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.
CoE DS402 Drive / CoE Inputs
Enable (default) | Name | Type | Description |
|---|---|---|---|
| Statusword | WORD | 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. |
| Position actual value invalid | BIT | This element indicates whether the value measured by the position sensor is invalid. |
| WcState | BIT | Working counter |
| InputToggle | BIT | Level change upon receipt of a new telegram. |
| Position actual value | DINT | Actual position of the I/O drive in increments. |
| Velocity actual value | DINT | Actual velocity of the I/O drive in increments. |
| Torque/force actual value | INT | Actual torque/force value of the I/O drive in increments. |
| DcInputShift | DINT | Used for drive dead time compensation. |
| DcOutputShift | DINT | Used for drive dead time compensation. |
CoE DS402 Drive / DS402 Touchprobe Inputs
In the default setting, this data range is disabled.
Enable (default) | Name | Type | Description |
|---|---|---|---|
| Touch probe status | UINT | This element displays the status of the touch probe function. |
| Touch probe 1 positive edge | DINT | This element returns the position value of touch probe 1 on the rising edge. |
| Touch probe 1 negative edge | DINT | This element returns the position value of touch probe 1 on a falling edge. |
| Touch probe time stamp 1 positive edge | UDINT | This element provides the timestamp when a rising edge event was detected at touch probe 1. |
| Touch probe time stamp 1 negative edge | UDINT | This element provides the timestamp for when a falling-edge event was detected at touch probe 1. |
| Touch probe 2 positive edge | DINT | This element returns the position value of touch probe 2 on the rising edge. |
| Touch probe 2 negative edge | DINT | This element returns the position value of touch probe 2 on a falling edge. |
| Touch probe time stamp 2 positive edge | UDINT | This element provides the timestamp when a rising edge event was detected at touch probe 2. |
| Touch probe time stamp 2 negative edge | UDINT | This element provides the timestamp for when a falling-edge event was detected at touch probe 2. |
CoE DS402 Drive / CoE Outputs
Enable (default) | Name | Type | Description |
|---|---|---|---|
| Controlword | WORD | Control information |
| Target position | DINT | 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. |
CoE DS402 Drive / DS402 TouchProbe Outputs
In the default setting, this data range is disabled.
Enable (default) | Name | Type | Description |
|---|---|---|---|
| Touch probe control | UINT | This element contains the configuration for the touch probe function. |
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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