ST_TcHydAxRtData (from V3.0)

The variables in this structure indicate the runtime state of the axis.

	The order of the data is not guaranteed.

Syntax

TYPE ST_TcHydAxRtData :
(* last modification: 02.07.2018 *)
STRUCT
(*-------------------------------*)
fActForce:           LREAL := 0.0;
fActiveOverlap:      LREAL := 0.0;
fActPos:             LREAL := 0.0;
fActPosDelta:        LREAL := 0.0;
fActPosOffset:       LREAL := 0.0;
fActPressure:        LREAL := 0.0;
fActPressureA:       LREAL := 0.0;
fActPressureB:       LREAL := 0.0;
fActVelo:            LREAL := 0.0;
fBrakeOffTimer:      LREAL := 0.0;
fBrakeOnTimer:       LREAL := 0.0;
fBrakeSafetyTimer:   LREAL := 0.0;
fClampingOutput:     LREAL := 0.0;
fDestAcc:            LREAL := 0.0;
fDestCreepDistanceM: LREAL := 0.0;
fDestCreepDistanceP: LREAL := 0.0;
fDestCreepSpeedM:    LREAL := 0.0;
fDestCreepSpeedP:    LREAL := 0.0;
fDestDec:            LREAL := 0.0;
fDestJerk:           LREAL := 0.0;
fDestPos:            LREAL := 0.0;
fDestRampEnd:        LREAL := 0.0;
fDestSpeed:          LREAL := 0.0;
fDistanceToTarget:   LREAL := 0.0;
fEnc_RefShift:       LREAL := 0.0;
fEnc_ZeroSwap:       LREAL := 0.0;
fGearActive:         LREAL := 0.0;
fGearSetting:        LREAL := 0.0;
fLagCtrlOutput:      LREAL := 0.0;
fLatchedPos:         LREAL := 0.0;
fOilRequirred_A:     LREAL := 0.0;
fOilRequirred_B:     LREAL := 0.0;
fOilUsed_A:          LREAL := 0.0;
fOilUsed_B:          LREAL := 0.0;
fOutput:             LREAL := 0.0;
fOverride:           LREAL := 1.0;
fParamAccTime:       LREAL := 0.0;
fPosError:           LREAL := 0.0;
fSetAcc:             LREAL := 0.0;
fSetPos:             LREAL := 0.0;
fSetPressure:        LREAL := 0.0;
fSetSpeed:           LREAL := 0.0;
fSetSpeedOld:        LREAL := 0.0;
fSetVelo:            LREAL := 0.0;
fStartPos:           LREAL := 0.0;
fStartRamp:          LREAL := 0.0;
fStartRampAnchor:    LREAL := 0.0;
fSupplyPressure:     LREAL := 0.0;
fTargetPos:          LREAL := 0.0;
fTimerPEH:           LREAL := 0.0;
fTimerTPM:           LREAL := 0.0;
fValvePressure:      LREAL := 0.0;
fVeloError:          LREAL := 0.0; 
fBlockDetectDelay:    LREAL := 2.0;
(*------------------------------------------------------*)
nAxisState:          DWORD := 0;
nCalibrationState:   DWORD := 0;
nDeCtrlDWord:        DWORD := 0;
nErrorCode:          DWORD := 0;
nStateDWord:         DWORD := 0;
udiAmpErrorCode:     UDINT;
(*------------------------------------------------------*)
iCurrentStep: E_TcMcCurrentStep;
wEncErrMask:         WORD:=0;
wEncErrMaskInv:      WORD:=0;
nDrvWcCount:         INT:=0;
(**)
nEncWcCount:         INT:=0;
nDrvDeviceState:     UINT:=0;
nEncDeviceState:     INT:=0;
(*------------------------------------------------------*)
bActPosCams:         BYTE := 0;
bBrakeOff:           BOOL := FALSE;
bBrakeOffInverted:   BOOL := FALSE;
bControllable:       BOOL := FALSE;
bCountedCycles:      BYTE := 1;
bCycleCounter:       BYTE := 0;
bDriveResponse:      BOOL := FALSE;
bEncDoLatch:         BOOL := FALSE;
(**)
bEncoderResponse:    BOOL := FALSE;
bEncLatchValid:      BOOL := FALSE;
bLocked_Estop:       BOOL := FALSE;
bParamsUnsave:       BOOL := FALSE;
bReloadParams:       BOOL := FALSE;
bTargeting:          BOOL := FALSE;
bUnalignedOverlap:   BOOL := FALSE;
bActPosOffsetEnable: BOOL := FALSE; (* starting with 09.03.2015 *)
(**)
bDriveStartup:       BOOL := FALSE;
bEncAlignRefShift:   BOOL := FALSE;
bDrvWcsError:        BOOL := FALSE;
bEncWcsError:        BOOL := FALSE;
bFirstWcs:           BOOL := FALSE;
bChangeCount:        BYTE := 0;
bStartAutoIdent:     BOOL := FALSE;
bParamFileComplete:  BOOL := FALSE; 
(*------------------------------------------------------*)
pMasterRtData:       POINTER TO BYTE;
pMasterParam:        POINTER TO BYTE;
(*------------------------------------------------------*)
udiSercDeviceID:     UDINT := 0;
uiSercBoxAddr:       UINT := 0;
uiSercPort:          UINT := 0;
(*------------------------------------------------------*)
stPosCtrlr: stbkplcinternal_cplxctrl;
stVeloCtrlr: stbkplcinternal_cplxctrl;
(*------------------------------------------------------*)
sTopBlockName:       STRING(87) := '';

stHybrid:           ST_TcHybridAxRtData;
(*------------------------------------------------------*)
END_STRUCT
END_TYPE

Parameter

Name	Type	Description
fActForce	LREAL	[N, kN] Actual force of the cylinder. This value is usually determined by a function block for acquisition of actual force or pressure values.
fActiveOverlap	LREAL	[1] The current output of the overlap compensation. An output variable of the profile generators.
fActPos	LREAL	[mm] The current actual position of the axis. This value is usually determined by an encoder function block.
fActPosDelta	LREAL	[mm] The change of the actual position relative to the previous cycle.
fActPosOffset	LREAL	[mm] The offset used to influence the actual value. If bActPosOffsetEnable is TRUE, this offset is added to fActPos. If fActPosOffset changes, fActVelo is unaffected. If bActPosOffsetEnable is TRUE, fActPosOffset takes effect immediately and without ramp. Note the information. Example: If the reference position is 100.0 mm and the offset is 1.0 mm, the actual position at the point of the zero pulse is set to 101.0 mm. If influencing is subsequently disabled or set to 0.0, the actual position at the point of the zero pulse shows the value 100.0 mm, just like it would have done during homing without influencing.
fActPressure	LREAL	[bar] Actual pressure in the cylinder. This value is usually determined by a function block for acquisition of actual force or pressure values.
fActPressureA	LREAL	[bar] Actual pressure on the A-side of the cylinder. This value is usually determined by a function block for acquisition of actual force or pressure values.
fActPressureB	LREAL	[bar] Actual pressure on the B-side of the cylinder. This value is usually determined by a function block for acquisition of actual force or pressure values.
fActVelo	LREAL	[mm/s] The current actual velocity of the axis. This value is usually determined by an encoder function block.
fBrakeOffTimer	LREAL
fBrakeOnTimer	LREAL
fBrakeSafetyTimer	LREAL
fClampingOutput	LREAL	[V] An output variable of the profile generators.
fDestAcc	LREAL	[mm/s2] The acceleration specified by the current or last executed motion command.
fDestCreepDistance	LREAL	[mm] Up to V3.0.7: The creep distance.
fDestCreepDistanceM	LREAL	[mm] Up to V3.0.8: The creep distance in negative direction.
fDestCreepDistanceP	LREAL	[mm] Up to V3.0.8: The creep distance in positive direction.
fDestCreepSpeed	LREAL	[mm/s] Up to V3.0.7: The creep speed.
fDestCreepSpeedM	LREAL	From V3.0.8: The creep speed in negative direction.
fDestCreepSpeedP	LREAL	[mm/s] From V3.0.8: The creep speed in positive direction.
fDestDec	LREAL	[mm/s2] The deceleration specified by the current or last executed motion command.
fDestJerk	LREAL	[mm/s3] The jerk specified by the current or last executed motion command.
fDestPos	LREAL	[mm] The currently active target position.
fDestRampEnd	LREAL
fDestSpeed	LREAL	[mm/s] The velocity specified by the current or last executed motion command.
fDistanceToTarget	LREAL	[mm] The current remaining distance of the axis. This value is usually determined by a generator function block.
fEnc_RefShift	LREAL	[mm] The offset between the converted (perhaps internal extended) counter value of an incremental encoder input terminal and the actual position of the axis. This offset is determined through homing, e.g. with an MC_Home_BkPlcMc function block, or manipulated with an MC_SetPosition_BkPlcMc function block.
fEnc_ZeroSwap	LREAL
fGearActive	LREAL
fGearSetting	LREAL
fLagCtrlOutput	LREAL	[1] The normalized output of the position controller. An output variable of the profile generators.
fLatchedPos	LREAL	[mm] The position (taking into account current offsets) at which homing took place or where the components of the actual value acquisition (encoder, I/O electronics) were switched on.
fOilRequirred_A	LREAL	[l/min] The oil consumption on the A-side, calculated taking into account the set velocity.
fOilRequirred_B	LREAL	[l/min] The oil consumption on the B-side, calculated taking into account the set velocity.
fOilUsed_A	LREAL	[l/min] The oil consumption on the A-side, calculated taking into account the actual velocity.
fOilUsed_B	LREAL	[l/min] The oil consumption on the B-side, calculated taking into account the actual velocity.
fOutput	LREAL	[1] The control value to be output. This variable is used for communication between the MC_AxRtFinish_BkPlcMc and MC_AxRtDrive_BkPlcMc function blocks.
fOverride	LREAL	[1] The current axis velocity override.
fParamAccTime	LREAL
fPosError	LREAL	[mm] The current position error of the axis.
fSetAcc	LREAL	[mm/s2] The current acceleration control value. An output variable of the profile generators.
fSetPos	LREAL	[mm] The current position command value of the axis.
fSetPressure	LREAL	[bar] The setpoint for an optional pressure or force control must be stored here.
fSetSpeed	LREAL	[mm/s] The normalized set velocity of the axis. An output variable of the profile generators.
fSetSpeedOld	LREAL
fSetVelo	LREAL
fStartPos	LREAL	[mm] The start position of the current or last processed motion command.
fStartRamp	LREAL
fStartRampAnchor	LREAL
fSupplyPressure	LREAL	[bar] Supply pressure. This value is usually determined by a function block for acquisition of actual force or pressure values.
fTargetPos	LREAL	[mm] The target position specified by the current or last processed motion command.
fTimerPEH	LREAL
fTimerTPM	LREAL
fValvePressure	LREAL	[bar] Pressure drop at the valve. This value is usually determined by a function block for acquisition of actual force or pressure values.
fVeloError	LREAL
fBlockDetectDelay	LREAL	[s] The delay time for the detection of the function block during homing on block. This value is initialized with 2.0 seconds to reflect the default behavior of previous versions. If a different time is required, it must be updated before homing commences. If a value of less than the cycle time is detected when homing commences, the default value of 2.0 seconds is entered automatically. This value is not saved as a parameter. This variable has been available under TC2 in V3.0.41 from 12 October 2017.
nAxisState	DWORD	The motion state of the axis.
nCalibrationState	DWORD	The current homing state.
nDeCtrlDWord	DWORD	The control signals of the axis.
nErrorCode	DWORD	The current ErrorCode of the axis.
nStateDWord	DWORD	The state signals of the axis.
udiAmpErrorCode	UDINT
iCurrentStep	E_TcMcCurrentStep	The internal state of the control value generators. Values from E_TcMcCurrentStep.
wEncErrMask	WORD
wEncErrMaskInv	WORD
nDrvWcCount	INT
nEncWcCount	INT
nDrvDeviceState	UINT
nEncDeviceState	INT
bActPosCams	BYTE	The current position cam of the axis. This value is only used, if iTcMc_EncoderDigCam is set as encoder type.
bBrakeOff	BOOL	The control signal for an external brake. An output variable of the profile generators.
bBrakeOffInverted	BOOL	The inverted bBrakeOff signal.
bControllable	BOOL
bCountedCycles	BYTE
bCycleCounter	BYTE
bDriveResponse	BOOL
bEncDoLatch	BOOL	This signal is used for communication by the MC_Home_BkPlcMc and MC_AxRtEncoder_BkPlcMc function blocks of the axis during homing.
bEncoderResponse	BOOL
bEncLatchValid	BOOL	This signal is used for communication by the MC_Home_BkPlcMc and MC_AxRtEncoder_BkPlcMc function blocks of the axis during homing.
bLocked_Estop	BOOL	A TRUE in this variable prevents the control value generators from exiting the state iTcHydStateEmergencyBreak / McState_Errorstop, despite the fact that the drive outputs are reduced to 0. Used by MC_EmergencyStop_BkPlcMc and MC_ImediateStop_BkPlcMc.
bParamsUnsave	BOOL	The function blocks MC_WriteParameter_BkPlcMc and MC_WriteBoolParameter_BkPlcMc set this flag if they change a parameter value. An MC_AxParamSave_BkPlcMc function block clears the flag when the parameters are successfully saved. In online mode of the PlcMcManager, this flag is used for the state display.
bReloadParams	BOOL
bTargeting	BOOL
bUnalignedOverlap	BOOL	The characteristic of the overlap compensation is defined here.
bActPosOffsetEnable	BOOL	A TRUE in this variable activates actual value influencing. See also under fActPosOffset.
bDriveStartup	BOOL
bEncAlignRefShift	BOOL	reserved.
bDrvWcsError	BOOL
bEncWcsError	BOOL
bFirstWcs	BOOL
bChangeCount	BYTE	This value is incremented with each parameter change.
bStartAutoIdent	BOOL
bParamFileComplete	BOOL	This flag is set if a corresponding identifier was found at the end of the file when the parameters were loaded and the CRC check was successful.
pMasterRtData	POINTER TO BYTE
pMasterParam	POINTER TO BYTE
udiSercDeviceID	UDINT
uiSercBoxAddr	UINT
uiSercPort	UINT
stPosCtrlr	stbkplcinternal_cplxctrl
stVeloCtrlr	stbkplcinternal_cplxctrl
sTopBlockName	STRING	Most of the library function blocks called directly by application enter a debug ID here.
stHybrid	ST_TcHybridAxRtData	Extended status data for servo-electric/hydraulic hybrid axes.

	Information for fActPosOffset If actual value influencing is active during homing, bActPosOffset is taken into account when the actual position is set. This function is only realized for the following encoder types: iTcMc_EncoderCoE_DS406, iTcMc_EncoderEL3255, iTcMc_EncoderSim, iTcMc_EncoderEL5101, iTcMc_EncoderKL5101, iTcMc_EncoderKL5111, iTcMc_EncoderEL5001, iTcMc_EncoderKL5001, iTcMc_EncoderKL3002, iTcMc_EncoderEL3102, iTcMc_EncoderKL3042, iTcMc_EncoderKL3062, iTcMc_EncoderEL3142, iTcMc_EncoderEM8908_A, iTcMc_EncoderEL3162, iTcMc_EncoderKL3162. If one of the types listed is set for an I/O device that is compatible with one of these types, the function described is also realized.

	All other elements of this structure are reserved for internal use. They are not guaranteed and must not be used or modified by the application.