Details concerning T_CSY_COORD-type IODDT implicit exchange objects
(Original Document)
About us
At a Glance
The T_CSY_COORD IODDT possesses implicit exchange objects, which are described below. This type of IODDT is applied to the TSX_CSY_84 module for channels 17 to 20.
Example of declaration of a variable: IODDT_VAR1 of the type T_CSY_COORD
The meaning of bits is generally given for status 1 of this bit. In specific cases, the two bit statuses are explained.
List of implicit exchange input objects
The following table introduces the implicit exchange input objects of the T_CSY_COORD IODDT which apply to the TSX_CSY_84 module.
Standard symbol
Type
Access
Meaning
Address
CH_ERROR
EBOOL
R
Channel error bit.
%Ir.m.c.ERR
RAMPING
EBOOL
R
Indicates whether the axis is accelerating or decelerating
%Ir.m.c.0
STEADY
EBOOL
R
The speed is steady
%Ir.m.c.1
STOPPING
EBOOL
R
The movement is decelerating to a stop
%Ir.m.c.2
PROFILE_END
EBOOL
R
The last profile command has been sent to the module
%Ir.m.c.3
IN_POSITION
EBOOL
R
The axis is within the in-position band
%Ir.m.c.4
AXIS_HOMING
EBOOL
R
The axis is homing. For an imaginary axis, this bit is inactive
%Ir.m.c.5
AXIS_HOMED
EBOOL
R
The axis position reading is referenced off the home position
%Ir.m.c.6
AXIS_NOT_FOLLOWING
EBOOL
R
The drive is not recognizing module commands
%Ir.m.c.7
HOLDING
EBOOL
R
The axis is holding in wait position
%Ir.m.c.8
RESUMING
EBOOL
R
The axis is moving after a hold
%Ir.m.c.9
DRIVE_ENABLED
EBOOL
R
The drive is enabled
%Ir.m.c.10
DRIVE_DIAG
EBOOL
R
The drive is performing a class 3 diagnostic
%Ir.m.c.11
DRIVE_WARNING
EBOOL
R
The drive is performing a class 2 diagnostic
%Ir.m.c.12
DRIVE_FLT
EBOOL
R
The drive is performing a class 1 diagnostic
%Ir.m.c.13
DRIVE_DISABLED
EBOOL
R
The drive is disabled
%Ir.m.c.14
AXIS_SUMMARY_FLT
EBOOL
R
Drive fault
%Ir.m.c.15
AXIS_COM_OK
EBOOL
R
Communication between the drive and the module is OK
%Ir.m.c.16
AXIS_IS_LINKED
EBOOL
R
The axis belongs to a set of axes
%Ir.m.c.17
AXIS_IN_CMD
EBOOL
R
The axis is active and can be controlled
%Ir.m.c.18
AXIS_AT_TARGET
EBOOL
R
The axis is within the in-position band for the target position
%Ir.m.c.20
AXIS_POS_LIMIT
EBOOL
R
The axis has reached the positive limit
%Ir.m.c.21
AXIS_NEG_LIMIT
EBOOL
R
The axis has reached the negative limit
%Ir.m.c.22
AXIS_WARNING
EBOOL
R
MotionWarning status returned by the drive
%Ir.m.c.23
AXIS_HOLD
EBOOL
R
The axis is stopped and waiting for a command
%Ir.m.c.28
AXIS_HALT
EBOOL
R
The axis has stopped
%Ir.m.c.29
AXIS_FASTSTOP
EBOOL
R
The axis has faststopped
%Ir.m.c.30
AXIS_READY
EBOOL
R
The axis is ready to respond to a command
%Ir.m.c.31
CONF_OK
EBOOL
R
The channel is configured
%Ir.m.c.32
List of implicit exchange output objects
The following table introduces the implicit exchange output objects of the T_CSY_COORD IODDT that apply to the TSX_CSY_84 module.
Standard symbol
Type
Access
Meaning
Address
CONTROL_ACQUIRE
EBOOL
RW
control acquisition
%Qr.m.c.2
CONTROL_ENABLE
EBOOL
RW
Control enable
%Qr.m.c.10
CONTROL_FOLLOW
EBOOL
RW
Follow control for an axis or a set of follower axes
%Qr.m.c.11
CONTROL_RESUME
EBOOL
RW
Resumes control after a stop
%Qr.m.c.12
CONTROL_CLEAR_FLT
EBOOL
RW
Fault clear control
%Qr.m.c.15
ALLOW_ACQUIRE
EBOOL
RW
Acquisition enable control
%Qr.m.c.18
ALLOW_ENABLE
EBOOL
RW
Disable axis control
%Qr.m.c.26
ALLOW_FOLLOW
EBOOL
RW
Control to cancel following for an axis or a set of follower axes
%Qr.m.c.27
ALLOW_RESUME
EBOOL
RW
Authorizes a movement to continue after a stop using the HOLD command
%Qr.m.c.28
ALLOW_MOVE
EBOOL
RW
Authorizes a movement to continue after a stop using the HALT command
%Qr.m.c.29
ALLOW_NOT_FASTSTOP
EBOOL
RW
Control after a Faststop
%Qr.m.c.30
ALLOW_NOT_FLT
EBOOL
RW
Enable fault control
%Qr.m.c.31
Parameter report word
The following table introduces the implicit exchange input word for the T_CSY_COORD IODDT that applies to the TSX_CSY_84 module.
Standard symbol
Type
Access
Meaning
Address
PARAM_RPT
INT
R
Parameters report signaling a programming fault. The least significant byte contains the error code and the most significant byte contains the address in the registers of the field that triggered the error.
%IWr.m.c.2