NCTOPLC_AXIS_REF

The data structure NCTOPLC_AXIS_REF is part of the AXIS_REF data structure and is automatically updated by the NC, so that updated information is available during each PLC cycle. NCTOPLC_AXIS_REF is also referred to as axis interface between NC and PLC.

TYPE NCTOPLC_AXIS_REF
STRUCT
    StateDWord                    : NCTOPLC_AXIS_REF_STATE; (* Status double word *)
    ErrorCode                     : DWORD; (* Axis error code *)
    AxisState                     : DWORD; (* Axis moving status *)
    AxisModeConfirmation          : DWORD; (* Axis mode confirmation (feedback from NC) *)
    HomingState                   : DWORD; (* State of axis calibration (homing) *)
    CoupleState                   : DWORD; (* Axis coupling state *)
    SvbEntries                    : DWORD; (* SVB entries/orders (SVB = Set preparation task) *)
    SafEntries                    : DWORD; (* SAF entries/orders (SAF = Set execution task) *)
    AxisId                        : DWORD; (* Axis ID *)
    OpModeDWord                   : NCTPPLC_AXIS_REF_OPMODE; (* Current operation mode *)
    ActPos                        : LREAL; (* Actual position (absolut value from NC) *)
    ModuloActPos                  : LREAL; (* Actual modulo position *)
    ActiveControlLoopIndex        : WORD; (* Active control loop index *)
    ControlLoopIndex              : WORD; (* Axis control loop index (0, 1, 2, when multiple control loops are used) *)
    ModuloActTurns                : DINT; (* Actual modulo turns *)
    ActVelo                       : LREAL; (* Actual velocity *)
    PosDiff                       : LREAL; (* Position difference (lag distance) *)
    SetPos                        : LREAL; (* Setpoint position *)
    SetVelo                       : LREAL; (* Setpoint velocity *)
    SetAcc                        : LREAL; (* Setpoint acceleration *)
    TargetPos                     : LREAL; (* Estimated target position *)
    ModuloSetPos                  : LREAL; (* Setpoint modulo position *)
    ModuloSetTurns                : DINT; (* Setpoint modulo turns *)
    CmdNo                         : WORD; (* Continuous actual command number *)
    CmdState                      : WORD; (* Command state *)
    SetJerk                       : LREAL;
    SetTorque                     : LREAL;
    ActTorque                     : LREAL;
    StateDWord2                   : NCTOPLC_AXIS_REF_STATE2;
    StateDWord3                   : DWORD;
    TouchProbeState               : DWORD;
    TouchProbeCounter             : DWORD;
    CamCouplingState              : ARRAY [0..7] OF NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE;
    CamCouplingTableID            : ARRAY [0..7] OF UINT;
    ActTorqueDerivative           : LREAL;
    SetTorqueDerivative           : LREAL;
    AbsPhasingPos                 : LREAL;
    TorqueOffset                  : LREAL
    ActPosWithoutPosCorrection    : LREAL;
    ActAcc                        : LREAL;
    DcTimeStamp                   : UDINT;
    {attribute 'hide'}
    _reserved2                    : ARRAY [1..4] OF USINT;
    UserData                      : LREAL;
END_TYPE

Variable name	Data type	Definition range	Description
StateDWord	NCTOPLC_AXIS_REF_STATE	-	State double word.
ErrorCode	DWORD	≥0	Axis error code
AxisState	DWORD	ENUM	Present state of the axis movement
AxisModeConfirmation	DWORD	ENUM	Axis operating mode (feedback from the NC)
HomingState	DWORD	ENUM	Reference status of the axis ("calibration status")
CoupleState	DWORD	ENUM	Axis coupling state
SvbEntries	DWORD	≥0	SVB entries/tasks
SafEntries	DWORD	≥0	SAF entries/tasks (NC interpreter, FIFO group)
AxisId	DWORD	>0	axis ID
OpModeDWord.	NCTOPLC_AXIS_REF_OPMODE	-	Axis operation mode double word
ActPos	LREAL	±∞	Actual position (calculated absolute value)
ModuloActPos	LREAL	≥0	Modulo actual position (calculated value in, for example, degrees)
ActiveControlLoopIndex	WORD	≥0	Active axis control loop index
ControlLoopIndex	WORD	≥0	Axis control loop index (0, 1, 2, etc. if more than one axis control loop is used)
ModuloActTurns	DINT	±∞	Modulo actual rotations
ActVelo	LREAL	±∞	Actual velocity (optional)
PosDiff	LREAL	±∞	Lag error (position)
SetPos	LREAL	±∞	Set position (calculated absolute value)
SetVelo	LREAL	±∞	Set velocity
SetAcc	LREAL	±∞	Set acceleration
TargetPos	LREAL	±∞	Estimated target position of the axis
ModuloSetPos	LREAL	≥0	Modulo set position (calculated value in, for example, degrees)
ModuloSetTurns	DINT	≥0	Modulo set rotations
CmdNo	WORD	≥0	Command number of the active axis job (see BufferMode)
CmdState	WORD	≥0	Command status information (see BufferMode)
SetJerk	LREAL		Set jerk
SetTorque	LREAL		Set torque
ActTorque	LREAL		Actual torque
StateDWord2	NCTOPLC_AXIS_REF_STATE2		State double word 2
StateDWord3	DWORD		State double word 3
TouchProbeState	DWORD		TouchProbe status
TouchProbeCounter	DWORD		TouchProbe counter
CamCouplingState	ARRAY [0..7] OF NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE		Cam coupling information for multitables (from TwinCAT 3.1.4020.0)
CamCouplingTableId	ARRAY [0..7] OF UINT		Cam coupling ID for multitables (from TwinCAT 3.1.4020.0)
ActTorqueDerivative	LREAL		First derivative of the actual torque
SetTorqueDerivative	LREAL		First derivative of the set torque
AbsPhasingPos	LREAL		Absolute phasing offset
TorqueOffset	LREAL		Additive torque part
ActPosWithoutPosCorrection	LREAL		Actual position without position correction
ActAcc	LREAL		Actual acceleration
DcTimeStamp	UDINT		Current NC timestamp
UserData	LREAL		Configurable axis state parameter

Define	Master: motion state / drive phase of the continuous master axis (servo) (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 / drive phase of the discrete master axis (fast/creep) (AxisState)
0	Setpoint generator not active
1	Moving 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 / drive phase of the continuous slave axis (servo) (AxisState)
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)

Define	Calibration state of the axis (HomingState)
0	Referencing process completed (READY)
1	Continuous start in the direction of the referencing cam. If the cam is occupied at the beginning, then the program starts directly with calibration state 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)

See also function block description and remarks for MC_Home

Define	Coupling state of the axis (CoupleState)
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	Just a slave axis (SLAVE)

Requirements

Development environment	Target system type	PLC libraries to include
TwinCAT v3.0.0	PC or CX (x86 or x64)	Tc2_MC2