|
|
Original instructions
|
|
|
Original instructions
|
|
|
Symbol
|
Address
|
Type
|
Description
|
|---|---|---|---|---|
|
IMP
|
CH_ERROR
|
%I.r.m.c.ERR
|
BOOL
|
Channel error
|
|
IMP
|
DRIVE_READY_EMERGENCY
|
%Ir.m.c.0
|
EBOOL
|
State of Physical input Drive_Ready_Emergency
|
|
IMP
|
C_IN_POS
|
%Ir.m.c.1
|
EBOOL
|
Counter in Position
|
|
IMP
|
ORIGIN
|
%Ir.m.c.2
|
EBOOL
|
Origin Physical Input State
|
|
IMP
|
PROXIMITY_LIMIT
|
%Ir.m.c.3
|
EBOOL
|
Proximity&LimitSwitch Physical Input State
|
|
IMP
|
DRIVE_ENABLE_ECHO
|
%Ir.m.c.4
|
EBOOL
|
State of Drive Enable Level output
|
|
IMP
|
COUNTER_CLEAR_ECHO
|
%Ir.m.c.5
|
EBOOL
|
State of Counter Clear output
|
|
IMP
|
ACT_CMD_NB
|
%IWr.m.c.0
|
INT
|
Number of the command in progress
|
|
IMP
|
BUF_CMD_NB
|
%IWr.m.c.1
|
INT
|
Number of the command in buffer
|
|
IMP
|
LAST_CMD_NB
|
%IWr.m.c.2
|
INT
|
Number of last command executed
|
|
IMP
|
LAST_RESULT
|
%IWr.m.c.3
|
INT
|
Status of last command executed
|
|
IMP
|
PREV_CMD_NB
|
%IWr.m.c.4
|
INT
|
History: Number of the command executed previously
|
|
IMP
|
PREV_RESULT
|
%IWr.m.c.5
|
INT
|
History: Status of the command executed previously
|
|
IMP
|
AXIS_STS
|
%IWr.m.c.6
|
INT
|
Axis Status
|
|
IMP
|
AXIS_MOVING
|
%IWr.m.c.6.0
|
BOOL
|
The axis is moving
|
|
IMP
|
AXIS_STOPPING
|
%IWr.m.c.6.1
|
BOOL
|
The axis is stopping
|
|
IMP
|
AXIS_FLT
|
%IWr.m.c.6.3
|
BOOL
|
Axis in ErrorStop state
|
|
IMP
|
IN_VELOCITY
|
%IWr.m.c.6.6
|
|
This axis is running at target frequency (for continuous profiles)
|
|
IMP
|
REFERENCED
|
%IWr.m.c.6.7
|
BOOL
|
The axis is referenced
|
|
IMP
|
CMD_MGT
|
%IWr.m.c.7
|
INT
|
Command Management
|
|
IMP
|
IDLE
|
%IWr.m.c.7.0
|
BOOL
|
No command is being executed
|
|
IMP
|
FREE_CMD_BUF
|
%IWr.m.c.7.1
|
BOOL
|
No command is pending
|
|
IMP
|
CURRENT_POSITION
|
%IDr.m.c.8
|
DINT
|
Current Position (in Pulses)
|
|
IMP
|
CURRENT_FREQUENCY
|
%IDr.m.c.10
|
DINT
|
Current Frequency (in Hz)
|
|
IMP
|
DRIVE_ENABLE_LEVEL
|
%Qr.m.c.0
|
EBOOL
|
Force Drive Enable Level output to Highstate
|
|
IMP
|
COUNTER_CLEAR
|
%Qr.m.c.1
|
EBOOL
|
Force Counter Clear output to Highstate
|
|
IMP
|
STOP_LEVEL
|
%Qr.m.c.2
|
EBOOL
|
Stop the axis
|
|
IMP
|
RESET_AXIS_ERROR
|
%Qr.m.c.3
|
EBOOL
|
Reset axis error
|
|
IMP
|
EVT_SOURCES_ENABLING
|
%QWr.m.c.0
|
INT
|
Field of Enable Event bits
|
|
IMP
|
EVT_POSITION_REACHED
|
%QWr.m.c.0.0
|
BOOL
|
Call event when target position is reached
|
|
IMP
|
EVT_REFERENCING_DONE
|
%QWr.m.c.0.1
|
BOOL
|
Call event when axis referencing is done
|
|
IMP
|
AXIS_FAULT_DISABLING
|
%QWr.m.c.1
|
INT
|
Disable Axis Fault Detection bits
|
|
IMP
|
DISABLE_DRIVE_KO_FLT
|
%QWr.m.c.1.0
|
BOOL
|
Disable default report when Drive_Ready input is low
|
|
IMP
|
DISABLE_LIMIT_FLT
|
%QWr.m.c.1.1
|
BOOL
|
Disable default report when a limit is crossed
|
|
IMP
|
DISABLE_SW_LIMIT_FLT
|
%QWr.m.c.1.2
|
BOOL
|
Disable default report when SW limits are reached
|
|
SYS
|
EXCH_STS
|
%MWr.m.c.0
|
INT
|
Exchange status
|
|
SYS
|
STS_IN_PROGR
|
%MWr.m.c.0.0
|
BOOL
|
Status parameter read in progress
|
|
SYS
|
CMD_IN_PROGR
|
%MWr.m.c.0.1
|
BOOL
|
Command parameter write in progress
|
|
SYS
|
ADJ_IN_PROGR
|
%MWr.m.c.0.2
|
BOOL
|
Adjust parameter exchange in progress
|
|
SYS
|
RECONF_IN_PROGR
|
%MWr.m.c.0.15
|
BOOL
|
Reconfiguration in progress
|
|
SYS
|
EXCH_RPT
|
%MWr.m.c.1
|
INT
|
Channel report
|
|
SYS
|
STS_ERR
|
%MWr.m.c.1.0
|
BOOL
|
Error while reading channel status
|
|
SYS
|
CMD_ERR
|
%MWr.m.c.1.1
|
BOOL
|
Error while sending a command on the channel
|
|
SYS
|
ADJ_ERR
|
%MWr.m.c.1.2
|
BOOL
|
Error while adjusting the channel
|
|
SYS
|
RECONF_ERR
|
%MWr.m.c.1.15
|
BOOL
|
Error while reconfiguring the channel
|
|
STS
|
CH_FLT
|
%MWr.m.c.2
|
INT
|
Channel faults
|
|
STS
|
EXT_FLT_PWS
|
%MWr.m.c.2.0
|
BOOL
|
External Power Supply Fault
|
|
STS
|
EXT_FLT_OUTPUTS
|
%MWr.m.c.2.1
|
BOOL
|
External fault on the outputs
|
|
STS
|
INTERNAL_FLT
|
%MWr.m.c.2.4
|
BOOL
|
Internal fault: Channel inoperative
|
|
STS
|
CONF_FLT
|
%MWr.m.c.2.5
|
BOOL
|
Hardware or software configuration status
|
|
STS
|
COM_FLT
|
%MWr.m.c.2.6
|
BOOL
|
Bus Communication fault
|
|
STS
|
APPLI_FLT
|
%MWr.m.c.2.7
|
BOOL
|
Application fault
|
|
STS
|
CMD_FLT
|
%MWr.m.c.3
|
INT
|
Command Faults
|
|
STS
|
OVERRUN_CMD
|
%MWr.m.c.3.0
|
BOOL
|
Overrun condition while sending command
|
|
STS
|
AXIS_IN_FLT
|
%MWr.m.c.3.1
|
BOOL
|
Invalid command due to axis in ErrorStop state
|
|
STS
|
CMD_CODE_INV
|
%MWr.m.c.3.2
|
BOOL
|
Invalid command code
|
|
STS
|
CMD_SEQ_INV
|
%MWr.m.c.3.3
|
BOOL
|
Invalid sequence of commands
|
|
STS
|
BUFFER_FULL
|
%MWr.m.c.3.4
|
BOOL
|
Command rejected due to buffer full (Idle=FreeCmdBuf=0)
|
|
STS
|
AXIS_NOT_REFERENCED
|
%MWr.m.c.3.5
|
BOOL
|
Positioning command rejected due to axis not referenced
|
|
STS
|
TGT_POS_INV
|
%MWr.m.c.3.6
|
BOOL
|
Invalid target position
|
|
STS
|
TGT_VEL_INV
|
%MWr.m.c.3.7
|
BOOL
|
Invalid target velocity
|
|
STS
|
BUFFER_MODE_INV
|
%MWr.m.c.3.8
|
BOOL
|
Invalid buffer mode
|
|
STS
|
ADJUST_FLT
|
%MWr.m.c.4
|
INT
|
Adjustment Parameter Faults
|
|
STS
|
OVERRUN_ADJUST
|
%MWr.m.c.4.0
|
BOOL
|
Overrun fault during adjustment instruction
|
|
STS
|
SW_HIGH_LIMIT_INV
|
%MWr.m.c.4.1
|
BOOL
|
Invalid SW high limit
|
|
STS
|
SW_LOW_LIMIT_INV
|
%MWr.m.c.4.2
|
BOOL
|
Invalid SW low limit
|
|
STS
|
ACC_RATE_INV
|
%MWr.m.c.4.3
|
BOOL
|
Invalid acceleration rate
|
|
STS
|
DEC_RATE_INV
|
%MWr.m.c.4.4
|
BOOL
|
Invalid deceleration rate
|
|
STS
|
EMER_DEC_RATE_INV
|
%MWr.m.c.4.5
|
BOOL
|
Invalid emergency deceleration rate
|
|
STS
|
START_FREQ_INV
|
%MWr.m.c.4.6
|
BOOL
|
Invalid start frequency
|
|
STS
|
STOP_FREQ_INV
|
%MWr.m.c.4.7
|
BOOL
|
Invalid stop frequency
|
|
STS
|
HOMING_VELO_INV
|
%MWr.m.c.4.8
|
BOOL
|
Invalid homing velocity
|
|
STS
|
AXIS_ERROR
|
%MWr.m.c.5
|
INT
|
Axis Errors
|
|
STS
|
DRIVE_KO
|
%MWr.m.c.5.0
|
BOOL
|
Drive Ready input is off
|
|
STS
|
LIMIT_FLT
|
%MWr.m.c.5.1
|
BOOL
|
Limit crossing has been detected
|
|
STS
|
SW_HIGH_LIMIT_FLT
|
%MWr.m.c.5.2
|
BOOL
|
Software high limit has been reached
|
|
STS
|
SW_LOW_LIMIT_FLT
|
%MWr.m.c.5.3
|
BOOL
|
Software low limit has been reached
|
|
STS
|
HOMING_FLT
|
%MWr.m.c.5.4
|
BOOL
|
Error during homing
|
|
CMD
|
CMD_CODE
|
%MWr.m.c.6
|
INT
|
Command Code
|
|
CMD
|
BUFFER_MODE
|
%MWr.m.c.7
|
INT
|
Buffer Mode for Positioning Commands
|
|
CMD
|
TGT_POSITION
|
%MDr.m.c.8
|
DINT
|
Target/Reference Position
|
|
CMD
|
TGT_VELOCITY
|
%MDr.m.c.10
|
DINT
|
Target Velocity
|
|
CMD
|
CMD_SENT_NB
|
%MWr.m.c.13
|
INT
|
Number of last command sent (Read only)
|
|
PRM
|
SW_HIGH_LIMIT
|
%MDr.m.c.14
|
DINT
|
Software High Limit
|
|
PRM
|
SW_LOW_LIMIT
|
%MDr.m.c.16
|
DINT
|
Software Low Limit
|
|
PRM
|
START_FREQ
|
%MWr.m.c.18
|
UINT
|
Start Frequency
|
|
PRM
|
STOP_FREQ
|
%MWr.m.c.19
|
UINT
|
Stop Frequency
|
|
PRM
|
ACC_RATE
|
%MWr.m.c.20
|
UINT
|
Acceleration Rate
|
|
PRM
|
DEC_RATE
|
%MWr.m.c.21
|
UINT
|
Deceleration Rate
|
|
PRM
|
EMERGENCY_DEC_RATE
|
%MWr.m.c.22
|
UINT
|
Emergency Deceleration Rate
|
|
PRM
|
HOMING_VELOCITY
|
%MWr.m.c.23
|
UINT
|
Homing Velocity
|
|
PRM
|
HOMING_TIMEOUT_VALUE
|
%MWr.m.c.24
|
UINT
|
Homing Time Out Value
|
|
PRM
|
HYSTERESIS
|
%MWr.m.c.25
|
UINT
|
Hysteresis Value for A/B phases output mode
|
