PLCTONC_AXLESTRUCT
TYPE PLCTONC_AXLESTRUCT
STRUCT
nDeCtrlDWord : DWORD; (* control double word *)
nOverride : DWORD; (* velocity override *)
nAxisModeReq : DWORD; (* axis operating mode (PLC request) *)
nAxisModeDWord : DWORD; (* *)
fAxisModeLReal : LREAL; (* *)
fActPosCorrection : LREAL; (* correction value for current position *)
fExtSetPos : LREAL; (* external position setpoint *)
fExtSetVelo : LREAL; (* external velocity setpoint *)
fExtSetAcc : LREAL; (* external acceleration setpoint *)
nExtSetDirection : DINT; (* external direction setpoint *)
nReserved1 : DWORD; (* reserved *)
fExtCtrlOutput : LREAL; (* external controller output *)
nReserved_HIDDEN : ARRAY [72..127] OF BYTE;
END_STRUCT
END_TYPE
For each NC axis a data block of 128 bytes is available for data transport from the NC to the PLC, and another data block, also 128 bytes, is available for data transport from the PLC to the NC. The PLC programmer must create a variable for each direction and each axis, and must fix them in the I/O area with the AT instruction to the input and output area. The assignment of NC variables to PLC variables is carried out by the TwinCAT System Manager.
No | Data | Byte | Bit | Def. | Variable | Variable name | Description |
|---|---|---|---|---|---|---|---|
1 | UINT32 | 0-3 | - | 0/1 | nDeCtrlDWord | ControlDWord | Control double word: |
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| 0 | 0/1 | Enable | Enable | Enable controller |
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| 1 | 0/1 | FeedEnablePlus | FeedEnablePlus | Feed enable plus |
|
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| 2 | 0/1 | FeedEnableMinus | FeedEnableMinus | Feed enable minus |
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| 3 | 0/1 | - | - | RESERVED |
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| 4 | 0/1 | - | - | RESERVED |
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| 5 | 0/1 | HomingSensor | HomingSensor | Referencing cam signal or homing sensor |
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| 6 | 0/1 | - | - | RESERVED |
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| 7 | 0/1 | - | - | RESERVED |
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| 8 | 0/1 | AcceptBlockedDrive | AcceptBlockedDrive | Accept drive setpoint blocking (e.g. hardware position limits) |
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| 9 | 0/1 | BlockedDriveDetected | BlockedDriveDetected | Axis is blocked (e.g. mechanical limit). Not implemented yet! |
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| 10-29 | 0/1 | - | - | RESERVED |
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| 30 | 0/1 | PlcDebugFlag | PlcDebugFlag | Debug function PLC. Only for internal use! |
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| 31 | 0/1 | NcDebugFlag | NcDebugFlag | Debug function NC. Only for internal use! |
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2 | UINT32 | 4-7 | - | 0...1000000 | nOverride | Override | Velocity override (0% to 100%) |
3 | UINT32 | 8-11 | - |
| nAxisModeReq | AxisModeRequest | Axis operating mode. Only provided for internal use! |
4 | UINT32 | 12-15 | - |
| nAxisModeDWord | AxisModeDWord | Only provided for internal use! |
5 | REAL64 | 16-23 | - |
| fAxisModeLReal | AxisModeLReal | Only provided for internal use! |
6 | REAL64 | 24-31 | - |
| fActPosCorrection | PositionCorrection | Actual position correction value |
7 | REAL64 | 32-39 | - |
| fExtSetPos | ExtSetPos | External position setpoint |
8 | REAL64 | 40-47 | - |
| fExtSetVelo | ExtSetVelo | External velocity setpoint |
9 | REAL64 | 48-55 | - |
| fExtSetAcc | ExtSetAcc | External acceleration setpoint |
10 | INT32 | 56-59 | - |
| nExtSetDirection | ExtSetDirection | External direction setpoint [-1, 0, 1] |
11 | UINT32 | 60-63 | - |
| nReserved1 | - | RESERVED |
12 | REAL64 | 64-71 | - |
| fExtCtrlOutput | ExtControllerOutput | External controller output. Not implemented yet! |
13 | REAL64 | 72-79 | - | ±∞ | - | GearRatio1 | Gear ration (couple factor) 1 |
14 | REAL64 | 80-87 | - | ±∞ | - | GearRatio2 | Gear ration (couple factor) 2 |
15 | REAL64 | 88-95 | - | ±∞ | - | GearRatio3 | Gear ration (couple factor) 3 |
16 | REAL64 | 96-103 | - | ±∞ | - | GearRatio4 | Gear ration (couple factor) 4 |
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17 | - | 104-127 | - | - | nReserved |
| RESERVED |
Requirements
Development enviroment | Target System Type | PLC libraries to include |
|---|---|---|
TwinCAT v2.7.0 | PC (i386) | PlcNc.Lib |
TwinCAT v2.8.0 | PC (i386) | TcNC.Lib |