NCTOPLC_AXLESTRUCT2

1

UINT32

0-3

-

-

nStateDWord

StateDWord

Status double word
See detailed description as well

0

0/1

Operational

Operational

Axis is ready for operation

1

0/1

Homed

Homed

Axis has been referenced/ homed ("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 a protected operating mode (e.g. as a slave axis)

6

0/1

ErrorPropagationDelayed

ErrorPropagationDelayed

Axis signals an error pre 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 instructions, is carrying instructions out

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 referenced ("Axis 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] (s. "MC_MoveSuperImposed")

14

0/1

ExtSetPointGenEnabled

ExtSetPointGenEnabled

External setpoint generator enabled

15

0/1

Operating mode not yet executed (Busy). Not implemented yet!

16

0/1

ExternalLatchValid

ExternalLatchValid

External latch value or sensing switch has become valid

17

0/1

NewTargetPos

NewTargetPos

Axis has a new target position or a new velocity

18

0/1

Axis is not at target position or cannot reach the target position (e.g. stop).Not implemented yet!

19

0/1

ContinuousMotion

ContinuousMotion

Axis has target position (±) endless

20

0/1

ControlLoopClosed

ControlLoopClosed

Axis is ready for operation and axis control loop is closed (e.g. position control)

21

0/1

CamTableQueued

CamTableQueued

CAM table is queued for  "Online Change" and waiting for activation

22

0/1

CamDataQueued

CamDataQueued

CAM data (only MF) are queued for  "Online Change" and waiting for activation

23

0/1

CamScalingPending

CamScalingPending

CAM scaling are queued for  "Online Change" and waiting for activation

24

0/1

CmdBuffered

CmdBuffered

Following command is queued in then command buffer (s. Buffer Mode)
(from TwinCAT V2.10 Build 1311)

25

0/1

PTPmode

PTPmode

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

26

0/1

SoftLimitMinExceeded

SoftLimitMinExceeded

Position software limit switch minimum is exceeded (from TC 2.10 Build 1327)

27

0/1

SoftLimitMaxExceeded

SoftLimitMaxExceeded

Position software limit switch maximum is exceeded (from TC 2.10 Build 1327)

28

0/1

DriveDeviceError

DriveDeviceError

Hardware drive device error (no warning), interpretation only possible when drive is data exchanging,
e.g. EtherCAT "OP"-state (from TC 2.10 Build 1326)

29

0/1

MotionCommandsLocked

MotionCommandsLocked

Axis is locked for motion commands (TcMc2)

30

0/1

IoDataInvalid

IoDataInvalid

IO data invalid (e.g. 'WcState' or 'CdlState')

31

0/1

Error

Error

Axis is in a fault 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

nAxisModeConfirmation

Axis operating mode (feedback from the NC)

5

UINT32

16-19

-

ENUM

nCalibrationState

HomingState

Axis referencing status ("Calibration status")

6

UINT32

20-23

-

ENUM

nCoupleState

CoupleState

Axis coupling status

7

UINT32

24-27

-

≥0

nSvbEntries

SvbEntries

SVB entries/tasks

8

UINT32

28-31

-

≥0

nSafEntries

SafEntries

SAF entries/tasks (NC interpreter, FIFO group)

9

UINT32

32-35

-

>0

nAxisId

AxisId

Axis ID

10

DWORD

36-39

-

0/1

nOpModeDWord,
bOpMode...

OpModeDWord,
OpMode...

Axis run modus Double Word

0

0/1

...PosAreaMonitoring

...PosAreaMonitoring

Position range monitoring

1

0/1

...TargetPosMonitoring

...TargetPosMonitoring

Target position window monitoring

2

0/1

...Loop

...Loop

Loop movement

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 nc error reaction

7

0/1

...Modulo

...Modulo

Modulo axis (modulo values displayed)

8-15

0/1

RESERVED

16

0/1

...PosLagMonitoring

...PosLagMonitoring

Following Error monitoring position

17

0/1

...VeloLagMonitoring

...VeloLagMonitoring

Following Error monitoring velocity

18

0/1

...SoftLimitMinMonitoring

...SoftLimitMinMonitoring

End location monitoring min.

19

0/1

...SoftLimitMaxMonitoring

...SoftLimitMaxMonitoring

End location monitoring max.

20

0/1

...PosCorrection

...PosCorrection

Position compensation (position correction)

21

0/1

...AllowSlaveCommands

...AllowSlaveCommands

Allow motion commands to slave

22

0/1

RESERVED

23

0/1

ApplicationRequest

ApplicationRequest

Application request bit for the PLC (PLC code), e.g. for an "application homing request"
from TwinCAT V2.11 Build 1546

24-31

0/1

RESERVED

11

UINT16

40-41

-

≥0

nActiveControlLoopIndex

ActiveControlLoopIndex

Active axis control loop index (equivalent to old variable "nCtrlLoopIndex"))

from TwinCAT V2.10 Build 1311

12

UINT16

42-43

-

≥0

nControlLoopIndex

ControlLoopIndex

Axis control index (0, 1, 2, … when multiple control loops are 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

Following 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

from TwinCAT V2.10 Build 1311

22

REAL64

112-119

-

>∞

fModuloPosSoll

ModuloSetPos

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

from TwinCAT V2.10 Build 1311

23

INT32

120-123

-

±∞

nModuloTurnsSoll

ModuloSetTurns

Modulo setpoint rotations

from TwinCAT V2.10 Build 1311

24

UINT16

124-125

-

≥0

nCmdNo

CmdNo

Continuous command number from the current command (s. Buffer Mode)

from TwinCAT V2.10 Build 1311

25

UINT16

126-127

-

≥0

nCmdState

CmdState

Command state (s. Buffer Mode)

from TwinCAT V2.10 Build 1311

0

Referencing process completed (READY)

1

Continuous start in the direction of the referencing cam (Note: If the referencing cam is active from the beginning, the referencing status will immediately start with 3)

2

Wait for a rising edge from the referencing cam and initiate the axis stop

3

Wait until the axis settled, check if the referencing cam is still active and then start from the referencing cam into the direction of the synchronising pulse

4

Wait for the falling edge of the referencing cam

5

Activate the latch and stop the axis when the latch has become valid

6

When the axis is stationary, set the calculated actual position (actual position = reference position + break 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

Just a slave axis (SLAVE)

0

Set value generator not active (INACTIVE)

1

Set value 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)

0

Set value generator not active

1

Moving phase (rapid or creep movement)

2

Switchover delay from rapid to creep motion

3

Creep motion (within the creep region)

4

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

0

Slave generator not active (INACTIVE)

11

Slave is located in a movement prephase (PREPHASE)

12

Slave is synchronising (SYNCHRONIZING)

13

Slave is synchronised and moves synchronously (SYNCHRON)

TwinCAT v2.7.0

PC (i386)

PlcNc.Lib

TwinCAT v2.8.0

PC (i386)

TcNC.Lib