|
Implicit Status Objects %I, %IW
|
|
|
Original instructions
|
|
Implicit Status Objects %I, %IW
|
|
|
Original instructions
|
|
Object
|
Type
|
Symbol
|
Detail
|
|---|---|---|---|
|
%Ir.m.c.0
|
EBOOL
|
Drive_Ready&Emergency
|
Image of the corresponding physical input
|
|
%Ir.m.c.1
|
EBOOL
|
Counter_in_Position
|
Image of the corresponding physical input
|
|
%Ir.m.c.2
|
EBOOL
|
Origin
|
Image of the corresponding physical input
|
|
%Ir.m.c.3
|
EBOOL
|
Proximity&LimitSwitch
|
Image of the corresponding physical input
|
|
%Ir.m.c.4
|
EBOOL
|
Drive_Enable Level Output
|
State of the Drive_Enable Output
|
|
%Ir.m.c.5
|
EBOOL
|
Counter_Clear Output
|
State of the Counter_Clear Output
|
|
%IWr.m.c.0
|
INT
|
|
Current command
|
|
byte 0
|
Byte
|
Act_Cmd_Nb
|
Internal Command
Number for the command being processed
Value 0: means no command
|
|
byte 1
|
Byte
|
|
Unused
|
|
%IWr.m.c.1
|
INT
|
|
Next command
|
|
byte 0
|
Byte
|
Buf_Cmd_Nb
|
Internal Command
Number for the command in buffer
Value 0: means no command
|
|
byte 1
|
Byte
|
|
Unused
|
|
%IWr.m.c.2
|
INT
|
|
Last command executed
|
|
byte 0
|
Byte
|
Last_Cmd_Nb
|
Internal Command Number
Value 0: means no command
|
|
byte 1
|
Byte
|
|
Unused
|
|
%IWr.m.c.3
|
INT
|
|
Status of last command executed
|
|
byte 0
|
Byte
|
Last_Result
|
Possible values:
0 = Done
1 = Aborted
2 = Error
FF: Nothing
|
|
byte 1
|
Byte
|
|
Unused
|
|
%IWr.m.c.4
|
INT
|
|
History: Command executed previously
|
|
byte 0
|
Byte
|
Prev_Cmd_Nb
|
Internal Command Number
Value 0: means no command
|
|
byte 1
|
Byte
|
|
Unused
|
|
%IWr.m.c.5
|
INT
|
|
History: Status of command executed previously
|
|
byte 0
|
Byte
|
Prev_Result
|
Possible values:
0 = Done
1 = Aborted
2 = Error
FF: Nothing (after Stop or ResetError)
|
|
byte 1
|
Byte
|
|
Unused
|
|
%IWr.m.c.6
|
INT
|
AXIS_STS
|
Status of the axis
|
|
byte 0
|
Byte
|
|
|
|
x0
|
bool
|
AXIS_MOVING
|
The axis is moving
|
|
x1
|
bool
|
AXIS_STOPPING
|
The axis is in stopping state
|
|
x2
|
bool
|
|
Unused
|
|
x3
|
bool
|
AXIS_FLT
|
Axis in fault: Details on status in %MWStat
|
|
x4
|
bool
|
|
Unused
|
|
x5
|
bool
|
|
Unused
|
|
x6
|
bool
|
IN_VELOCITY
|
The axis is running at target frequency (for continuous profiles)
|
|
x7
|
bool
|
REFERENCED
|
|
|
%IWr.m.c.7
|
INT
|
CMD_MGT
|
Specific objects for command management
|
|
byte 0
|
Byte
|
|
|
|
x0
|
bool
|
Idle
|
0 = The channel is busy processing a command.
1 = No command is being processed by the channel (a new command can be sent)
|
|
x1
|
bool
|
FreeCmdBuf
|
0 = A command is waiting to be executed.
1 = No command has been buffered (a new command can be sent).
|
|
%IDr.m.c.8
|
DINT
|
Position
|
Current Position (in pulses)
|
|
%IDr.m.c.10
|
DINT
|
Frequency
|
Current Frequency (in Hz)
|
