD group | ST_ItpBlockSearchData |
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| Reading the block search data |
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0x0000056n | read | DXD group | REAL64 | 1 | ± ∞ | Current position error of the auxiliary axis within the tolerance sphere (set value side only) Only for auxiliary axes n = 1..5 Number of the auxiliary axis (not axis ID) | From TC V2.9 B932 |