Details concerning T_CSY_COORD-type IODDT explicit exchange objects

At a Glance

This part introduces the explicit exchange objects of the T_CSY_COORD IODDT that apply to the TSX CSY 84 module for channels 17 to 20. 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_COORD

Notes

The meaning of bits is generally given for status 1 of this bit. In specific cases, each bit status is explained.
All bits are not 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
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
PARAM_CMD_5	REAL	RW	Parameter 5	%MFr.m.c.35
PARAM_CMD_6	REAL	RW	Parameter 6	%MFr.m.c.37
PARAM_CMD_7	REAL	RW	Parameter 7	%MFr.m.c.39
PARAM_CMD_8	REAL	RW	Parameter 8	%MFr.m.c.41
PARAM_CMD_9	REAL	RW	Parameter 9	%MFr.m.c.43
PARAM_CMD_10	REAL	RW	Parameter 10	%MFr.m.c.45
PARAM_CMD_11	REAL	RW	Parameter 11	%MFr.m.c.47
PARAM_CMD_12	REAL	RW	Parameter 12	%MFr.m.c.49
PARAM_CMD_13	REAL	RW	Parameter 13	%MFr.m.c.51
PARAM_CMD_14	REAL	RW	Parameter 14	%MFr.m.c.53
PARAM_CMD_15	REAL	RW	Parameter 15	%MFr.m.c.55
PARAM_CMD_16	REAL	RW	Parameter 16	%MFr.m.c.57
PARAM_CMD_17	REAL	RW	Parameter 17	%MFr.m.c.59
PARAM_CMD_18	REAL	RW	Parameter 18	%MFr.m.c.61