Data Area
In general, TcCOM objects can contain data areas that can be used by the environment (e.g., by a PLC instance or by the TwinCAT I/O area). For TwinCAT MC3 TcCOM objects, you have a choice of data structures to use via the Data Area tab.
MDP742 Drive / MDP742 Inputs
Enable (default) | Name | Type | Description |
|---|---|---|---|
| Statusword | UINT | Status information |
| Following error actual value | DINT | Position lag (position control deviation, i.e. target position minus actual position) of the I/O drive in increments. |
| WcState | BIT | Working counter |
| InputToggle | BIT | Level change upon receipt of a new telegram. |
| Position | UDINT | Actual position of the I/O drive in increments. |
| Velocity actual value | DINT | Actual velocity of the I/O drive in increments. |
| Torque actual value | INT | Actual torque/force value of the I/O drive in increments. |
| TxPdoState | BIT | This element indicates whether the values measured by the encoder are in an invalid state. |
| DcInputShift | DINT | Used for drive dead time compensation. |
| DcOutputShift | DINT | Used for drive dead time compensation. |
MDP742 Drive / MDP742 TouchProbe Inputs
In the default setting, this data range is disabled.
Enable (default) | Name | Type | Description |
|---|---|---|---|
| TP1 Enable | BIT | Touch probe 1 is on |
| TP1 Pos value stored | BIT | Value for touch probe 1 saved on the rising edge |
| TP1 Neg value stored | BIT | Value for touch probe 1 saved on the falling edge |
| TP1 Input | BIT | Digital input touch probe 1 |
| TP2 Enable | BIT | Touch probe 2 is on |
| TP2 Pos value stored | BIT | Value for touch probe 2 saved on the rising edge |
| TP2 Neg value stored | BIT | Value for touch probe 2 saved on the falling edge |
| TP2 Input | BIT | Digital input touch probe 2 |
| TP1 Pos position | UDINT | Positive value of touch probe 1 |
| TP1 Neg position | UDINT | Negative value of touch probe 1 |
| TP1 Pos timestamp | UDINT | Timestamp for touch probe 1 when a rising edge event was detected. |
| TP1 Neg timestamp | UDINT | Timestamp for touch probe 1 when a falling-edge event was detected. |
| TP2 Pos position | UDINT | Positive value of touch probe 2 |
| TP2 Neg position | UDINT | Negative value of touch probe 2 |
| TP2 Pos timestamp | UDINT | Timestamp for touch probe 2 when a rising edge event was detected. |
| TP2 Neg timestamp | UDINT | Timestamp for touch probe 2 when a falling-edge event was detected. |
MDP742 Drive / MDP742 Outputs
Enable (default) | Name | Type | Description |
|---|---|---|---|
| Controlword | UINT | Control information |
| Target position | UDINT | Current target position in increments The target position of the MC3 axis in physical units, e.g. mm or degrees, is mathematically converted to an incremental value by MC3 and transferred to the drive. Overflows of the incremental value are hereby taken into account by the MC3 in the target position. |
| Target velocity | DINT | Current target velocity in increments The target velocity of the MC3 axis in physical units, e.g. mm/s or degrees/s, is mathematically converted to an incremental value by MC3 and transferred to the drive. |
MDP742 drive / MDP742 touch probe outputs
In the default setting, this data range is disabled.
Enable (default) | Name | Type | Description |
|---|---|---|---|
| TP1 Enable | BIT | Turn on touch probe 1 |
| TP1 Continuous | BIT | One-time or cyclic events |
| TP1 Trigger mode | BIT2 | Input 1 is triggered |
| TP1 Enable pos edge | BIT | A rising edge at touch probe 1 is the trigger for an event |
| TP1 Enable neg edge | BIT | A falling edge at touch probe 1 is the trigger for an event |
| TP2 Enable | BIT | Turn on touch probe 2 |
| TP2 Continuous | BIT | One-time or cyclic events |
| TP2 Trigger mode | BIT2 | Input 2 is triggered |
| TP2 Enable pos edge | BIT | A rising edge at touch probe 2 is the trigger for an event |
| TP2 Enable neg edge | BIT | A falling edge at touch probe 2 is the trigger for an event |
Notice | |
Warning in the error log window caused by selected entries that are not linked to an I/O device Entries in the data areas of drive and encoder objects that are enabled (Enable = True) but are not linked to the I/O drive object result in a warning in the error log window. If the link for a function used at runtime is missing, this results in a runtime error. For example, an axis cannot be started if the status word from the I/O drive object is not linked.
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