Global constants (from V3.0)

bTcHydActPosCamPos

Summary of bTcHydActPosCamHigh and bTcHydActPosCamUp.

bTcHydActPosCamHigh

The axis has reached the upper target position.

bTcHydActPosCamUp

The axis is located close to the upper target position.

bTcHydActPosCamDown

The axis is located close to the lower target position.

bTcHydActPosCamLow

The axis has reached the lower target position.

bTcHydActPosCamNeg

Summary of bTcHydActPosCamLow and bTcHydActPosCamDown.

dwTcHydNsDwFunctional

Axis is ready for operation.

dwTcHydNsDwReferenced

Axis has been referenced.

dwTcHydNsDwSteady

Axis is not active.

dwTcHydNsDwInTargRng

The axis is located within a distance from the target position specified by fMonPositionRange in ST_TcHydAxParam.

dwTcHydNsDwInTarget

The axis has been located without interruption since a time specified by fMonTargetFilter within a distance from the target position specified by fMonTargetRange in ST_TcHydAxParam.

dwTcHydNsDwDontTouchProtected

Reserved. Not supported.

dwTcHydNsDwStopped

The last movement of the axis was stopped without reaching the specified target position.

dwTcHydNsDwBusy

The axis is active.

dwTcHydNsDwMoveUp

The axis is moving in the direction of increasing positions.

dwTcHydNsDwMoveDown

The axis is moving in the direction of decreasing positions.

dwTcHydNsDwReferencing

Axis is homing.

dwTcHydNsDwConstVelo

The axis is moving with constant velocity.

dwTcHydNsDwExtSetpointActive

The axis is controlled by an MC_AxRtSetExtGenValues_BkPlcMc function block.

dwTcHydNsDwStartedOver

The axis was started, i.e. the last accepted command took effect while the axis was still in motion.

dwTcHydNsDwControlActive

Reserved. Not supported.

dwTcHydNsDwErrState

The axis is in an error state.

dwTcHydDcDwCtrlEnable

Controller enable. This enable is a precondition for the output of control value and controller outputs.

dwTcHydDcDwFdPosEna

Advance movement enable in positive direction. This enable is a precondition for the output of control value and controller outputs in the direction of increasing values of position.

dwTcHydDcDwCtrlPosEna

Combination of dwTcHydDcDwCtrlEnable and dwTcHydDcDwFdPosEna.

dwTcHydDcDwFdNegEna

Advance movement enable in negative direction. This enable is a precondition for the output of control value and controller outputs in the direction of decreasing values of position.

dwTcHydDcDwCtrlNegEna

Combination of dwTcHydDcDwCtrlEnable and dwTcHydDcDwFdNegEna.

dwTcHydDcDwRefIndex

Referencing cam.

dwTcHydDcDwAcceptBlockedDrive

Reserved. Not supported.

dwTcHydDcDwBlockedDriveDetected

Reserved. Not fully supported.
This signal suppresses any active velocity controller.

dwTcHydAdsErrNoError

0

0

No error.

dwTcHydAdsErrUnknownPort

16#0006

6

ADS port unknown. Possible causes:

• AMS NetID / ADS port address the wrong runtime system or the wrong computer
• another project is running in the addressed PLC
• the application does not call a MC_AxAdsCommServer_BkPlcMc() function block

dwTcHydAdsErrUnknownTarget

16#0007

7

Target machine unknown. Possible causes:

• AMS NetID / ADS port address the wrong runtime system or the wrong computer
• the target system has not been started
• TwinCAT has not been started
• the connection is electrically / mechanically interrupted
• for communication via Ethernet: the TCP/IP connection is not working

dwTcHydAdsErrInvalidIdxGroup

16#0702

1794

Invalid IndexGroup. Possible causes:

• AMS NetID / ADS port address the wrong runtime system or the wrong computer
• another project is running in the addressed PLC
• application software error (incorrect combination of ADS port / IdxGroup / IdxOffset)

dwTcHydAdsErrInvalidIdxOffset

16#0703

1795

Invalid IndexOffset. Possible causes:

• AMS NetID / ADS port address the wrong runtime system or the wrong computer
• another project is running in the addressed PLC
• application software error (incorrect combination of ADS port / IdxGroup / IdxOffset)
• attempted access to an array element with invalid index (out of bounds)

dwTcHydAdsErrRdWrNotPermitted

16#0704

1796

Access (write, read) not permitted. Possible causes:

• a write access to a variable without write permission was requested

dwTcHydAdsErrInvalidSize

16#0705

1797

Size (number of bytes) not permitted. Possible causes:

• application software error (incorrect combination of ADS port / IdxGroup / IdxOffset)

dwTcHydAdsErrIllegalValue

16#0706

1798

Value not permitted. Possible causes:

• the transferred value is outside absolute parameter limits
• the transferred value is outside parameter limits, which have been specified by other already applicable parameters

dwTcHydAdsErrNotReady

16#0707

1799

Not ready for operation. Possible causes:

• an MC_Power_BkPlcMc function block was prompted by its Enable input to activate an axis that is not ready for operation

dwTcHydAdsErrBusy

16#0708

1800

Already active. Possible causes:

• the axis could not accept an instruction because it is already dealing with another task

dwTcHydAdsErrNoFile

16#070C

1804

Reserved: File is missing / not accessible.

dwTcHydAdsErrSyntax

16#070D

1805

Syntax in command or file invalid. Possible causes:

• invalid characters or character combinations were detected while reading a characteristic curve file stored in ASCII format
• incomplete information was detected while reading a characteristic curve file stored in ASCII format

dwTcHydAdsErrTimeout

16#0745

1861

Timeout. Possible causes:

• during a communication the response did not arrive within a designed time
• the chosen time is too short
• the connection is interrupted
• the process has prevented processing of the command or delayed it beyond the designated time
• the specified commands parameters have increased the time requirement beyond the designated value

dwTcHydAdsErrNoAmsAddr

16#0749

1865

AMS/ADS address missing:

• The ADS address of the device was not mapped to the corresponding variable of the input structure.

dwTcHydErrCdNotCompatible

16#4040

16448

The axis is incompatible with the required function. Possible causes:

• application software error

dwTcHydErrCdIllegalOutputNumber

16#4104

16644

The output number is outside the permitted range. Possible causes:

• an MC_ReadDigitalOutput_BkPlcMc or MC_WriteDigitalOutput_BkPlcMc function block was called with an invalid parameter.

dwTcHydErrCdNotSupport

16#4107

16647

Function or command not supported. Possible causes:

• application software error

dwTcHydErrCdCycleTime

16#4205

16901

Cycle time (fCycletime in ST_TcHydAxParam) not permitted. Possible causes:

• Parameterization error

dwTcHydErrCdMissingEnc

16#4210

16912

There is no connection to an encoder interface (pStDeviceInput and/or pStDeviceOutput in Axis_Ref_BkPlcMc). Possible causes:

• Application software error (the MC_AxUtiStandardInit_BkPlcMc function block was not called or not provided with the address of an ST_TcPlcDeviceInput and an ST_TcPlcDeviceOutput structure)

dwTcHydErrCdMissingDrive

16#4212

16914

There is no connection to a drive interface (pStDeviceInput and/or pStDeviceOutput in Axis_Ref_BkPlcMc). Possible causes:

• Application software error (the MC_AxUtiStandardInit_BkPlcMc function block was not called or not provided with the address of an ST_TcPlcDeviceInput and an ST_TcPlcDeviceOutput structure)

dwTcHydErrCdCannotSynchronize

16#421A

16922

Start distance inadequate when an MC_GearInPos_BkPlcMc() function block is called. Possible causes:

• the axis is too close to the sync point when the function block is activated
• the dynamic axis parameters are inadequate

dwTcHydErrCdIllegalGearFactor

16#421B

16923

The parameters of a gear coupling are not permitted. Possible causes:

• the parameter of the function block is not permitted

dwTcHydErrCdSoftEnd

16#4222

16930

The target position is located on the far side of an active software limit switch, and is therefore not permitted.

dwTcHydErrCdLowDist

16#4228

16936

The travel distance is unacceptably small.

dwTcHydErrCdIllegalStartType

16#4239

16953

Invalid start type.

dwTcHydErrCdCommandBufferOverflow

16#423F

16959

Command buffer is full.

dwTcHydErrCdEncLostCamm

16#4253

16979

Reserved. Not supported.

dwTcHydErrCdCtrlEnaLost

16#4260

16992

Controller enable was withdrawn during the motion. Possible causes:

• the axis enable was withdrawn at an unexpected time due to a machine logic signal
• application software error

dwTcHydErrCdEncNoCammFound

16#429C

17052

Reserved. Not supported.

dwTcHydErrCdEncNoCammEnd

16#429D

17053

Reserved. Not supported.

dwTcHydErrCdEncNoSyncPulse

16#429E

17054

Reserved. Not supported.

dwTcHydErrCdAcc

16#4309

17161

The acceleration is not acceptable.

dwTcHydErrCdDec

16#430A

17162

The deceleration is not acceptable.

dwTcHydErrCdJerk

16#430B

17163

The jerk limitation is invalid.

dwTcHydErrCdPtrPlcMc

16#4345

17221

No connection to one of the required axis interfaces (pStDeviceInput or pStDeviceOutput in Axis_Ref_BkPlcMc).

dwTcHydErrCdPtrMcPlc

16#4346

17222

No connection to one of the required axis interfaces (pStDeviceInput or pStDeviceOutput in Axis_Ref_BkPlcMc).

dwTcHydErrCdCtrlEna

16#4356

17238

Movement without controller enable is not permitted.

dwTcHydErrCdNegFdEna

16#4357

17239

Movement in the direction of reducing positions without the negative direction advance enable is not permitted.

dwTcHydErrCdPosFdEna

16#4358

17240

Movement in the direction of increasing positions without positive direction advance enable is not permitted.

dwTcHydErrCdSetVelo

16#4359

17241

The required velocity is not acceptable.

dwTcHydErrCdPehTimeout

16#435C

17244

The axis does not reach the target window within the specified time.

dwTcHydErrCdNotMoving

16#435D

17245

The axis is not moving, or not in the correct direction.

dwTcHydErrCdConsequential

16#43A0

17312

Consequential error: The axis was put in an error state due to a problem with another axis.

dwTcHydErrCdEncType

16#4401

17409

The parameter type is invalid.

dwTcHydErrCdEncScaling

16#4406

17414

The increment scaling is not permitted.

dwTcHydErrCdEncSyncDist

16#4414

17428

The distance between Latch_Enable and the sync pulse is too small.

dwTcHydErrCdEncSetActPos

16#4422

17442

A problem occurred during actual value setting.

dwTcHydErrCdPtrPlcEncIn

16#4442

17474

The axis does not have a pointer to an encoder input interface

dwTcHydErrCdPtrPlcEncOut

16#4443

17475

The axis does not have a pointer to an encoder output interface.

dwTcHydErrCdEncUnderrun

16#4450

17488

Reported by some encoder types: The actual position has passed the lower count limit of the encoder.

dwTcHydErrCdEncOverrun

16#4451

17489

Reported by some encoder types: The actual position has passed the upper count limit of the encoder.

dwTcHydErrCdEncHdwFailed

16#4464

17508

Drive actuator or encoder report a hardware fault.

dwTcHydErrCdSsi

16#4470

17520

An error was detected when operating an SSI encoder.

dwTcHydErrCdPosLag

16#4550

17744

The lag error exceeds an active limit.

dwTcHydErrCdDriveType

16#4601

17921

The value set in nDrive_Type is not permitted.

dwTcHydErrCdRefVelo

16#4605

17925

Reference velocity (fRefVelo in ST_TcHydAxParam) is invalid.

dwTcHydErrCdStepperStalled

16#4636

17974

A stall situation was detected.

dwTcHydErrCdPtrPlcDriveIn

16#4642

17986

The axis does not have a pointer to a drive input interface.

dwTcHydErrCdPtrPlcDriveOut

16#4643

17987

The axis does not have a pointer to a drive output interface.

dwTcHydErrCdDriveNotReady

16#4650

18000

Power section not ready for operation.

dwTcHydErrCdTblEntryCount

16#4A02

18946

The number of table entries (rows) is not permitted.

dwTcHydErrCdTblInvalidMasterStep

16#4A04

18948

The table contains entries with invalid master step size.

dwTcHydErrCdTblNoInit

16#4A10

18960

The table is not initialized.

dwTcHydErrCdTblIllegalIndex

16#4A13

18963

Table index not permitted.

dwTcHydErrCdTblLineCount

16#4A15

18965

The number of table entries is too large.

dwTcHydErrCdNotStartable

16#4B01

19201

Axis in a state that does not allow it to start.

dwTcHydErrCdFuncTimeout

16#4B07

19207

The function was not reported as complete within the specified time.

dwTcHydErrCdNotReady

16#4B09

19209

The axis is not in an operable state.

dwTcHydErrCdHomingType

16#4F00

20224

Referencing method (nEnc_HomingType in ST_TcHydAxParam) is not permitted.

dwTcHydErrCdEncCutOff

16#4F01

20225

The limit frequency for the actual value acquisition has been exceeded.

dwTcHydErrCdIllegalDistance

16#4F02

20226

Distance is invalid: zero or negative.

dwTcHydErrEncDisconected

16#4FF0

20464

Encoder hardware is uncoupled. Possible causes:

• the fieldbus connection is interrupted
• the power supply for the device is not available
• the device is faulty
• another device, which is located in the fieldbus connection between the controller and the device, has no power supply or is faulty

dwTcHydErrDriveDisconected

16#4FF1

20465

Drive hardware is uncoupled. Possible causes:

• the fieldbus connection is interrupted
• the power supply for the device is not available
• the device is faulty
• another device, which is located in the fieldbus connection between the controller and the device, has no power supply or is faulty

dwTcHydErrDistanceInsufficient

16#4FF2

20466

The travel path is inadequate.

dwTcHydErrIllegalAreas

16#4FF3

20467

Inadmissible effective areas:

• inadmissible values have been entered for the cylinder areas on the valve tab
• the combination of the registered areas is not permitted in this way

dwTcHydErrIncompleteImplementation

16#4FF4

20468

The axis implementation is incomplete:

• although the axis is marked with bDriveIsHybrid in its parameters, no MC_AxRtHybridAxisActuals_BkPlcMc function block is called
• the same instance of type ST_TcPlcDeviceInput is also transferred to the MC_AxUtiStandardInit_BkPlcMc function block of another axis
• the same instance of type ST_TcPlcDeviceOutput is also transferred to the MC_AxUtiStandardInit_BkPlcMc function block of another axis
• another instance of ST_TcPlcMcLogBuffer is passed to another axis
• the same valid pointer to an instance of ST_TcPlcCmdBuffer_BkPlcMc was passed to another axis
• the same valid pointer to an instance of ST_TcMcAutoIdent was passed to another axis

dwTcHydErrCdAX2000MainPwrTmOut

16#0001

1

Only for AX2000: no feedback by the mains contactor (timeout during waiting for ST_TcPlcMcAx2000In.bPowerOk).

dwTcHydErrCdAX2000MainPwrFault

16#0002

2

Only for AX2000: negative edge on feedback from mains contactor (ST_TcPlcMcAx2000In.bPowerOk).

dwTcHydErrCdAX2000PwrStageTmOut

16#0003

3

Only for AX2000: no feedback from AX output stage (timeout during waiting for ST_TcPlcMcAx2000In.DriveState[3].6, no Ready).

dwTcHydErrCdAX2000PwrStageFault

16#0004

4

Only for AX2000: Negative edge of AX output stage (ST_TcPlcMcAx2000In.DriveState[3].6, no Ready).

dwTcHydErrCdAX2000ReportsError

16#0005

5

Only for AX2000: error message from AX device (ST_TcPlcMcAx2000In.DriveState[3].7 or ST_TcPlcMcAx2000In.DriveError<>0).

dwTcHydErrCdAX2000ErrorI2T

16#0006

6

Only for AX2000: I²T error message from AX output stage (ST_TcPlcMcAx2000In.DriveState[0].0).

dwTcHydErrCdAX2000ErrorChopper

16#0007

7

Only for AX2000: brake resistor of the AX output stage faulty (ST_TcPlcMcAx2000In.DriveState[0].1).

dwTcHydErrCdAX2000ErrorWatchDog

16#0008

8

Only for AX2000: watchdog (timeout during communication) of the AX output stage was triggered (ST_TcPlcMcAx2000In.DriveState[0].3).

dwTcHydErrCdAX2000ErrorPwrLine

16#0009

9

Only for AX2000: supply error reported by AX output stage (ST_TcPlcMcAx2000In.DriveState[0].4).

dwTcHydErrCdAX2000ConnectionLost

16#000A

10

Only for AX2000: The connection to the AX device is broken or substantially disrupted (ST_TcPlcMcAx2000In.BoxState<>0).

dwTcHydErrCdAX2000ConnectionTmOut

16#000B

11

Only for AX2000: The communication with the AX device could not be established (timeout).

dwTcHydErrCdKL2531OverTemp

16#0001

1

Only for KL2531/KL2541: The KL2531/KL2541 terminal reports overtemperature alarm.

dwTcHydErrCdKL2531UnderVoltage

16#0002

2

Only for KL2531/KL2541: The KL2531/KL2541 terminal reports inadequate supply voltage on the power rail.

16#0003

3

Only for KL2531/KL2541: Reserved.

dwTcHydErrCdKL2531OpenLoadA

16#0004

4

Only for KL2531/KL2541: The KL2531/KL2541 terminal reports broken wire on the A-side.

dwTcHydErrCdKL2531OpenLoadB

16#0005

5

Only for KL2531/KL2541: The KL2531/KL2541 terminal reports broken wire on the B-side.

dwTcHydErrCdKL2531OverCurrentA

16#0006

6

Only for KL2531/KL2541: The KL2531/KL2541 terminal reports overcurrent at output stage A.

dwTcHydErrCdKL2531OverCurrentB

16#0007

7

Only for KL2531/KL2541: The KL2531/KL2541 terminal reports overcurrent at output stage B.

dwTcHydErrCdKL2531NotReady

16#0008

8

Only for KL2531/KL2541: The terminal reports a output stage problem (enabled, not ready).

dwTcHydErrCdKL2531ConnectionLost

16#000A

10

Only for KL2531/KL2541: The connection to the terminal is broken or substantially disrupted (ST_TcPlcMcDriveIn.uiBoxState<>0).

dwTcHydErrCdKL2531ConnectionTmOut

16#000B

11

Only for KL2531/KL2541: The communication with the terminal could not be established (timeout).

16#4000 + axis index

2

STRING()

R

Axis name in text form.

4

UDINT

R

Cycle time in microseconds.

16#10003

UDINT

R

Encoder type: nEnc_Type from ST_TcHydAxParam.

16#10006

LREAL

R

Incremental evaluation: fEnc_IncWeighting from ST_TcHydAxParam.

16#30003

UDINT

R

Drive type: nDrive_Type from ST_TcHydAxParam.

16#4100 + axis index

1

UDINT

R

Error code: nErrorCode from ST_TcHydAxRtData.

16#10002

LREAL

R

Actual position: fActPos from ST_TcHydAxRtData.

16#10005

LREAL

R

Actual velocity: fActVelo from ST_TcHydAxRtData.

16#4200 + axis index

1

-

W

Execute axis reset.

16#10

-

W

Start homing.

16#21

Structure

W

Start axis movement.

16#FFFF0001

-

W

Save parameters.

16#FFFF0002

-

W

Load parameters.

16#4300 + axis index

16#81

UDINT

R

Status double word: nStateDWord from ST_TcHydAxRtData.

16#B1

UDINT

R

Error code: nErrorCode from ST_TcHydAxRtData.

16#F000 + axis index

1

Structure

R

The ST_TcHydAxRtData variable for the axis.

2

Structure

R/W

The ST_TcHydAxParam variable for the axis.

16#800F0000 + axis index

E_TcMCParameter

R/W

Parameters and actual values of the axis.

16#FFFFFFFF

0

String()

R

Identification of the server.

1

UINT

R

Major version of the library.

2

UINT

R

Minor version of the library.

3

UINT

R

Release of the library.

4

UINT

R

Number of axes supported

ciBkPlcMc_CamSwitchRef_MinIdx

Lower boundary index on an array[] of CAMSWITCH_REF_BkPlcMc, supplied to blocks of type MC_DigitalCamSwitch_BkPlcMc

ciBkPlcMc_CamSwitchRef_MaxIdx

Upper boundary index on an array[] of CAMSWITCH_REF_BkPlcMc, supplied to blocks of type MC_DigitalCamSwitch_BkPlcMc

ciBkPlcMc_TrackRef_MinIdx

Lower boundary index on an array[] of TRACK_REF_BkPlcMc, supplied to blocks of type MC_DigitalCamSwitch_BkPlcMc

ciBkPlcMc_TrackRef_MaxIdx

Upper boundary index on an array[] of TRACK_REF_BkPlcMc, supplied to blocks of type MC_DigitalCamSwitch_BkPlcMc

dwTcHydLogLevel_None

No logging

dwTcHydLogLevel_Errors

Only error messages

dwTcHydLogLevel_Warnings

Error messages and warnings

dwTcHydLogLevel_Actions

Error messages, warnings and activities

dwTcHydLogSource_Library

A function block of the hydraulics library

dwTcHydLogSource_LibExt_2R2V

A function block of the 2R2V library

dwTcHydLogSource_Application

A function block of the application

dwTcHydLogSource_ApplicationFramework

A function block of an application platform

dwTcHydLogArgType_DInt

The message contains a parameter of type DINT. The message text must include a placeholder in the form %d.

dwTcHydLogArgType_LReal

The message contains a parameter of type LREAL. The message text must include a placeholder in the form %f.

dwTcHydLogArgType_String

The message contains a parameter of type STRING. The message text must include a placeholder in the form %s.