Details concerning T_CSY_CAM-type IODDT explicit exchange objects
(Original Document)
About us
At a Glance
This part introduces the explicit exchange objects of the T_CSY_CAM IODDT that apply to the TSX CSY 84 module for channels 25 to 31. 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_CAM
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
TRF_IN_PROGR
BOOL
R
TRF_RECIPE function 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
Fault while TRF_RECIPE function is in progress
%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: 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
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