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.
SoE Drive / SoE Inputs
Enable (default) | Name | Type | Description |
|---|---|---|---|
| Drive status word | UINT | Status information |
| Position feedback value 1 | DINT | Actual position of the I/O drive in increments. |
| Following distance | DINT | Position lag (position control deviation, i.e. target position minus actual position) of the I/O drive in increments. |
| Velocity feedback value 1 | DINT | Actual velocity of the I/O drive in increments. |
| Torque feedback value | INT | Actual torque/force value of the I/O drive in increments. |
| WcState | BIT | Working counter |
| InputToggle | BIT | Level change upon receipt of a new telegram. |
| DcInputShift | DINT | Used for drive dead time compensation. |
| DcOutputShift | DINT | Used for drive dead time compensation. |
SoE Drive / SoE Touch Probe Inputs
In the default setting, this data range is disabled.
Enable (default) | Name | Type | Description |
|---|---|---|---|
| Probe value 1 positive edge | DINT | This element returns the position value of touch probe 1 on the rising edge. |
| Probe value 1 negative edge | DINT | This element returns the position value of touch probe 1 on a falling edge. |
| Probe 1 positive latched | UINT | Event detected on a rising edge for touch probe 1. |
| Probe 1 negative latched | UINT | Event detected on the falling edge for touch probe 1. |
| Probe 1 time positive edge | UDINT | This element provides the timestamp when a rising edge event was detected at touch probe 1. |
| Probe 1 time negative edge | UDINT | This element provides the timestamp for when a falling-edge event was detected at touch probe 1. |
SoE Drive / SoE Outputs
Enable (default) | Name | Type | Description |
|---|---|---|---|
| Master control word | WORD | Control information |
| Position command value | 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. |
| Velocity command value | 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. |
SoE Drive / SoE Touch Probe Outputs
In the default setting, this data range is disabled.
Enable (default) | Name | Type | Description |
|---|---|---|---|
| Probe 1 enable | UINT | Turn on touch probe 1. |
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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