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MMF Derived Datatypes
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(Original Document)
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MMF Derived Datatypes
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(Original Document)
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Type
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Used by EFB
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|---|---|
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MMFBlock
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MMF_USUB, MMF_ESUB, MMF_SUB, MMF_MOVE, MMF_JOG, MMF_INDX, CFG_SA, CFG_IA, CFG_RA, CFG_CS, CFG_FS, CFG_CP_F, CFG_CP_V, DRV_UPLD, DRV_DNLD, IDN_CHK, IDN_XFER, MMF_RST
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MMFControlBits
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MMF_BITS
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MMFStatusBits
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MMF_BITS
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AXCfg
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CFG_SA, CFG_IA, CFG_RA
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CSCfg
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CFG_CS
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CPCfg
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CFG_CP_F, CFG_CP_V
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FSCfg
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CFG_FS
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Element
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Datatype
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|---|---|
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RingControl
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UDINT
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WatchDogCont
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INT
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Debug
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INT
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SubNumber
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INT
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AxisID
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INT
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Parameter1
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UDINT
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Parameter2
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UDINT
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Parameter3
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REAL
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Parameter4
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REAL
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Parameter
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ARRAY [5..18] OF REAL
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reserved
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ARRAY [1..8] OF INT
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SA1Control
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UDINT
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...
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SA8Control
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UDINT
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IA1Control
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UDINT
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...
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IA4Control
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UDINT
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CS1Control
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UDINT
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...
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CS4Control
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UDINT
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FS1Control
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UDINT
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...
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FS4Control
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UDINT
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USubNumber
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INT
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UAxisID
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INT
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UParameter1
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UDINT
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UParameter2
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UDINT
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UParameter3
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REAL
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UParameter4
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REAL
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RingStatus
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UDINT
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WatchDogStat
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INT
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NumberOfAxes
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INT
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FaultAxis
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INT
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FaultCode
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INT
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WarnAxis
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INT
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WarnCode
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INT
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SubNumEcho
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INT
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AxisIDEcho
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INT
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Error
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INT
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Return1
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UDINT
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Return2
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REAL
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Return3
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REAL
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RevNumber
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INT
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SA1Position
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REAL
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...
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SA8Position
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REAL
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IA1Position
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REAL
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...
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L
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IA4Position
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REAL
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RA1Position
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REAL
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...
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RA4Position
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REAL
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SA1Status
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UDINT
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...
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SA8Status
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UDINT
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IA1Status
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UDINT
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...
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IA4Status
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UDINT
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CS1Status
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UDINT
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...
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CS4Status
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UDINT
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FS1Status
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UDINT
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...
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FS4Status
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UDINT
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USubNumEcho
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INT
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UAxisIDEcho
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INT
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UError
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INT
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UReturn1
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UDINT
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UReturn2
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REAL
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UReturn3
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REAL
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Element
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Datatype
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Description
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|---|---|---|
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CONTROL_CAPTURE
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BOOL
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Start the capturing of data into the data capture buffer.
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BIT1
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BOOL
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CONTROL_ACQUIRE
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BOOL
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Acquire command of controlled axes and make them be linked to the MotionSet. The AXIS_IN_COMMAND MotionStatus bit is set if successful.
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BIT3
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BOOL
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BIT4
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BOOL
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BIT5
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BOOL
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BIT6
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BOOL
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BIT7
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BOOL
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BIT8
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BOOL
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BIT9
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BOOL
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CONTROL_ENABLE
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BOOL
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Enable the controlled axes. The DRIVE_ENABLED MotionStatus bit is set if successful.
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CONTROL_FOLLOW
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BOOL
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Turn following on for the FollowerSet or member of a FollowerSet. The AXIS_IS_LINKED MotionStatus bit is set when following is on.
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CONTROL_RESUME
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BOOL
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Resume from a hold. The AXIS_HOLD MotionStatus bit is clear if the resuming starts.
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BIT13
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BOOL
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BIT14
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BOOL
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CONTROL_CLEAR_FAULT
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BOOL
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Clear MotionFaults. The AXIS_SUMMARY_FAULT MotionStatus bit is clear if successful.
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ALLOW_CAPTURE
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BOOL
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Stop the capturing of data into the data capture buffer.
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BIT17
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BOOL
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ALLOW_ACQUIRE
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BOOL
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Release the controlled axes. The AXIS_IN_COMMAND MotionStatus bit is clear when released.
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BIT19
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BOOL
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BIT20
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BOOL
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BIT21
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BOOL
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BIT22
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BOOL
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BIT23
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BOOL
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BIT24
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BOOL
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BIT25
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BOOL
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ALLOW_ENABLE
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BOOL
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Disable the controlled axes. The DRIVE_DISABLED MotionStatus bit is set when disabled.
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ALLOW_FOLLOW
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BOOL
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Turn following off for FollowerSet or a member of a FollowerSet. The AXIS_IS_LINKED MotionStatus bit is clear when following is off.
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ALLOW_RESUME
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BOOL
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ssue a hold to the controlled axes. The AXIS_HOLD MotionStatus bit is set when the motion profile is holding with 0 commanded speed.
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ALLOW_MOVE
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BOOL
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Issue a halt. The AXIS_HALT MotionStatus bit is set when the halt process starts.
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ALLOW_NOT_FASTSTOP
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BOOL
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Issue a fastStop command to the controlled axes. The AXIS_FASTSTOP MotionStatus bit is set.
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ALLOW_NOT_FAULT
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BOOL
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Cause a user fault to occur. The AXIS_SUMMARY_FAULT MotionStatus bit is set.
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Element
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Type
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Description
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|---|---|---|
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RAMPING
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BOOL
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The commanded motion profile is accelerating or decelerating to a different speed.
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STEADY
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BOOL
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The motion profile is commanding a steady speed.
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STOPPING
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BOOL
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The commanded motion profile is decelerating to a stop. STOPPING is set until PROFILE_END is set. STOPPING remains set until IN_POSITION is set.
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PROFILE_END
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BOOL
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The commanded motion profile has completed. The axis may still be settling until IN_POSITION is set or STOPPING is cleared. PROFILE_END is set when the axis is disabled. PROFILE_END is set after a halt is completed.
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IN_POSITION
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BOOL
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The axis position is within the InPositionBand after the commanded motion profile has started STOPPING. The STOPPING bit is cleared as soon as PROFILE_END and IN_POSITION are both set. IN_POSITION is clear when the axis is disabled. IN_POSITION is valid after a halt is completed.
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AXIS_HOMING
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BOOL
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The axis is performing a home function.
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AXIS_HOMED
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BOOL
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The axis home function completed successfully. The axis position reading is referenced off the home position and is valid.
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AXIS_NOT_FOLLOWING
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BOOL
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The drive is ignoring the controller's motion profile while it performs a special operation (for example, homing, fastStop, or EStop). This is not available on all SERCOS drives.
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HOLDING
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BOOL
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The axis is in the process of holding or is holding the motion profile. The axis is either decelerating into the hold or is being commanded to hold position with 0 speed.
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RESUMING
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BOOL
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The axis is in the process of resuming from holding the motion profile. The axis is accelerating back onto the motion profile. RESUMING is cleared when the original motion profile is being commanded.
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DRIVE_ENABLED
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BOOL
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The drive is enabled with motor power. If the AXIS_READY bit is set, the axis may be commanded to move. If DRIVE_ENABLED is clear, the axis is enabling, disabling, or disabled.
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DRIVE_DIAG
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BOOL
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This bit indicates if any SERCOS class 3 diagnostic bit has changed. The SERCOS Standard IDN 0013 retrieves the actual information. This bit is cleared when the class 3 diagnostic is read, but the SERCOS class 3 diagnostic bits themselves are unaffected by the SERCOS Standard IDN 0013.
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DRIVE_WARNING
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BOOL
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This bit indicates if any SERCOS class 2 diagnostic bit has changed. The SERCOS Standard IDN 0012 retrieves the actual information. This bit and the SERCOS class 2 diagnostic bits themselves are cleared (and re-armed) by the SERCOS Standard IDN 0012.
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DRIVE_FAULT
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BOOL
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This bit indicates if any SERCOS class 1 diagnostic bit has changed. The SERCOS Standard IDN 0011 retrieves the actual information. When SERCOS Standard IDN 0011 is called, this bit is not cleared. This bit and the SERCOS class 1 diagnostic bits themselves are cleared by the clearFault function.
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DRIVE_DISABLED
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BOOL
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The drive is disabled and power has been removed from the motor. If this bit is clear, the drive is disabling, enabling, or enabled.
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AXIS_SUMMARY_FAULT
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BOOL
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A servo drive DRIVE_FAULT, SERCOS communications fault (AXIS_COMM_OK clear), ALLOW_NOT_FAULT is clear, or a controller motion profile fault has occurred. Fault information is retrieved by issuing a getMotionFault function. A clearFault function resets the MotionFault information and clears the fault if possible. If the fault is not cleared, the AXIS_SUMMARY_FAULT bit is set again.
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AXIS_COMM_OK
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BOOL
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The drive has successfully powered up and the communications between the motion controller and the drive are active.
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AXIS_IS_LINKED
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BOOL
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The axis is an active part of an axis collection. The axis is responding to commands from a CoordinatedSet or FollowerSet.
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AXIS_IN_COMMAND
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BOOL
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The axis will respond to motion commands.
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AXIS_CAPTURE
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BOOL
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The axis is capturing data into its data capture buffer.
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AXIS_AT_TARGET
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BOOL
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The axis position is within the InPositionBand of the target position of a move command. AXIS_AT_TARGET is set after the commanded motion profile has reached PROFILE_END and the axis position is within the InPositionBand of the target. AXIS_AT_TARGET is cleared when a new move command is issued. Unlike IN_POSITION, AXIS_AT_TARGET is not changed when the axis is disabled, nor is it set after a halt is completed unless the halted position reaches the original motion profile's target position.
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AXIS_POS_LIMIT
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BOOL
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The commanded axis position is at or beyond the positive position limit. AXIS_POS_LIMIT is valid if the axis is DRIVE_ENABLED and AXIS_HOMED. An AXIS_SUMMARY_FAULT occurs when the commanded position first exceeds or equals the limit. A clearFault function with the axis still on the limit clears the fault but leaves the AXIS_POS_LIMIT set until the position is more negative than the limit. Moving the axis back into the limit will then generate another AXIS_SUMMARY_FAULT.
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AXIS_NEG_LIMIT
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BOOL
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The commanded axis position is at or beyond the negative position limit. AXIS_NEG_LIMIT is valid if the axis is DRIVE_ENABLED and AXIS_HOMED. An AXIS_SUMMARY_FAULT occurs when the commanded position first exceeds or equals the limit. A clearFault function with the axis still on the limit clears the fault but leaves the AXIS_NEG_LIMIT set until the position is more positive than the limit. Moving the axis back into the limit will then generate another AXIS_SUMMARY_FAULT.
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AXIS_WARNING
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BOOL
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The motion controller has detected a MotionWarning condition for the axis. Issue a getMotionWarning function and examine the result to determine the warnings.
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BIT24
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BOOL
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Reserved
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BIT25
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BOOL
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Reserved
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DRIVE_REALTIME_BIT1
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BOOL
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DRIVE_REALTIME_BIT2
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BOOL
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AXIS_HOLD
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BOOL
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The motion axis is holding with a speed of 0 being commanded to the axis. This bit is similar to the HOLDING bit, but HOLDING is set while the axis is decelerating to a hold. AXIS_HOLD only comes on when the axis has stopped due to a hold function being issued. This bit is clear if any of the AXIS_HALT, AXIS_FAST_STOP, AXIS_HOMING, DRIVE_DISABLED, or AXIS_SUMMARY_FAULT bits is set, or the axis is an inactive axis with AXIS_IN_COMMAND clear.
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AXIS_HALT
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BOOL
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The ALLOW_MOVE bit is clear in the MotionControl register. The axis will not accept move commands while this bit is clear. This bit is clear if any of the AXIS_FAST_STOP, AXIS_HOMING, DRIVE_DISABLED, or AXIS_SUMMARY_FAULT bits is set, or the axis is an inactive axis with AXIS_IN_COMMAND clear.
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AXIS_FASTSTOP
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BOOL
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An axis is in the fastStop state. The bit is cleared when the fastStop state is exited as a result of a disableDrive function, axis fault, or enableDrive function. This bit is clear if any of the DRIVE_DISABLED, AXIS_SUMMARY_FAULT bits is set, or the axis is an inactive axis with AXIS_IN_COMMAND clear.
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AXIS_READY
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BOOL
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The axis is ready to respond to a move command. The axis is active with AXIS_IN_COMMAND and DRIVE_ENABLED set, and AXIS_HOMING, AXIS_HOLD, AXIS_HALT, AXIS_FASTSTOP, AXIS_NOT_FOLLOWING, and AXIS_SUMMARY_FAULT are all cleared.
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Element
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Datatype
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Description
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|---|---|---|
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AxVersion
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INT
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This is the interface layout version of this data block for this motion axis type.
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AxisId
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INT
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The axis ID for this motion axis object.
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ConfigBit
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INT
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Bit pattern to configure axis features bit.
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SercosAddress
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INT
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Address of the Axis.
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Accel
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REAL
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Default acceleration (dau)
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Decel
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REAL
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Default deceleration (dau)
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AccelType
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INT
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Default AccelType
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InPositionBand
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REAL
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Default inPositionBand (dpu)
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EnablePosBand
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REAL
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Default enablePositionBand (dpu)
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MaxRollover
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REAL
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Positive rolloverLimit (dpu)
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MinRollover
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REAL
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Negative rolloverLimit (dpu)
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MaxAccel
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REAL
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Maximum acceleration (dau)
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MaxDecel
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REAL
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Maximum deceleration (dau)
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MaxSpeed
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REAL
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Maximum speed (dvu)
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MaxPos
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REAL
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Positive positionLimit (dpu)
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MinPos
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REAL
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Negative positionLimit (dpu)
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GearNumerator
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REAL
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Numerator of the gear ratio in axis default position units (dpu)
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GearDenominator
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REAL
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Denominator of the gear ratio in drive units. For ImaginaryAxis and RemoteAxis objects, this must be in fbCount units.
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AccelUnits
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INT
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Default acceleration units (AccelUnits) for the axis.
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VelUnits
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INT
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Default velocity units (VelocityUnits) for this axis.
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PosUnits
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INT
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Default position units (PositionUnits) for this axis.
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FeedbackReg
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UDINT
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For RemoteAxis only. If AX_SERCOS_AXIS_REG is 0, then use this register address for reading the remote axis feedback counter.
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FeedbackIDN
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INT
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Element
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Datatype
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Description
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|---|---|---|
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AxVersion
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INT
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This is the interface layout version of this data block for this motion axis type.
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AxisId
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INT
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The axis ID for this motion axis object.
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ConfigBit
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INT
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Reserved
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NumberinSet
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INT
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This specifies how many axes are members of this CoordinatedSet.
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CAxisId
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ARRAY [1..8] OF INT
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The axis ID of the member n in the set.
(n = 1 ...8)
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Accel
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REAL
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Default acceleration (dau)
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Decel
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REAL
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Default deceleration (dau)
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AccelType
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INT
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Default AccelType
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MaxAccel
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REAL
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Maximum acceleration (dau)
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MaxDecel
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REAL
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Maximum deceleration (dau)
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MaxSpeed
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REAL
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Maximum speed (dvu)
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AccelUnits
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INT
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Default acceleration units (AccelUnits) for the axis.
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VelUnits
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INT
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Default velocity units (VelocityUnits) for this axis.
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Element
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Datatype
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Description
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|---|---|---|
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AxVersion
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INT
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This is the interface layout version of this data block for this motion axis type.
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AxisId
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INT
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The axis ID for this motion axis object.
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ConfigBit
|
INT
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Reserved
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NumberinSet
|
INT
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This specifies how many axes are members of this CoordinatedSet.
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MasterId
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INT
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The axis ID of master axis.
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F
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ARRAY [1..8] OF FSMember
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Data of the member n in the set.
(n = 1 ...8)
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Element
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Datatype
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Description
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|---|---|---|
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AxisId
|
INT
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Axis ID of the member
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FollowerMode
|
INT
|
The follower mode of the member
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CamOrNumerator
|
REAL
|
For camming: The camProfile number
For gearing: The numerator of the FollowerMode (dspu)
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OffsetOrDenom
|
REAL
|
For camming: The masterOffset.
For gearing: The denominator of the FollowerMode (dmpu)
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Trigger
|
REAL
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The trigger position of the master (dmpu)
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Element
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Datatype
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Description
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|---|---|---|
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ProfileType
|
INT
|
CAM profile
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INTerpType
|
INT
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interpolation type
|
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NumberOfCoords
|
INT
|
Number of coordinates
|
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NumberOfPoINTs
|
INT
|
Number of table points
|
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reserved
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ARRAY [1..6] OF INT
|
|
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MasterOffset
|
INT
|
Register offset number for start of first master position register block.
|
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FollowerOffset
|
INT
|
Register offset number for the start of the first follower position register block.
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