Details Concerning T_CSY_IND-Type IODDT Explicit Exchange Objects

At a Glance

This part introduces IODDT explicit exchange objects of the T_CSY_IND type that apply to the TSX CSY 85 module for channels 1 to16. It groups word-type objects whose bits have a particular meaning. These objects are presented in detail below.

Example of declaration of a variable: IODDT_VAR1 of the type T_CSY_IND.

Notes

The meaning of bits is generally given for status 1 of this bit. In specific cases, each bit status is explained.
Not all bits are used.

Indicators of Explicit Exchange Execution: EXCH_STS

The following table introduces the control bits for explicit exchanges: EXCH_STS (%MWr.m.c.0). These variables are automatically updated by the system upon each explicit exchange.

Standard symbol	Type	Access	Meaning	Address
STS_IN_PROGR	BOOL	R	Read channel status words in progress	%MWr.m.c.0.0
CMD_IN_PROGR	BOOL	R	Command parameters exchange in progress	%MWr.m.c.0.1
ADJ_IN_PROGR	BOOL	R	Adjust parameters exchange in progress	%MWr.m.c.0.2
TRF_IN_PROGR	BOOL	R	TRF_RECIPE in progress	%MWr.m.c.0.3
RECONF_IN_PROGR	BOOL	R	Module reconfiguring	%MWr.m.c.0.15

Explicit Exchange Report: EXCH_RPT

The following table introduces the report bits: EXCH_RPT (%MWr.m.c.1). These variables are automatically updated by the system upon each explicit exchange.

Standard symbol	Type	Access	Meaning	Address
STS_ERR	BOOL	R	Channel status words read fault (1 = failure)	%MWr.m.c.1.0
CMD_ERR	BOOL	R	Fault during exchange of command parameters (1 = failure)	%MWr.m.c.1.1
ADJ_ERR	BOOL	R	Fault during an exchange of adjustment parameters (1 = failure)	%MWr.m.c.1.2
TRF_ERR	BOOL	R	Error while sending a TRF_RECIPE on the channel	%MWr.m.c.1.3
RECONF_ERR	BOOL	R	Fault during channel reconfiguration (1 = failure)	%MWr.m.c.1.15

Channel Fault Word

The following table introduces the channel fault bits: CH_FLT. These variables are updated by a READ_STS (IODDT_VAR1).

Standard symbol	Type	Access	Meaning	Address
EXT_FLT0	BOOL	R	External fault 0: drive fault	%MWr.m.c.2.0
EXT_FLT1	BOOL	R	External fault 1: communication fault with the axis	%MWr.m.c.2.1
EXT_FLT2	BOOL	R	External fault 2	%MWr.m.c.2.3
INT_FLT	BOOL	R	Internal fault	%MWr.m.c.2.4
CONF_FLT	BOOL	R	Configuration fault: different hardware and software configurations	%MWr.m.c.2.5
COM_FLT	BOOL	R	Communication fault	%MWr.m.c.2.6
APPLI_FLT	BOOL	R	Application fault: configuration, adjustment or command fault	%MWr.m.c.2.7
PROCESS_CONF	BOOL	R	Creation of move in progress object	%MWr.m.c.2.11
PROCESS_CONF_FAILED	BOOL	R	Configuration fault (except for channel 0)	%MWr.m.c.2.12

Objects of the TRF_RECIPE Function

The following table introduces the objects associated with the TRF_RECIPE function. These objects are automatically updated by the system each time the TRF_RECIPE function is used.

Standard symbol	Type	Access	Meaning	Address
ERROR_TRF	INT	R	Read error for the TRF_RECIPE function	%MWr.m.c.3
RETURN_TRF_1	DINT	R	Return 1 of the TRF_RECIPE function	%MDr.m.c.4
RETURN_TRF_2	REAL	R	Return 2 of the TRF_RECIPE function	%MFr.m.c.6
RETURN_TRF_3	REAL	R	Return 3 of the TRF_RECIPE function	%MFr.m.c.8
ACTION_TRF	INT	R	Action to be carried out by the TRF_RECIPE function	%MWr.m.c.10
PARAM_TRF_1	DINT	R	Parameter 1 of the TRF_RECIPE function	%MDr.m.c.11
PARAM_TRF_2	DINT	R	Parameter 2 of the TRF_RECIPE function	%MDr.m.c.13
PARAM_TRF_3	REAL	R	Parameter 3 of the TRF_RECIPE function	%MFr.m.c.15
PARAM_TRF_4	REAL	R	Parameter 4 of the TRF_RECIPE function	%MFr.m.c.17

WRITE_CMD Interface Words

The following table explains the meanings of the variables associated with the WRITE_CMD whose action was specified in the word ACTION_CMD. These variables are updated by a WRITE_CMD (IODDT_VAR1).

Standard symbol	Type	Access	Meaning	Address
ERROR_CMD	INT	RW	Error during WRITE_CMD	%MWr.m.c.19
RETURN_CMD_1	DINT	RW	Return 1 of the function	%MDr.m.c.20
RETURN_CMD_2	REAL	RW	Return 2 of the function	%MFr.m.c.22
RETURN_CMD_3	REAL	RW	Return 3 of the function	%MFr.m.c.24
ACTION_CMD	INT	RW	Action to be carried out	%MWr.m.c.26
PARAM_CMD_1	DINT	RW	Parameter 1	%MDr.m.c.27
PARAM_CMD_2	DINT	RW	Parameter 2	%MDr.m.c.29
PARAM_CMD_3	REAL	RW	Parameter 3	%MFr.m.c.31
PARAM_CMD_4	REAL	RW	Parameter 4	%MFr.m.c.33

READ_PARAM, WRITE_PARAM Interface Words

The table below explains the meanings of the parameters which can be accessed using the READ_PARAM and WRITE_PARAM functions for channels 1 to 16. These variables are updated using READ_PARAM (IODDT_VAR1) or WRITE_PARAM (IODDT_VAR1). You can also use the SAVE_PARAM and RESTORE_PARAM functions.

Standard symbol	Type	Access	Meaning	Address
FUNCTION_VALIDATION	INT	RW	Word containing the selective validation bits	%MWr.m.c.35
ACCEL	REAL	RW	Acceleration value	%MFr.m.c.36
DECEL	REAL	RW	Deceleration value	%MFr.m.c.38
ACCEL_TYPE	INT	RW	Acceleration type	%MWr.m.c.40
IN_POSITION_BAND	REAL	RW	Value of the in-position band	%MFr.m.c.41
ENABLE_POSITION_BAND	REAL	RW	Value of the monitoring window	%MFr.m.c.43
ROLLOVER_MAX	REAL	RW	Maximum rollover	%MFr.m.c.45
ROLLOVER_MIN	REAL	RW	Minimum rollover	%MFr.m.c.47
ACCEL_MAX	REAL	RW	Maximum acceleration	%MFr.m.c.49
DECEL_MAX	REAL	RW	Maximum deceleration	%MFr.m.c.51
SPEED_MAX	REAL	RW	Maximum speed	%MFr.m.c.53
POSITION_MAX	REAL	RW	Maximum position	%MFr.m.c.55
POSITION_MIN	REAL	RW	Minimum position	%MFr.m.c.57
SCALE_NUMERATOR	REAL	RW	Scale factor enumerator (configuration of an independent axis and GetGearRatio function)	%MFr.m.c.59
SCALE_DENOMINATOR	REAL	RW	Scale factor denominator (configuration of an independent axis and GetGearRatio function)	%MFr.m.c.61
ACCEL_UNIT	INT	RW	Acceleration unit.	%MWr.m.c.63
SPEED_UNIT	INT	RW	Velocity unit	%MWr.m.c.64
POSITION_UNIT	INT	RW	Position unit	%MWr.m.c.65