Details concerning T_CSY_FOLLOW-type IODDT explicit exchange objects
(Original Document)
About us
At a Glance
This part introduces the explicit exchange objects of the T_CSY_FOLLOW IODDT that apply to the TSX CSY 84 module for channels 21 to 24. 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_FOLLOW
Notes
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
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
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: servodrive 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
Faulty project 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
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 21 to 24. 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
MASTER_CHANNEL
INT
RW
Number of the master axis (1 to 16, N is not accessible
%MWr.m.c.35
SLAVE_CHANNEL_1
INT
RW
Number of slave axis 1
%MWr.m.c.36
FOLL_DESCRIPTION_1
INT
RW
Description of slave axis 1. This word is composed of significant bits described below and has names of variables, as well as three unnamed bits that affect startup conditions:
bits 8, 9 and 10 set to zero = immediate startup
bit 8 set to 1 and 9 and 10 set to zero = master position reaches trigger in negative direction
bit 9 set to 1 and bits 8 and 10 set to zero = master position reaches trigger in positive direction
bits 8 and 9 set to 1 and bit 10 set to zero = master threshold > position
bits 8 and 9 set to zero and bit 10 set to 1 = master threshold < position
%MWr.m.c.37
FOLL_WHERE_1
BOOL
R
0 = controller
%MWr.m.c.37.0
FOLL_TYPE_1
BOOL
R
0 = ratio mode
1 = Cam mode
%MWr.m.c.37.1
FOLL_POSITION_1
BOOL
R
0= following the actual position
1 = following the commanded position
%MWr.m.c.37.2
FOLL_FOL_ON_HALT_1
BOOL
R
1 = stop the follower axis if master/slave link is removed
%MWr.m.c.37.3
FOLL_HALT_MASTER_1
BOOL
R
1 = stop the master in the event of a following error
%MWr.m.c.37.6
FOLL_BIAS_REMAIN_1
BOOL
R
1 = dynamic offset on position of master
%MWr.m.c.37.7
NUMERATOR_1
REAL
RW
numerator for slave axis 1
%MFr.m.c.38
DENOMINATOR_1
REAL
RW
Denominator for slave axis 1
%MFr.m.c.40
TRIGGER_POSITION_1
REAL
RW
Value of trigger for slave axis 1
%MFr.m.c.42
SLAVE_CHANNEL_2
INT
RW
Number of slave axis 2
%MWr.m.c.44
FOLL_DESCRIPTION_2
INT
RW
Description of slave axis 2. This word is composed of significant bits described below and has names of variables, as well as three unnamed bits that affect startup conditions:
bits 8, 9 and 10 set to zero = immediate startup
bit 8 set to 1 and 9 and 10 set to zero = master position reaches trigger in negative direction
bit 9 set to 1 and bits 8 and 10 set to zero = master position reaches trigger in positive direction
bits 8 and 9 set to 1 and bit 10 set to zero = master threshold > position
bits 8 and 9 set to zero and bit 10 set to 1 = master threshold < position
%MWr.m.c.45
FOLL_WHERE_2
BOOL
R
0 = controller
%MWr.m.c.45.0
FOLL_TYPE_2
BOOL
R
0 = ratio mode
1 = Cam mode
%MWr.m.c.45.1
FOLL_POSITION_2
BOOL
R
0= following the actual position
1 = following the commanded position
%MWr.m.c.45.2
FOLL_FOL_ON_HALT_2
BOOL
R
1 = stop the follower axis if master/slave link is removed
%MWr.m.c.45.3
FOLL_HALT_MASTER_2
BOOL
R
1 = stop the master in the event of a following error
%MWr.m.c.45.6
FOLL_BIAS_REMAIN_2
BOOL
R
1 = dynamic offset on position of master
%MWr.m.c.45.7
NUMERATOR_2
REAL
RW
numerator for slave axis 2
%MFr.m.c.46
DENOMINATOR_2
REAL
RW
Denominator for slave axis 2
%MFr.m.c.48
TRIGGER_POSITION_2
REAL
RW
Value of trigger for slave axis 2
%MFr.m.c.50
SLAVE_CHANNEL_3
INT
RW
Number of slave axis 3
%MWr.m.c.52
FOLL_DESCRIPTION_3
INT
RW
Description of slave axis 3. This word is composed of significant bits described below and has names of variables, as well as three unnamed bits that affect startup conditions:
bits 8, 9 and 10 set to zero = immediate startup
bit 8 set to 1 and 9 and 10 set to zero = master position reaches trigger in negative direction
bit 9 set to 1 and bits 8 and 10 set to zero = master position reaches trigger in positive direction
bits 8 and 9 set to 1 and bit 10 set to zero = master threshold > position
bits 8 and 9 set to zero and bit 10 set to 1 = master threshold < position
%MWr.m.c.53
FOLL_WHERE_3
BOOL
R
0 = controller
%MWr.m.c.53.0
FOLL_TYPE_3
BOOL
R
0 = ratio mode
1 = Cam mode
%MWr.m.c.53.1
FOLL_POSITION_3
BOOL
R
0= following the actual position
1 = following the commanded position
%MWr.m.c.53.2
FOLL_FOL_ON_HALT_3
BOOL
R
1 = stop the follower axis if master/slave link is removed
%MWr.m.c.53.3
FOLL_HALT_MASTER_3
BOOL
R
1 = stop the master in the event of a following error
%MWr.m.c.53.6
FOLL_BIAS_REMAIN_3
BOOL
R
1 = dynamic offset on position of master
%MWr.m.c.53.7
NUMERATOR_3
REAL
RW
numerator for slave axis 3
%MFr.m.c.54
DENOMINATOR_3
REAL
RW
Denominator for slave axis 3
%MFr.m.c.56
TRIGGER_POSITION_3
REAL
RW
Value of trigger for slave axis 3
%MFr.m.c.58
SLAVE_CHANNEL_4
INT
RW
Number of slave axis 4
%MWr.m.c.60
FOLL_DESCRIPTION_4
INT
RW
Description of slave axis 4. This word is composed of significant bits described below and has names of variables, as well as three unnamed bits that affect startup conditions:
bits 8, 9 and 10 set to zero = immediate startup
bit 8 set to 1 and 9 and 10 set to zero = master position reaches trigger in negative direction
bit 9 set to 1 and bits 8 and 10 set to zero = master position reaches trigger in positive direction
bits 8 and 9 set to 1 and bit 10 set to zero = master threshold > position
bits 8 and 9 set to zero and bit 10 set to 1 = master threshold < position
%MWr.m.c.61
FOLL_WHERE_4
BOOL
R
0 = controller
%MWr.m.c.61.0
FOLL_TYPE_4
BOOL
R
0 = ratio mode
1 = Cam mode
%MWr.m.c.61.1
FOLL_POSITION_4
BOOL
R
0= following the actual position
1 = following the commanded position
%MWr.m.c.61.2
FOLL_FOL_ON_HALT_4
BOOL
R
1 = stop the follower axis if master/slave link is removed
%MWr.m.c.61.3
FOLL_HALT_MASTER_4
BOOL
R
1 = stop the master in the event of a following error
%MWr.m.c.61.6
FOLL_BIAS_REMAIN_4
BOOL
R
1 = dynamic offset on position of master
%MWr.m.c.61.7
NUMERATOR_4
REAL
RW
numerator for slave axis 4
%MFr.m.c.62
DENOMINATOR_4
REAL
RW
Denominator for slave axis 4
%MFr.m.c.64
TRIGGER_POSITION_4
REAL
RW
Value of trigger for slave axis 4
%MFr.m.c.66
SLAVE_CHANNEL_5
INT
RW
Number of slave axis 5
%MWr.m.c.68
FOLL_DESCRIPTION_5
INT
RW
Description of slave axis 5. This word is composed of significant bits described below and has names of variables, as well as three unnamed bits that affect startup conditions:
bits 8, 9 and 10 set to zero = immediate startup
bit 8 set to 1 and 9 and 10 set to zero = master position reaches trigger in negative direction
bit 9 set to 1 and bits 8 and 10 set to zero = master position reaches trigger in positive direction
bits 8 and 9 set to 1 and bit 10 set to zero = master threshold > position
bits 8 and 9 set to zero and bit 10 set to 1 = master threshold < position
%MWr.m.c.69
FOLL_WHERE_5
BOOL
R
0 = controller
%MWr.m.c.69.0
FOLL_TYPE_5
BOOL
R
0 = ratio mode
1 = Cam mode
%MWr.m.c.69.1
FOLL_POSITION_5
BOOL
R
0= following the actual position
1 = following the commanded position
%MWr.m.c.69.2
FOLL_FOL_ON_HALT_5
BOOL
R
1 = stop the follower axis if master/slave link is removed
%MWr.m.c.69.3
FOLL_HALT_MASTER_5
BOOL
R
1 = stop the master in the event of a following error
%MWr.m.c.69.6
FOLL_BIAS_REMAIN_5
BOOL
R
1 = dynamic offset on position of master
%MWr.m.c.69.7
NUMERATOR_6
REAL
RW
numerator for slave axis 6
%MFr.m.c.70
DENOMINATOR_6
REAL
RW
Denominator for slave axis 6
%MFr.m.c.72
TRIGGER_POSITION_6
REAL
RW
Value of trigger for slave axis 6
%MFr.m.c.74
SLAVE_CHANNEL_6
INT
RW
Number of slave axis 6
%MWr.m.c.76
FOLL_DESCRIPTION_6
INT
RW
Description of slave axis 6. This word is composed of significant bits described below and has names of variables, as well as three unnamed bits that affect startup conditions:
bits 8, 9 and 10 set to zero = immediate startup
bit 8 set to 1 and 9 and 10 set to zero = master position reaches trigger in negative direction
bit 9 set to 1 and bits 8 and 10 set to zero = master position reaches trigger in positive direction
bits 8 and 9 set to 1 and bit 10 set to zero = master threshold > position
bits 8 and 9 set to zero and bit 10 set to 1 = master threshold < position
%MWr.m.c.77
FOLL_WHERE_6
BOOL
R
0 = controller
%MWr.m.c.77.0
FOLL_TYPE_6
BOOL
R
0 = ratio mode
1 = Cam mode
%MWr.m.c.77.1
FOLL_POSITION_6
BOOL
R
0= following the actual position
1 = following the commanded position
%MWr.m.c.77.2
FOLL_FOL_ON_HALT_6
BOOL
R
1 = stop the follower axis if master/slave link is removed
%MWr.m.c.77.3
FOLL_HALT_MASTER_6
BOOL
R
1 = stop the master in the event of a following error
%MWr.m.c.77.6
FOLL_BIAS_REMAIN_6
BOOL
R
1 = dynamic offset on position of master
%MWr.m.c.77.7
NUMERATOR_6
REAL
RW
numerator for slave axis 6
%MFr.m.c.78
DENOMINATOR_6
REAL
RW
Denominator for slave axis 6
%MFr.m.c.80
TRIGGER_POSITION_6
REAL
RW
Value of trigger for slave axis 6
%MFr.m.c.82