From 535306ae6943d957cae5b7999bad58026b6bcc1d Mon Sep 17 00:00:00 2001 From: Matt Walsh Date: Tue, 10 Dec 2024 15:07:10 -0600 Subject: [PATCH] Change to new XTS controller --- Base Project/Base Project.tsproj | 39882 ++++------------ Base Project/_Config/IO/Device 1.xti | 2 +- Base Project/_Config/NC/Axes/Mover Axis 1.xti | 2861 ++ Base Project/_Config/NC/Axes/Mover Axis 2.xti | 2861 ++ Base Project/_Config/NC/Axes/Mover Axis 3.xti | 2861 ++ Base Project/_Config/NC/Axes/Mover Axis 4.xti | 2861 ++ Base Project/_Config/NC/Axes/Mover Axis 5.xti | 2861 ++ Base Project/_Config/NC/Axes/Mover Axis 6.xti | 2861 ++ Base Project/_Config/PLC/Main.xti | 2 +- 9 files changed, 25384 insertions(+), 31668 deletions(-) create mode 100644 Base Project/_Config/NC/Axes/Mover Axis 1.xti create mode 100644 Base Project/_Config/NC/Axes/Mover Axis 2.xti create mode 100644 Base Project/_Config/NC/Axes/Mover Axis 3.xti create mode 100644 Base Project/_Config/NC/Axes/Mover Axis 4.xti create mode 100644 Base Project/_Config/NC/Axes/Mover Axis 5.xti create mode 100644 Base Project/_Config/NC/Axes/Mover Axis 6.xti diff --git a/Base Project/Base Project.tsproj b/Base Project/Base Project.tsproj index 116ac3e..9062d4b 100644 --- a/Base Project/Base Project.tsproj +++ b/Base Project/Base Project.tsproj @@ -2191,2348 +2191,610 @@ - UINTARR2 + XtsMoverGeneralParameterSetOTCID 32 + OTCID + + + OTCID + + + TcCategoryOID + XtsMoverGeneralParameterSet + + + + + XtsMoverEncoderParameterSetOTCID + 32 + OTCID + + + OTCID + + + TcCategoryOID + XtsMoverEncoderParameterSet + + + + + XtsMoverPositionControllerParameterSetOTCID + 32 + OTCID + + + OTCID + + + TcCategoryOID + XtsMoverPositionControllerParameterSet + + + + + XtsMoverVelocityControllerParameterSetOTCID + 32 + OTCID + + + OTCID + + + TcCategoryOID + XtsMoverVelocityControllerParameterSet + + + + + XtsMoverFilterParameterSetOTCID + 32 + OTCID + + + OTCID + + + TcCategoryOID + XtsMoverFilterParameterSet + + + + + XtsMoverFeedForwardParameterSetOTCID + 32 + OTCID + + + OTCID + + + TcCategoryOID + XtsMoverFeedForwardParameterSet + + + + + FilterType + 32 + UDINT + + + 0 + + + + + 1 + + + + + 2 + + + + + 3 + + + + + 4 + + + + + 5 + + + + + 7 + + + + LOWPASS2 + + + + plcAttribute_qualified_only + + + + + MoverControllerOperationMode + 32 + UDINT + + + 8 + + + + 9 + + + + 10 + + + + 11 + + + CyclicSynchronousPosition + + + + plcAttribute_qualified_only + + + + + StandStillSwitchMode + 32 + UDINT + + + 0 + + + + + 1 + + + + + 2 + + + + BLENDING_AFTER_SWITCHTIME + + + + plcAttribute_qualified_only + + + + + InterpolatorType + 32 + UDINT + + + 0 + + + + 1 + + + + 2 + + + + 3 + + + + plcAttribute_qualified_only + + + + + + + + + + + + + VelocityFeedbackMode + 32 + UDINT + + + 0 + + + + + 1 + + + + + 2 + + + + OBSERVER + + + + plcAttribute_qualified_only + + + + + PositionFeedbackMode + 32 + UDINT + + + 0 + + + + + 1 + + + + + 2 + + + + + 4 + + + + + plcAttribute_qualified_only + + + + + VelocityLoopType + 32 + UDINT + + + 0 + + + + + 1 + + + + + 2 + + + + + plcAttribute_qualified_only + + + + + PositionLoopType + 32 + UDINT + + + 0 + + + + + 1 + + + + + 2 + + + + + 4 + + + + + plcAttribute_qualified_only + + + + + FeedforwardType + 32 + UDINT + + + 0 + + + + + 1 + + + + + 2 + + + + FFT_ON + + + + plcAttribute_qualified_only + + + + + MC_DEFAULT_GAP_CONTROL_MODE + 32 + UDINT + + + #x1 + + + + #x2 + + + + MC_GAP_CONTROL_DIRECTION + 32 + UDINT + + + #x1 + + + + #x2 + + + + MC_GearInPosDefaultDynamicsAfterSync + + 32 + UDINT + + + #x0 + + + + + #x1 + + + + + + + + MC_GROUP_TYPE + 32 + UDINT + + + 0 + + + + 1 + + + + 3 + + + + MC_GROUP_STATE + 16 UINT - - 0 - 2 - - - [%u, %u] - [0] - [1] - - - 0x%08x [%u, %u] - . - [0] - [1] - - - 0x%08x (%u) - . - . - + + + 0 + + + + 1 + + + + 2 + + + + 3 + + + + 4 + + + + 5 + + + + 6 + + + + 7 + + + + 8 + - NCENCODERSTRUCT_IN2B - 320 + ST_GroupStatusFlags + 16 - nDataIn1 - UINTARR2 - 32 + IsEnableRequested + BIT + + 1 0 - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 + AllAxesStanding + BIT + + 1 + 1 - nState2 - USINT - 8 - 72 + InPosition + BIT + + 1 + 2 + + + ST_GroupStatus + 32 - nState3 - USINT - 8 - 80 + State + MC_GROUP_STATE + + 16 + 0 - nState4 - USINT - - 8 - 88 + Flags + ST_GroupStatusFlags + 16 + 16 + + + MCTOPLC_GROUP_COMMON_PART + 512 - nDataIn3 - UINTARR2 + GroupOID + OTCID + 32 - 96 + 0 - nDataIn4 - UINTARR2 + GroupType + MC_GROUP_TYPE + 32 - 128 + 32 - nDataIn5 - UINTARR2 + GroupStatus + ST_GroupStatus 32 - 160 + 64 - nDataIn6 - UINTARR2 + GroupErrorId + UDINT + 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - 8 - 248 + 96 - nDcInputTime - DINT + GroupAxesCount + UDINT + 32 - 256 + 128 - nDataIn7 - UINTARR2 - - 32 - 288 + ActOverrideFactor + LREAL + + 64 + 192 - - - NCENCODERSTRUCT_IN - - 96 - - - - NCENCODERSTRUCT_OUT2 - 320 + CDT_MCTOPLC_GROUP_CA + 1536 - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCENCODERSTRUCT_OUT - - 96 - - - - - - NCDRIVESTRUCT_IN2 - 320 - - nDataIn1 - UINTARR2 - 32 - 0 - - - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 - - - nState2 - USINT - 8 - 72 - - - nState3 - USINT - 8 - 80 - - - nState4 - USINT - - 8 - 88 - - - nDataIn3 - UINTARR2 - 32 - 96 - - - nDataIn4 - UINTARR2 - 32 - 128 - - - nDataIn5 - UINTARR2 - 32 - 160 - - - nDataIn6 - UINTARR2 - 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - - 8 - 248 - - - nDcOutputTime - DINT - 32 - 256 - - - - NCDRIVESTRUCT_IN - - 96 - - - - - - NCDRIVESTRUCT_OUT2 - 320 - - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCDRIVESTRUCT_OUT - - 96 - - - - - - PLCTONC_AXIS_REF_CTRL - 32 - - Enable - BIT - 1 + Common + MCTOPLC_GROUP_COMMON_PART + 512 0 - - FeedEnablePlus - BIT - 1 - 1 - - - FeedEnableMinus - BIT - 1 - 2 - - - HomingSensor - BIT - 1 - 5 - - - AcceptBlockedDrive - BIT - 1 - 8 - - - PlcDebugFlag - BIT - 1 - 30 - - - NcDebugFlag - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - PLCTONC_AXIS_REF_OLD - 1024 - - ControlDWord - PLCTONC_AXIS_REF_CTRL - 32 - 0 - - - Override - UDINT - 32 - 32 - - - AxisModeRequest - UDINT - 32 - 64 - - - AxisModeDWord - UDINT - 32 - 96 - - - AxisModeLReal - LREAL - 64 - 128 - - - PositionCorrection - LREAL - 64 - 192 - - - ExtSetPos - LREAL - 64 - 256 - - - ExtSetVelo - LREAL - 64 - 320 - - - ExtSetAcc - LREAL - 64 - 384 - - - ExtSetDirection - DINT - 32 - 448 - - - ExtControllerOutput - LREAL - 64 - 512 - - - GearRatio1 - LREAL - 64 - 576 - - - GearRatio2 - LREAL - 64 - 640 - - - GearRatio3 - LREAL - 64 - 704 - + PLCTOMC_GROUP_COMMON_PART + 256 - GearRatio4 + OverrideFactor LREAL + 64 - 768 - - - MapState - BOOL - 8 - 832 - - - PlcCycleControl - BYTE - 8 - 840 - - - PlcCycleCount - BYTE - 8 - 848 - - - - NcStructType - 1 - - - - - NCAXLESTRUCT_FROMPLC3 - - - - - NCTOPLC_AXIS_REF_STATE - 32 - - Operational - BIT - 1 0 + + 1.0 + - - Homed - BIT - 1 - 1 - - - NotMoving - BIT - 1 - 2 - - - InPositionArea - BIT - 1 - 3 - - - InTargetPosition - BIT - 1 - 4 - - - Protected - BIT - 1 - 5 - - - ErrorPropagationDelayed - BIT - 1 - 6 - - - HasBeenStopped - BIT - 1 - 7 - - - HasJob - BIT - 1 - 8 - - - PositiveDirection - BIT - 1 - 9 - - - NegativeDirection - BIT - 1 - 10 - - - HomingBusy - BIT - 1 - 11 - - - ConstantVelocity - BIT - 1 - 12 - - - Compensating - BIT - 1 - 13 - - - ExtSetPointGenEnabled - BIT - 1 - 14 - - - PhasingActive - BIT - 1 - 15 - - - ExternalLatchValid - BIT - 1 - 16 - - - NewTargetPos - BIT - 1 - 17 - - - IsDriveLimitActive - BIT - 1 - 18 - - - ContinuousMotion - BIT - 1 - 19 - - - ControlLoopClosed - BIT - 1 - 20 - - - CamTableQueued - BIT - 1 - 21 - - - CamDataQueued - BIT - 1 - 22 - - - CamScalingPending - BIT - 1 - 23 - - - CmdBuffered - BIT - 1 - 24 - - - PTPmode - BIT - 1 - 25 - - - SoftLimitMinExceeded - BIT - 1 - 26 - - - SoftLimitMaxExceeded - BIT - 1 - 27 - - - DriveDeviceError - BIT - 1 - 28 - - - MotionCommandsLocked - BIT - 1 - 29 - - - IoDataInvalid - BIT - 1 - 30 - - - Error - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - {4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D} - - + + + OverrideFactor + 1.0 + + - NCTOPLC_AXIS_REF_OPMODE - 32 + CDT_PLCTOMC_GROUP_CA + 1024 - OpModePosAreaMonitoring - BIT - 1 - 0 - - - OpModeTargetPosMonitoring - BIT - 1 - 1 - - - OpModeLoop - BIT - 1 - 2 - - - OpModeMotionMonitoring - BIT - 1 - 3 - - - OpModePEHTimeMonitoring - BIT - 1 - 4 - - - OpModeBacklashCompensation - BIT - 1 - 5 - - - OpModeDelayedErrorReaction - BIT - 1 - 6 - - - OpModeModulo - BIT - 1 - 7 - - - OpModeSimulationAxis - BIT - 1 - 8 - - - OpModeStopMonitoring - BIT - 1 - 12 - - - OpModeOutputSmoothingFilter - BIT - 1 - 13 - - - OpModePosLagMonitoring - BIT - 1 - 16 - - - OpModeVeloLagMonitoring - BIT - 1 - 17 - - - OpModeSoftLimitMinMonitoring - BIT - 1 - 18 - - - OpModeSoftLimitMaxMonitoring - BIT - 1 - 19 - - - OpModePosCorrection - BIT - 1 - 20 - - - OpModeAllowSlaveCommands - BIT - 1 - 21 - - - OpModeAllowExtSetAxisCommands - BIT - 1 - 22 - - - ApplicationRequest - BIT - 1 - 23 - - - - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - - AvoidingCollision - BIT - 1 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE2 - 32 - - Value - DWORD - 32 - 0 - - - Flags - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE3_FLAGS - 32 - - TouchProbe1InputState - BIT - 1 - 0 - - - TouchProbe2InputState - BIT - 1 - 1 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE3 - 32 - - Value - DWORD - 32 - 0 - - - Flags - NCTOPLC_AXIS_REF_STATE3_FLAGS - 32 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - 8 - - CamActivationPending - BIT - 1 - 0 - - - CamDeactivationPending - BIT - 1 - 1 - - - CamActive - BIT - 1 - 2 - - - CamDataQueued - BIT - 1 - 6 - - - CamScalingPending - BIT - 1 - 7 - - - - UINTARR8 - 128 - UINT - - 0 - 8 - - - - NCTOPLC_AXIS_REF_OLD6 - 2048 - - StateDWord - NCTOPLC_AXIS_REF_STATE - 32 - 0 - - - ErrorCode - UDINT - 32 - 32 - - - AxisState - UDINT - - 32 - 64 - - - AxisModeConfirmation - UDINT - 32 - 96 - - - HomingState - UDINT - - 32 - 128 - - - CoupleState - UDINT - - 32 - 160 - - - SvbEntries - UDINT - 32 - 192 - - - SafEntries - UDINT - 32 - 224 - - - AxisId - UDINT - 32 - 256 - - - OpModeDWord - NCTOPLC_AXIS_REF_OPMODE - 32 - 288 - - - ActPos - LREAL - 64 - 320 - - - ModuloActPos - LREAL - 64 - 384 - - - ActiveControlLoopIndex - UINT - 16 - 448 - - - ControlLoopIndex - UINT - 16 - 464 - - - ModuloActTurns - DINT - 32 - 480 - - - ActVelo - LREAL - 64 - 512 - - - PosDiff - LREAL - 64 - 576 - - - SetPos - LREAL - 64 - 640 - - - SetVelo - LREAL - 64 - 704 - - - SetAcc - LREAL - 64 - 768 - - - TargetPos - LREAL - 64 - 832 - - - ModuloSetPos - LREAL - 64 - 896 - - - ModuloSetTurns - DINT - 32 - 960 - - - CmdNo - UINT - 16 - 992 - - - CmdState - UINT - 16 - 1008 - - - SetJerk - LREAL - 64 - 1024 - - - SetTorque - LREAL - 64 - 1088 - - - ActTorque - LREAL - 64 - 1152 - - - StateDWord2 - NCTOPLC_AXIS_REF_STATE2 - 32 - 1216 - - - StateDWord3 - NCTOPLC_AXIS_REF_STATE3 - 32 - 1248 - - - TouchProbeState - DWORD - 32 - 1280 - - - TouchProbeCounter - DWORD - 32 - 1312 - - - CamCouplingState - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - - 0 - 8 - - 64 - 1344 - - - CamCouplingTableID - UINTARR8 - 128 - 1408 - - - ActTorqueDerivative - LREAL - 64 - 1536 - - - SetTorqueDerivative - LREAL - 64 - 1600 - - - AbsPhasingPos - LREAL - 64 - 1664 - - - TorqueOffset - LREAL - 64 - 1728 - - - ActPosWithoutPosCorrection - LREAL - 64 - 1792 - - - ActAcc - LREAL - 64 - 1856 - - - DcTimeStamp - UDINT - 32 - 1920 - - - - NcStructType - 2 - - - - - NCAXLESTRUCT_TOPLC - - - NCAXLESTRUCT_TOPLC2 - - - NCAXLESTRUCT_TOPLC3 - - - NCAXLESTRUCT_TOPLC4 - - - - - - - - - - - - - - - - - - - - ITcSoftDriveComponents - 32 - ITcUnknown - - RegisterInterpolator - HRESULT - 32 - - pInterpolator - ITcUnknown - 32 - - - - RegisterPositionControl - HRESULT - 32 - - pPositionControl - ITcUnknown - 32 - - - - RegisterVelocityControl - HRESULT - 32 - - pVelocityControl - ITcUnknown - 32 - - - - RegisterSoftDriveEncoder - HRESULT - 32 - - pSoftDriveEncoder - ITcUnknown - 32 - - - - RegisterFilter - HRESULT - 32 - - pFilter - ITcUnknown - 32 - - - - RegisterFeedForward - HRESULT - 32 - - pFeedForward - ITcUnknown - 32 - - - - RegisterTuningAssist - HRESULT - 32 - - pTuningAssist - ITcUnknown - 32 - - - - - TcSdStandStillSwitchMode - 32 - UDINT - - - 0 - - - - - 1 - - - - - 2 - - - - - ControlAreaType - 256 - - IsEnabled - BOOL32 - 32 - 0 - - - reserved - UDINT - 32 - 32 - - - StartPosition - LREAL - 64 - 64 - - - EndPosition - LREAL - 64 - 128 - - - TransitionLength - LREAL - 64 - 192 - - - - TcSdSetMagnetplateTypeAutomatic - 32 - UDINT - - - 0 - - - - - 1 - - - - - SoftDriveEventClass - - - BuildInfo - - Verbose - - - TuningAssistNumberOfMaximaInfo - - Verbose - - - TuningAssistRuleInfo - - Verbose - - - Mover1FoundInfo - - Verbose - - - StandardMoverFoundInfo - - Verbose - - - TuningAssistAccelPeakPuls1Info - - Verbose - - - TuningAssistForceConstantInfo - - Verbose - - - TuningAssistTotalMassCalcInfo - - Verbose - - - TuningAssistSuggestedFrictionCompInfo - - Verbose - - - TuningAssistFrequencyMaxFFTAmplitudeInfo - - Verbose - - - TuningAssistMaxFFTAmplitudeInfo - - Verbose - - - TuningAssistSumFFTAmplitudeInfo - - Verbose - - - TuningAssistPulsTimeInfo - - Verbose - - - ManagerContextInfo - - Verbose - - - GetParentNameWarning - - Verbose - - - InvalidParameterValue_MinMax_UInt32Warning - - Verbose - - - InvalidSDParameterValue_MinMax_UInt32Warning - - Verbose - - - InvalidParameterValue_MinMax_FloatWarning - - Verbose - - - InvalidParameterValue_Min_UInt32Warning - - Verbose - - - InvalidSDParameterValue_Min_UInt32Warning - - Verbose - - - TuningAssistErrorInLowPassWarning - - Verbose - - - TuningAssistErrorInBiquadLowPassWarning - - Verbose - - - TuningAssistErrorInBiquadHighPassWarning - - Verbose - - - TuningAssistMovementWarning - - Verbose - - - TuningAssistInvalidMaximaWarning - - Verbose - - - TuningAssistTooManyMaximaWarning - - Verbose - - - TuningAssistNoMaximaFoundWarning - - Verbose - - - TuningAssistNoFilterSuggestionWarning - - Verbose - - - TuningAssistNoFrictionCompensationSuggestionParaWarning - - Verbose - - - Mover1DetectionWhileAxisEnabledWarning - - Verbose - - - Mover1HWErrorWarning - - Verbose - - - Mover1MovementErrorWarning - - Verbose - - - Mover1TimeoutWarning - - Verbose - - - Mover1HwNotReadyWarning - - Verbose - - - Mover1VeloErrorWarning - - Verbose - - - Mover1MinMovementErrorWarning - - Verbose - - - NoWriteAccessInOPWarning - - Verbose - - - BandwidthIsLimitedWarning - - Verbose - - - InputPointerNotSetWarning - - Verbose - - - OutputPointerNotSetWarning - - Verbose - - - VeloDiffToBigForEmergencyRampWarning - - Verbose - - - TooMuchControlAreasWarning - - Verbose - - - AreaStartPositionMustSmallerWarning - - Verbose - - - AreaStartPositionMustGreaterWarning - - Verbose - - - AreaStartPositionMustSmallerHardwareModuloWarning - - Verbose - - - CouldNotRegisterByError - - Verbose - - - DifferentObjectVersionsError - - Verbose - - - VelocityFollowingErrorError - - Verbose - - - ResortWhileAxisEnabledError - - Verbose - - - WrongSDTaskConfigError - - Verbose - - - TaskMissingError - - Verbose - - - InterpolatorMissingError - - Verbose - - - PositionCtrlMissingError - - Verbose - - - VelocityCtrlMissingError - - Verbose - - - EncoderMissingError - - Verbose - - - FilterMissingError - - Verbose - - - FeedforwardMissingError - - Verbose - - - SetOwnerInOpError - - Verbose - - - AreaOwnerNotInSafeopError - - Verbose - - - GetOwnerStateError - - Verbose - - - GetImagePointerError - - Verbose - - - EmergencyRampTooLongError - - Verbose - - - MessageDebug - - Verbose - - - - TcSdInterpolatorType - 16 - INT - - - 0 - - - - 1 - - - - 2 - - - - TcSdVelocityFeedbackMode - 32 - DINT - - - 0 - - - - - 1 - - - - - 2 - - - - - 3 - - - - - TcSdPositionFeedbackMode - 32 - DINT - - - 0 - - - - - 1 - - - - - 2 - - - - - 3 - - - - - 4 - - - - - TcSdStartUpPositionType - 32 - DINT - - - 0 - - - - - 1 - - - - - TcSdPositionLoopType - 32 - DINT - - - 0 - - - - - 1 - - - - - 2 - - - - - 3 - - - - - 4 - - - - - - - - - - - - - TcSdVelocityLoopType - 32 - DINT - - - 0 - - - - - 1 - - - - - 2 - - - - - 3 - - - - - TcSdResetIPartAtMotionStart - 32 - UDINT - - - 0 - - - - - 1 - - - - - TcSdResetIPartWithBipolarCurrentLimitChange - 32 - UDINT - - - 0 - - - - - 1 - - - - - TcSdResetIPartWithFollErrorSignChangeAndBipolarCurrentLimit - 32 - UDINT - - - 0 - - - - - 1 - - - - - TcSdFeedforwardType - 32 - DINT - - - 0 - - - - - 1 - - - - - 2 - - - - - 3 - - - - - TcSdCyclicCurrentFeedforwardAdaption - 32 - UDINT - - - 0 - - - - - 1 - - - - - MC_DEFAULT_GAP_CONTROL_MODE - 32 - UDINT - - - #x1 - - - - #x2 - - - - MC_GAP_CONTROL_DIRECTION - 32 - UDINT - - - #x1 - - - - #x2 - - - - MC_GearInPosDefaultDynamicsAfterSync - - 32 - UDINT - - - #x0 - - - - - #x1 - - - - - - - - MC_GROUP_TYPE - 32 - UDINT - - - 0 - - - - 1 - - - - 3 - - - - MC_GROUP_STATE - 16 - UINT - - - 0 - - - - 1 - - - - 2 - - - - 3 - - - - 4 - - - - 5 - - - - 6 - - - - 7 - - - - 8 - - - - ST_GroupStatusFlags - 16 - - IsEnableRequested - BIT - - 1 - 0 - - - AllAxesStanding - BIT - - 1 - 1 - - - InPosition - BIT - - 1 - 2 - - - - ST_GroupStatus - 32 - - State - MC_GROUP_STATE - - 16 - 0 - - - Flags - ST_GroupStatusFlags - 16 - 16 - - - - MCTOPLC_GROUP_COMMON_PART - 512 - - GroupOID - OTCID - - 32 - 0 - - - GroupType - MC_GROUP_TYPE - - 32 - 32 - - - GroupStatus - ST_GroupStatus - 32 - 64 - - - GroupErrorId - UDINT - - 32 - 96 - - - GroupAxesCount - UDINT - - 32 - 128 - - - ActOverrideFactor - LREAL - - 64 - 192 - - - - CDT_MCTOPLC_GROUP_CA - 1536 - - Common - MCTOPLC_GROUP_COMMON_PART - 512 - 0 - - - - PLCTOMC_GROUP_COMMON_PART - 256 - - OverrideFactor - LREAL - - 64 - 0 - - 1.0 - - - - - OverrideFactor - 1.0 - - - - - CDT_PLCTOMC_GROUP_CA - 1024 - - Common - PLCTOMC_GROUP_COMMON_PART - 256 + Common + PLCTOMC_GROUP_COMMON_PART + 256 0 @@ -4546,13 +2808,13 @@ and will return to Group State Standby when the situation permits. 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@@ -4571,7 +2833,7 @@ and will return to Group State Standby when the situation permits. PlcTask - + Job Task 327 @@ -4966,7 +3228,7 @@ and will return to Group State Standby when the situation permits. BYTE 0 - 16 + 16 #x00000054 1 @@ -7572,6 +5834,22 @@ and will return to Group State Standby when the situation permits. #x03080510 1 + + EstimatedDrivePowerConsumption + + 64 + LREAL + + #x03080339 + + + EstimatedStrandPowerConsumption + + 64 + LREAL + + #x0308033a + @@ -8708,6 +6986,22 @@ and will return to Group State Standby when the situation permits. #x03080510 1 + + EstimatedDrivePowerConsumption + + 64 + LREAL + + #x03080339 + + + EstimatedStrandPowerConsumption + + 64 + LREAL + + #x0308033a + @@ -9844,6 +8138,22 @@ and will return to Group State Standby when the situation permits. #x03080510 1 + + EstimatedDrivePowerConsumption + + 64 + LREAL + + #x03080339 + + + EstimatedStrandPowerConsumption + + 64 + LREAL + + #x0308033a + @@ -10980,6 +9290,22 @@ and will return to Group State Standby when the situation permits. #x03080510 1 + + EstimatedDrivePowerConsumption + + 64 + LREAL + + #x03080339 + + + EstimatedStrandPowerConsumption + + 64 + LREAL + + #x0308033a + @@ -12116,6 +10442,22 @@ and will return to Group State Standby when the situation permits. #x03080510 1 + + EstimatedDrivePowerConsumption + + 64 + LREAL + + #x03080339 + + + EstimatedStrandPowerConsumption + + 64 + LREAL + + #x0308033a + @@ -13252,6 +11594,22 @@ and will return to Group State Standby when the situation permits. #x03080510 1 + + EstimatedDrivePowerConsumption + + 64 + LREAL + + #x03080339 + + + EstimatedStrandPowerConsumption + + 64 + LREAL + + #x0308033a + @@ -14388,6 +12746,22 @@ and will return to Group State Standby when the situation permits. #x03080510 1 + + EstimatedDrivePowerConsumption + + 64 + LREAL + + #x03080339 + + + EstimatedStrandPowerConsumption + + 64 + LREAL + + #x0308033a + @@ -15524,6 +13898,22 @@ and will return to Group State Standby when the situation permits. #x03080510 1 + + EstimatedDrivePowerConsumption + + 64 + LREAL + + #x03080339 + + + EstimatedStrandPowerConsumption + + 64 + LREAL + + #x0308033a + @@ -16872,6 +15262,22 @@ and will return to Group State Standby when the situation permits. #x03080510 1 + + EstimatedDrivePowerConsumption + + 64 + LREAL + + #x03080339 + + + EstimatedStrandPowerConsumption + + 64 + LREAL + + #x0308033a + @@ -18008,6 +16414,22 @@ and will return to Group State Standby when the situation permits. #x03080510 1 + + EstimatedDrivePowerConsumption + + 64 + LREAL + + #x03080339 + + + EstimatedStrandPowerConsumption + + 64 + LREAL + + #x0308033a + @@ -19144,6 +17566,22 @@ and will return to Group State Standby when the situation permits. #x03080510 1 + + EstimatedDrivePowerConsumption + + 64 + LREAL + + #x03080339 + + + EstimatedStrandPowerConsumption + + 64 + LREAL + + #x0308033a + @@ -20280,6 +18718,22 @@ and will return to Group State Standby when the situation permits. #x03080510 1 + + EstimatedDrivePowerConsumption + + 64 + LREAL + + #x03080339 + + + EstimatedStrandPowerConsumption + + 64 + LREAL + + #x0308033a + @@ -21416,6 +19870,22 @@ and will return to Group State Standby when the situation permits. #x03080510 1 + + EstimatedDrivePowerConsumption + + 64 + LREAL + + #x03080339 + + + EstimatedStrandPowerConsumption + + 64 + LREAL + + #x0308033a + @@ -22552,6 +21022,22 @@ and will return to Group State Standby when the situation permits. #x03080510 1 + + EstimatedDrivePowerConsumption + + 64 + LREAL + + #x03080339 + + + EstimatedStrandPowerConsumption + + 64 + LREAL + + #x0308033a + @@ -23688,6 +22174,22 @@ and will return to Group State Standby when the situation permits. #x03080510 1 + + EstimatedDrivePowerConsumption + + 64 + LREAL + + #x03080339 + + + EstimatedStrandPowerConsumption + + 64 + LREAL + + #x0308033a + @@ -24167,25203 +22669,645 @@ and will return to Group State Standby when the situation permits. #x03040030 - 0 - 0 - 2 - - - #x03040030 - 0 - 0 - 2 - - - #x03040030 - 0 - 0 - 2 - - - #x03040030 - 0 - 0 - 2 - - - #x03040030 - 0 - 0 - 2 - - - #x03040030 - 0 - 0 - 2 - - - #x03040030 - 0 - 0 - 2 - - - - - - - Module 22 - 1004 - - AT2050_0501 - {E49B1996-78C5-4E01-B665-26066F475DE8} - - 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- - PSO - - - 1 - - #x02010040 - - 1 - 250000 - - - - - ITComObject - - - ITcADI - - - ITcWatchSource - - - IXtsModule - - - - - - - - - - - - - - - AdsPort - - 16 - WORD - - 0 - - #x03002090 - 1 - - - TaskOID - - 32 - OTCID - - #x00000000 - - #x03002060 - 1 - - - MotorTerminalOID - - 32 - OTCID - #x00000009 - 1 - - - SensorTerminalOID - - 32 - OTCID - #x0000000a - 1 - - - PositionIndex - - 32 - UDINT - #x00000006 - 1 - - - Gap - - 64 - LREAL - - #x0308028b - 1 - - - Offset - - 64 - LREAL - - #x00000007 - 1 - - - ScalingFactor - - 64 - LREAL - - 0.99 - 1.01 - 1.0 - - #x00000008 - 1 - - - Angle - - 64 - LREAL - - #x00000083 - 1 - - - GlobalNumber - - 32 - UDINT - #x03080227 - 1 - - - Length - - 64 - LREAL - - #x00000082 - 1 - - - MasterNetId - - 48 - AMSNETID - #x00000086 - 1 - - - ModuleType - - 32 - ModuleType - #x03080308 - 1 - - - NetworkIndex - - 16 - UINT - #x03080346 - 1 - - - IsInfeed - - 8 - BOOL - #x0308033b - 1 - - - DriveAddress - - 16 - UINT - #x00000084 - 1 - - - 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1248 - - - nError - - 32 - DINT - 1280 - - - nWarning - - 32 - DINT - 1312 - - - - 2 - SoftDriveCmdFromTC - 1 - 16 - - Mode - - 16 - UINT - 0 - - - BipolarCurrentLimit - - 16 - INT - - 16 - - - AdditiveCurrentCmd - 16 - INT - - 32 - - - Reserve1 - 16 - INT - 48 - - - ExtEncoderPosition - - 32 - DINT - - 64 - - - Reserve2 - 32 - DINT - 96 - - - - 3 - SoftDriveActualToTC - 1 - 32 - - ActCurrentCmd - - 16 - INT - - 0 - - - ActPowerMonitor - - 16 - INT - 16 - - - Reserve2 - 32 - DINT - 32 - - - ActHwPosModulo - - 32 - DINT - - 64 - - - ActFollowingError - - 32 - DINT - - 96 - - - Monitor1 - 64 - LREAL - 128 - - - Monitor2 - 64 - LREAL - 192 - - - - - - #x03002060 - CyclicCaller - - - - - - #x00000001 - InputPointer1 - SoftDriveInput - 1 - - - #x00000002 - OutputPointer1 - SoftDriveOutput - 1 - - - - - 0 - - - - 1 - - - - 2 - - - - 3 - - - - 4 - - - - 5 - - - - 6 - - - - 7 - - - - 8 - - - - 9 - - - - 10 - - - - 11 - - - - 12 - - - - 13 - - - - 5000 - - - - 5001 - - - - 5002 - - - - 5003 - - 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- - SO - - - 1 - - - - - ITComObject - - - ITcCyclic - - - ITcADI - - - ITcWatchSource - - - - - - - - VelocityFeedbackMode - + + SensorTerminalOID + 32 - TcSdVelocityFeedbackMode - - 0 - 3 - 2 - - #x0510011a + OTCID + #x0000000a 1 - - PositionFeedbackMode - + + PositionIndex + 32 - TcSdPositionFeedbackMode - - 0 - 4 - 2 - - #x0510011b + UDINT + #x00000006 1 - - PositionLowPassFilter - + + Gap + 64 LREAL - - - 0 - 5000 - 500 - - #x0510011c + + #x0308028b 1 - - VelocityFilterBandwidth - + + Offset + 64 LREAL - - - 0 - 5000 - 160 - - #x0510011d + + #x00000007 1 - - StartUpPositionType - - 32 - TcSdStartUpPositionType + + ScalingFactor + + 64 + LREAL - 0 - 1 - 0 + 0.99 + 1.01 + 1.0 - #x05100162 - 1 - - - TraceLevelMax - - 32 - TcTraceLevel - #x03002103 + #x00000008 1 - - CorrectionFactor - + + Angle + 64 LREAL - - 0 - 2 - 0.5 - - #x0510011e + + #x00000083 + 1 + + + GlobalNumber + + 32 + UDINT + #x03080227 1 - - SimulationOffset - + + Length + 64 LREAL - - 10.0 - - #x0510011f + #x00000082 1 - - CommutationErrorVelocity - - 64 - LREAL - - - 0 - 1000 - - #x05100139 + + MasterNetId + + 48 + AMSNETID + #x00000086 1 - VersionString - - 384 - STRING(47) - #x05100243 + ModuleType + + 32 + ModuleType + #x03080308 + 1 + + + NetworkIndex + + 16 + UINT + #x03080346 1 - Version - + IsInfeed + + 8 + BOOL + #x0308033b + 1 + + + DriveAddress + + 16 + UINT + #x00000084 + 1 + + + DriveConfigIdentity + 128 - TcVersion - #x05100245 + ProductIdentity + #x00000062 1 - - - - #x03002060 - CyclicCaller - - - - - - Category - XTS - - - Category - TcSoftDrive - - - Category - TcSdEncoder - - - Category - TcSoftDriveChild - - - ChildCategory - TcEncoderChild - - - #x01010360 - - - VelocityFeedbackMode - OBSERVER - - - PositionFeedbackMode - MODULO_START - - - PositionLowPassFilter - 500 - - - VelocityFilterBandwidth - 170 - - - StartUpPositionType - TRACK - - - TraceLevelMax - tlAlways - - - CorrectionFactor - 0.5 - - - SimulationOffset - 10 - - - CommutationErrorVelocity - 1000 - - - - - CyclicCaller - #x00000000 - - - - - - SoftDrive 5 PositionControl - 1011 - - CTcSdPositionControl - {1A7898EF-F86A-4B73-8DF4-2E8199B711BA} - - 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- - SO - - - 1 - - - - - ITComObject - - - ITcCyclic - - - ITcADI - - - ITcWatchSource - - - - - - - - - PositionLoopType - + + DriveControlValue + + 16 + UINT + #x03080331 + 1 + + + DriveOnlineIdentity + + 128 + ProductIdentity + #x00000063 + 1 + + + DriveState + 32 - TcSdPositionLoopType - - 0 - 4 - 2 - - #x05100120 + DriveState + #x000000a0 1 - - Kp - - 64 - LREAL - - - 0 - 2 - 0.03 - - #x05100121 + + DriveStatusValue + + 16 + UINT + #x03080332 1 - - Kp_standstill - - 64 - LREAL - - - 0 - 2 - 0.02 - - #x05100122 + + EncoderAddress + + 16 + UINT + #x00000085 1 - - Kp_area - - 64 - LREAL - - - 0 - 2 - 0.02 - - #x05100123 + + EncoderConfigIdentity + + 128 + ProductIdentity + #x00000064 1 - - Kp_area_standstill - - 64 - LREAL - - - 0 - 2 - 0.02 - - #x05100124 + + EncoderOnlineIdentity + + 128 + ProductIdentity + #x00000065 1 - - Ki - - 64 + + EncoderSensorValues + + 2048 LREAL - - - 0 - 1 - 0.006 - - #x05100180 + + 0 + 32 + + #x00000093 1 - - Kd - - 64 - LREAL - - - 0 - 2 - 0.4 - - #x05100181 + + DriveDeviceType + + 32 + UDINT + #x030802a0 + 1 + + + DriveDeviceName + + 128 + STRING(15) + #x030802a1 + 1 + + + DriveHardwareVersion + + 128 + STRING(15) + #x030802a2 + 1 + + + DriveSoftwareVersion + + 128 + STRING(15) + #x030802a3 1 - - Km - + + DriveBtn + 64 - LREAL - - - 0 - 8 - 0.07 - - #x05100182 + Btn + #x030802af + 1 + + + MinDcLinkVoltage + + 32 + REAL + + #x030802c3 + 1 + + + MaxDcLinkVoltage + + 32 + REAL + + #x030802c4 + 1 + + + I2TWarnLevel + + 8 + USINT + + #x030802c5 + 1 + + + I2TErrorLevel + + 8 + USINT + + #x030802c6 + 1 + + + TemperatureWarnLevel + + 32 + REAL + + #x030802c7 + 1 + + + TemperatureErrorLevel + + 32 + REAL + + #x030802c8 + 1 + + + EnableBrakeChopper + + 8 + BOOL + #x030802c9 1 - - SwitchingBoundary - - 64 - LREAL - - - 0 - 50 - 0 - - #x05100183 + + BreakAfterBridgeDisable + + 8 + BOOL + #x030802ca 1 - - TraceLevelMax - + + Auxiliary Voltage 5V + 32 - TcTraceLevel - #x03002103 + REAL + + #x030802b8 1 - - Kp_ffv - - 64 - LREAL - - - 0 - 2.0 - 1.0 - - #x05100125 + + Auxiliary Voltage 10V + + 32 + REAL + + #x030802b9 1 - - PosLoopFilter - - 64 - LREAL - - - 0 - 5000.0 - 75 - - #x05100126 + + Auxiliary Voltage 24V + + 32 + REAL + + #x030802ba 1 - - PosLoopFilter_area - - 64 - LREAL - - - 0 - 5000.0 - 75 - - #x05100127 + + DC Link Voltage + + 32 + REAL + + #x030802bb 1 - - InpositionTn - - 64 - LREAL - - - 0 - 10 - 0.05 - - #x0510013a + + Current Scaling + + 32 + REAL + #x030802bc 1 - - VersionString - - 384 - STRING(47) - #x05100243 + + Device Info + + 32 + UDINT + #x030802bd 1 - - Version - - 128 - TcVersion - #x05100245 + + PCB Temperatures + + 32 + REAL + + 0 + 1 + + + #x030802be 1 - - - - #x03002060 - CyclicCaller - - - - - - Category - XTS - - - Category - TcSoftDrive - - - Category - TcSdPositionControl - - - Category - TcSoftDriveChild - - - ChildCategory - TcPositionControlChild - - - #x01010360 - - - PositionLoopType - P_POSITION_STANDSTILL_AREA - - - Kp - 0.03 - - - Kp_standstill - 0.025 - - - Kp_area - 0.025 - - - Kp_area_standstill - 0.02 - - - Ki - 0.006 - - - Kd - 0.4 - - - Km - 0.07 - - - SwitchingBoundary - 0 - - - TraceLevelMax - tlAlways - - - Kp_ffv - 1 - - - PosLoopFilter - 75 - - - PosLoopFilter_area - 75 - - - InpositionTn - 0.05 - - - - - CyclicCaller - #x00000000 - - - - - - SoftDrive 5 VelocityControl - 1012 - - CTcSdVelocityControl - {CCE414CE-CCCB-4126-B90C-5D2688AF5025} - - 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- - SO - - - 1 - - - - - ITComObject - - - ITcCyclic - - - ITcADI - - - ITcWatchSource - - - - - - - - - VelocityLoopType - + + Overall Current + 32 - TcSdVelocityLoopType - - 0 - 3 - 2 - - #x05100128 + REAL + + #x030802bf 1 - - Kp - - 64 - LREAL - - - 0 - 2 - 0.05 - - #x05100129 + + Max DC link voltage - last 500 ms + + 32 + REAL + + #x030802c0 1 - - Kp_standstill - - 64 - LREAL - - - 0 - 2 - 0.033 - - #x0510012a + + Max overall current - last 500 ms + + 32 + REAL + + #x030802c1 1 - - Kp_area - + + Chip ID + 64 - LREAL - - - 0 - 2 - 0.04 - - #x0510012b + ULINT + #x030802c2 1 - - Kp_area_standstill - - 64 - LREAL - - - 0 - 2 - 0.03 - - #x0510012c + + Amplifier I2T Temperatures + + 120 + USINT + + 0 + 15 + + + #x030802cc 1 - - Tn - - 64 - LREAL - - - 0 - 10 - 0.05 - - #x0510012d + + CoilPeakCurrent + + 32 + REAL + + #x030802cd 1 - - Tn_standstill - - 64 - LREAL - - - 0 - 10 - 0.05 - - #x0510012e + + CoilRatedCurrent + + 32 + REAL + + #x030802ce 1 - - Tn_area - - 64 - LREAL + + CoilThermalTimeConstant + + 32 + REAL - - 0 - 10 - 0.05 - - #x0510012f + #x030802cf 1 - - Tn_area_standstill - - 64 - LREAL - - - 0 - 10 - 0.05 - - #x05100130 + + CoilOvercurrentThreshold + + 32 + REAL + + #x030802d0 1 - - Kd - - 64 - LREAL - - - 0.0 - 0.5 - 0.0 - - #x0510015c + + Polarity + 1. coil).]]> + 32 + UDINT + #x030802d1 1 - - Kd_standstill - - 64 - LREAL - - - 0.0 - 0.5 - 0.0 - - #x0510015d + + OverallCurrentOffset + + 32 + REAL + + #x030802d2 1 - - Kd_area - - 64 - LREAL - - - 0.0 - 0.5 - 0.0 - - #x0510015e + + OverallOvercurrentThreshold + + 32 + REAL + + #x030802d3 1 - - Kd_area_standstill - - 64 - LREAL - - - 0.0 - 0.5 - 0.0 - - #x0510015f + + OverallCurrentFilter + + 16 + UINT + #x030802d4 1 - - ResetIPartAtMotionStart - - 32 - TcSdResetIPartAtMotionStart - - 0 - 1 - 0 - - #x05100161 + + OverallCurrentGain + + 16 + UINT + #x030802d5 1 - - ResetIPartWithBipolarCurrentLimitChange - - 32 - TcSdResetIPartWithBipolarCurrentLimitChange - - 0 - 1 - 0 - - #x05100163 + + EnableOverallCurrentPeakDetection + + 8 + BOOL + #x030802d6 1 - - ResetIPartWithFollErrorSignChangeAndBipolarCurrentLimit - - 32 - TcSdResetIPartWithFollErrorSignChangeAndBipolarCurrentLimit - - 0 - 1 - 0 - - #x05100164 + + EnableOverallNegativeCurrentChangeError + + 8 + BOOL + #x030802d7 1 - - TraceLevelMax - - 32 - TcTraceLevel - #x03002103 + + EnableOverallNegativePowerError + + 8 + BOOL + #x030802d8 1 - - MaxVelocity - + + Code + 64 - LREAL - - - 0 - 4200 - - #x05100131 + ULINT + #x030802d9 1 @@ -49371,7 +23315,7 @@ and will return to Group State Standby when the situation permits. 384 STRING(47) - #x05100243 + #x03080287 1 @@ -49379,17 +23323,76 @@ and will return to Group State Standby when the situation permits. 128 TcVersion - #x05100245 + #x03080510 1 + + EstimatedDrivePowerConsumption + + 64 + LREAL + + #x03080339 + + + EstimatedStrandPowerConsumption + + 64 + LREAL + + #x0308033a + - - - #x03002060 - CyclicCaller - - - + + + #x00000005 + Control + UINT + 1 + + + #x00000002 + CurrentSetpointValues + INT + + 0 + 15 + + 1 + + + #x00000004 + Status + UINT + 1 + + + #x00000001 + CurrentActualValues + INT + + 0 + 15 + + 1 + + + #x3f000101 + RawPositionValues + INT + + 0 + 32 + + 1 + + + + + 9029 + + + Category @@ -49397,986 +23400,2404 @@ and will return to Group State Standby when the situation permits. Category - TcSoftDrive + TcIoXts + + + Category + AT2050_0501 + + + Category + XtsIoDriverChild Category - TcSdVelocityControl + XtsPartChild Category - TcSoftDriveChild + XtsModule ChildCategory - TcVelocityControlChild + XtsModuleChild + + + Category + XtsStandardModule + + + Category + XtsFeedInNon - #x01010360 + #x010100b0 - VelocityLoopType - PI_VELOCITY_STANDSTILL_AREA + AdsPort + 351 - Kp - 0.07 + TaskOID + 33620032 - Kp_standstill - 0.05 + MotorTerminalOID + 50462737 - Kp_area - 0.06 + SensorTerminalOID + 50462738 - Kp_area_standstill - 0.04 + PositionIndex + 7 - Tn - 0.05 + Gap + 0 - Tn_standstill - 0.05 + Offset + 0 - Tn_area - 0.05 + ScalingFactor + 1 + + - Tn_area_standstill - 0.05 + Control + #x03040030 + 1 + 0 + 2 + + + CurrentSetpointValues + + #x03040030 + 1 + 0 + 2 + + + #x03040030 + 1 + 0 + 2 + + + #x03040030 + 1 + 0 + 2 + + + #x03040030 + 1 + 0 + 2 + + + #x03040030 + 1 + 0 + 2 + + + #x03040030 + 1 + 0 + 2 + + + #x03040030 + 1 + 0 + 2 + + + #x03040030 + 1 + 0 + 2 + + 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TaskOID + 33620032 + + + ActiveTrackObjectId + 0 + + + IsCommutationInverted + FALSE + + + MoverController + 16843328 + + + ConfiguredDetectionTrackObjectId + 0 + + + SimulatedStartUpPart + 16842896 + + + SimulatedStartUpPosition + 270 + + + SimulatedStartUpId + + + + - - - Mover Axis 6 - - - - - - - - - - - - Inputs - - In - NCENCODERSTRUCT_IN2B - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - nDataIn7 - - - - - - Outputs - - Out - NCENCODERSTRUCT_OUT2 - - nDataOut1 - - - nDataOut2 - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - - Inputs - - In - NCDRIVESTRUCT_IN2 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - - - Outputs - - Out - NCDRIVESTRUCT_OUT2 - - nDataOut1 - - - nDataOut2 - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - - Inputs - - FromPlc - PLCTONC_AXIS_REF_OLD - - - - Outputs - - ToPlc - NCTOPLC_AXIS_REF_OLD6 - - - - SoftDrive 6 - 1008 - - CTcSoftDrive - {272A98C0-4C87-4243-BED6-3BB69E29F02C} + + Mover 5 + 1006 + + XtsMover + {0DA6877C-6A68-48EE-8003-C0A2209CEB78} - 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- SO + PSO 1 @@ -50391,9 +25812,6 @@ and will return to Group State Standby when the situation permits. ITComObject - - ITcCyclic - ITcADI @@ -50401,512 +25819,711 @@ and will return to Group State Standby when the situation permits. ITcWatchSource - ITcSoftDrive - - - ITcSoftDriveComponents + IXtsMover - - - - + + + - + AdsPort 16 WORD + + 0 + #x03002090 1 - - HardwareModulo - + + TaskOID + + 32 + OTCID + + #x00000000 + + #x03002060 + 1 + + + ActiveTrackObjectId + + 32 + OTCID + #x03080209 + 1 + + + IsCommutationInverted + + 8 + BOOL + + FALSE + + #x03080200 + 1 + + + MoverController + + 32 + XtsMoverControllerOTCID + #x0308050f + 1 + + + ConfiguredDetectionTrackObjectId + + 32 + OTCID + #x030802f0 + 1 + + + TriggerArrive + + 0 + + #x030802ee + 1 + + + TriggerLeave + + 0 + + #x030802ef + 1 + + + SimulatedStartUpPart + + 32 + OTCID + #x03080278 + 1 + + + SimulatedStartUpPosition + 64 LREAL + #x03080279 + 1 + + + SimulatedStartUpId + + 32 + STRING(3) + #x0308027e + 1 + + + IsActive + + 8 + BOOL - 0.0 - 3000 + FALSE - #x05100113 + #x030802b6 1 - - OperationMode - + + PositionInfo + + 192 + MoverPositionInfo + #x03080286 + 1 + + + Id + + 32 + STRING(3) + #x03080266 + 1 + + + AxisId + 32 UDINT - - 8 - 11 - 8 - - #x05100114 + #x03080288 1 - - MaxCurrentOutput - + + AxisObjectId + + 32 + OTCID + #x0308028a + 1 + + + DistanceDriven + + 64 + LREAL + + #x00000050 + 1 + + + DistanceDrivenInKm + 64 LREAL - + + #x00000051 + 1 + + + DriveAddress + + 16 + UINT + #x00000087 + 1 + + + DriveModuleNumber + + 32 + UDINT + #x00000066 + 1 + + + DriveTerminalOid + + 32 + OTCID + #x00000070 + 1 + + + EncoderAddress + + 16 + UINT + #x00000088 + 1 + + + EncoderModuleNumber + + 32 + UDINT + #x00000067 + 1 + + + EncoderTerminalOid + + 32 + OTCID + #x00000071 + 1 + + + HasDriveError + + 32 + BOOL32 + #x00000068 + 1 + + + HasEncoderError + + 32 + BOOL32 + #x00000069 + 1 + + + MoverControllerError + + 16 + UINT + #x03080408 + 1 + + + DriveStatus + + 32 + DriveState + #x03080452 + 1 + + + DriveStatusValue + + 16 + UINT + #x03080453 + 1 + + + DriveControlValue + + 16 + UINT + #x03080454 + 1 + + + MasterNetId + + 48 + AMSNETID + #x00000089 + 1 + + + SoftDriveOid + + 32 + OTCID + #x03080289 + 1 + + + VersionString + + 384 + STRING(47) + #x03080287 + 1 + + + Version + + 128 + TcVersion + #x03080510 + 1 + + + + + 1 + Inputs + -1 + 104 + + SoftDriveInput + 832 + SoftDriveInput + #x00001001 + 0 + + + + 2 + Outputs + -1 + 96 + + SoftDriveOutput + 768 + SoftDriveOutput + #x00002001 + 0 + + + + + + Category + XTS + + + Category + TcIoXts + + + Category + XtsMover + + + Category + XtsIoDriverChild + + + Category + XtsProcessingUnitChild + + + ChildCategory + XtsMoverChild + + + McAxisObject + TcCom_XtsMoverController + + + #x01010010 + + + AdsPort + 351 + + + TaskOID + 33620032 + + + ActiveTrackObjectId + 0 + + + IsCommutationInverted + FALSE + + + MoverController + 16843344 + + + ConfiguredDetectionTrackObjectId + 0 + + + SimulatedStartUpPart + 16842896 + + + SimulatedStartUpPosition + 360 + + + SimulatedStartUpId + + + + + + + Mover 6 + 1006 + + XtsMover + {0DA6877C-6A68-48EE-8003-C0A2209CEB78} + + 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 + + PSO + + + 1 + + #x02010040 + + 1 + 250000 + + + + + ITComObject + + + ITcADI + + + ITcWatchSource + + + IXtsMover + + + + + + + + + + AdsPort + + 16 + WORD + + 0 + + #x03002090 + 1 + + + TaskOID + + 32 + OTCID + + #x00000000 + + #x03002060 + 1 + + + ActiveTrackObjectId + + 32 + OTCID + #x03080209 + 1 + + + IsCommutationInverted + + 8 + BOOL - 0 - 13 - 12 + FALSE - #x05100116 + #x03080200 + 1 + + + MoverController + + 32 + XtsMoverControllerOTCID + #x0308050f + 1 + + + ConfiguredDetectionTrackObjectId + + 32 + OTCID + #x030802f0 + 1 + + + TriggerArrive + + 0 + + #x030802ee + 1 + + + TriggerLeave + + 0 + + #x030802ef 1 - - EmergencyRamp - - 64 - LREAL - - - 0 - 150000 - 10000 - - #x05100117 + + SimulatedStartUpPart + + 32 + OTCID + #x03080278 1 - - EmergencyTimeOut - + + SimulatedStartUpPosition + 64 LREAL - - - 0 - 10 - 0.5 - - #x05100118 + + #x03080279 1 - - StandstillSwitchTime - - 64 - LREAL - - - 0 - 10 - 0.1 - - #x0510010e + + SimulatedStartUpId + + 32 + STRING(3) + #x0308027e 1 - - StandstillSwitchMode - - 32 - TcSdStandStillSwitchMode + + IsActive + + 8 + BOOL - 0 - 2 - 2 + FALSE - #x0510015a - 1 - - - ControlAreas - - 8192 - ControlAreaType - - 0 - 32 - - #x05100119 + #x030802b6 1 - - SoftDriveExternalEncoder + + PositionInfo + 192 - - InvertExtEncoder - UDINT - - - 0 - - - - - 1 - - - - 32 - 0 - - 0 - - - - Reserved - UDINT - 32 - 32 - - 0 - - - - ExtEncoderScale - LREAL - - 64 - 64 - - - 0.0 - - - - ExtEncoderOffset - LREAL - - 64 - 128 - - - 0.0 - - - #x05100110 + MoverPositionInfo + #x03080286 1 - - SoftDriveExternalDriveScaling - - 64 - LREAL - - - 1000.0 - - #x05100111 + + Id + + 32 + STRING(3) + #x03080266 1 - - SoftDriveInvertCurrentCmd - + + AxisId + 32 UDINT - - - 0 - - - - - 1 - - - - 0 - - #x05100244 - 1 - - - IoChildAreaLocation - 256 - TcIoChildAreaLocation - - 0 - 2 - - #x03000029 + #x03080288 1 - - AreaOwner + + AxisObjectId + 32 OTCID - #x03008035 + #x0308028a 1 - - TraceLevelMax - - 32 - TcTraceLevel - #x03002103 + + DistanceDriven + + 64 + LREAL + + #x00000050 1 - - SoftDriveMotorPara - 576 - - Type - UDINT - - 32 - 0 - - 1 - - - - Poles - UDINT - - 32 - 32 - - 2 - - - - TorqueConstant - LREAL - - 64 - 64 - - - 7.7 - - - - Inertia - LREAL - - 64 - 128 - - - 0.35 - - - - NominalCurrent - LREAL - - 64 - 192 - - - 3.7 - - - - ElThermalTimeConstant - LREAL - - 64 - 256 - - - 33 - - - - RatedSpeed - LREAL - - 64 - 320 - - - 12000 - - - - VoltageConstant - LREAL - - 64 - 384 - - - 7.8 - - - - WindingResistancePhPh - LREAL - - 64 - 448 - - - 1.2 - - - - WindingInductancePhPh - LREAL - - 64 - 512 - - - 1.97 - - - #x05100104 + + DistanceDrivenInKm + + 64 + LREAL + + #x00000051 1 - - SetMagnetplateTypeAutomatic - - 32 - TcSdSetMagnetplateTypeAutomatic - - 0 - 1 - 1 - - #x05100165 + + DriveAddress + + 16 + UINT + #x00000087 1 - - TcMc3ActData - - 384 - - ActDCTimeStamp - LTIME - 64 - 0 - - - ActHWPosition - LREAL - 64 - 64 - - - ActVelocity - LREAL - 64 - 128 - - - ActAcceleration - LREAL - 64 - 192 - - - ActForce - LREAL - 64 - 256 - - - ActPartObjectId - OTCID - 32 - 320 - - - Reserved - UDINT - 32 - 352 - - #x050300af + + DriveModuleNumber + + 32 + UDINT + #x00000066 1 - - SoftDriveOid - + + DriveTerminalOid + 32 OTCID - #x05100400 + #x00000070 1 - - InterpolatorOid - - 32 - OTCID - #x05100401 + + EncoderAddress + + 16 + UINT + #x00000088 1 - - EncoderOid - + + EncoderModuleNumber + 32 - OTCID - #x05100402 + UDINT + #x00000067 1 - - PositionControllerOid - + + EncoderTerminalOid + 32 OTCID - #x05100403 + #x00000071 1 - - VelocityControllerOid - + + HasDriveError + 32 - OTCID - #x05100404 + BOOL32 + #x00000068 1 - - Filter1Oid - + + HasEncoderError + 32 - OTCID - #x05100405 + BOOL32 + #x00000069 1 - - FeedForwardOid - - 32 - OTCID - #x05100406 + + MoverControllerError + + 16 + UINT + #x03080408 1 - - Filter2Oid - + + DriveStatus + 32 - OTCID - #x05100407 + DriveState + #x03080452 1 - - MoverOid - - 32 - OTCID - #x05100408 + + DriveStatusValue + + 16 + UINT + #x03080453 1 - - TuningAssistOid - - 32 - OTCID - #x05100409 + + DriveControlValue + + 16 + UINT + #x03080454 + 1 + + + MasterNetId + + 48 + AMSNETID + #x00000089 1 - - MC3Diagnostic - + + SoftDriveOid + 32 - UDINT - #x05100166 + OTCID + #x03080289 1 @@ -50914,7 +26531,7 @@ and will return to Group State Standby when the situation permits. 384 STRING(47) - #x05100243 + #x03080287 1 @@ -50922,575 +26539,38 @@ and will return to Group State Standby when the situation permits. 128 TcVersion - #x05100245 + #x03080510 1 - 1 - SdScopeVariable - 1 - 168 - - ActPos - - 64 - LREAL - - 0 - - - ActVelo - - 64 - LREAL - - 64 - - - ActCurr - - 64 - LREAL - - 128 - - - ActHwPos - - 64 - LREAL - - 192 - - - ActComPos - - 64 - LREAL - - 256 - - - ActFollowingError - - 64 - LREAL - - 320 - - - ActVeloError - - 64 - LREAL - - 384 - - - ActPosCtrlOut - - 64 - LREAL - - 448 - - - SetPosItp - - 64 - LREAL - - 512 - - - SetVeloItp - - 64 - LREAL - - 576 - - - SetAccItp - - 64 - LREAL - - 640 - - - SetJerkItp - - 64 - LREAL - - 704 - - - SetCurr - - 64 - LREAL - - 768 - - - Debug1 - - 64 - LREAL - 832 - - - Debug2 - - 64 - LREAL - 896 - - - Debug3 - - 64 - LREAL - 960 - - - Debug4 - - 64 - LREAL - 1024 - - - Debug5 - - 64 - LREAL - 1088 - - - Debug6 - - 64 - LREAL - 1152 - - - nControl - - 32 - DINT - 1216 - - - nStatus - - 32 - DINT - 1248 - - - nError - - 32 - DINT - 1280 - - - nWarning - - 32 - DINT - 1312 - - - - 2 - SoftDriveCmdFromTC - 1 - 16 - - Mode - - 16 - UINT - 0 - - - BipolarCurrentLimit - - 16 - INT - - 16 - - - AdditiveCurrentCmd - 16 - INT - - 32 - - - Reserve1 - 16 - INT - 48 - - - ExtEncoderPosition - - 32 - DINT - - 64 - - - Reserve2 - 32 - DINT - 96 - - - - 3 - SoftDriveActualToTC - 1 - 32 - - ActCurrentCmd - - 16 - INT - + 1 + Inputs + -1 + 104 + + SoftDriveInput + 832 + SoftDriveInput + #x00001001 0 - - ActPowerMonitor - - 16 - INT - 16 - - - Reserve2 - 32 - DINT - 32 - - - ActHwPosModulo - - 32 - DINT - - 64 - - - ActFollowingError - - 32 - DINT - - 96 - - - Monitor1 - 64 - LREAL - 128 - - - Monitor2 - 64 - LREAL - 192 - - - - - - #x03002060 - CyclicCaller - - - - - - #x00000001 - InputPointer1 - SoftDriveInput - 1 - - - #x00000002 - OutputPointer1 - SoftDriveOutput - 1 - - - - - 0 - - - - 1 - - - - 2 - - - - 3 - - - - 4 - - - - 5 - - - - 6 - - - - 7 - - - - 8 - - - - 9 - - - - 10 - - - - 11 - - - - 12 - - - - 13 - - - - 5000 - - - - 5001 - - - - 5002 - - - - 5003 - - - - 5004 - - - - 5005 - - - - 5006 - - - - 5007 - - - - 5008 - - - - 5009 - - - - 5010 - - - - 5011 - - - - 5012 - - - - 5013 - - - - 5014 - - - - 5015 - - - - 5016 - - - - 5017 - - - - 5018 - - - - 5019 - - - - 5020 - - - - 5021 - - - - 5022 - - - - 5023 - - - - 5024 - - - - 5025 - - - - 5026 - - - - 5027 - - - - 5028 - - - - 5029 - - - - 5030 - - - - 9000 - - - - 9001 - - - - 9002 - - - - 9003 - - - - 9004 - - - - 9005 - - - - 9006 - - - - 9007 - - - - 9008 - - - - 9009 - - - - 9010 - - - - 9011 - - - - 9012 - - - - 9013 - - - - 9014 - - - - 9015 - - - - 9016 - - - - 15000 - - - - - - SoftDriveEventClass - - + + + 2 + Outputs + -1 + 96 + + SoftDriveOutput + 768 + SoftDriveOutput + #x00002001 + 0 + + + Category @@ -51498,2637 +26578,4143 @@ and will return to Group State Standby when the situation permits. Category - TcSoftDrive + TcIoXts + + + Category + XtsMover + + + Category + XtsIoDriverChild Category - Axis Child + XtsProcessingUnitChild ChildCategory - TcSoftDriveChild + XtsMoverChild - McAxisIoType - TcCom + McAxisObject + TcCom_XtsMoverController - #x05010060 + #x01010010 AdsPort 351 - HardwareModulo - 4000 - - - OperationMode - 8 - - - MaxCurrentOutput - 12 - - - EmergencyRamp - 40000 - - - EmergencyTimeOut - 0.5 - - - StandstillSwitchTime - 0.1 - - - StandstillSwitchMode - DIRECT_AT_SWITCHTIME - - - ControlAreas[0].IsEnabled - FALSE - - - ControlAreas[0].reserved - 0 - - - ControlAreas[0].StartPosition - 0 - - - ControlAreas[0].EndPosition - 0 - - - ControlAreas[0].TransitionLength - 0 - - - ControlAreas[1].IsEnabled - FALSE - - - ControlAreas[1].reserved - 0 - - - ControlAreas[1].StartPosition - 0 - - - ControlAreas[1].EndPosition - 0 - - - ControlAreas[1].TransitionLength - 0 - - - ControlAreas[2].IsEnabled - FALSE - - - ControlAreas[2].reserved - 0 - - - ControlAreas[2].StartPosition - 0 - - - ControlAreas[2].EndPosition - 0 - - - ControlAreas[2].TransitionLength - 0 - - - ControlAreas[3].IsEnabled - FALSE - - - ControlAreas[3].reserved - 0 - - - ControlAreas[3].StartPosition - 0 - - - ControlAreas[3].EndPosition - 0 - - - ControlAreas[3].TransitionLength - 0 - - - ControlAreas[4].IsEnabled - FALSE - - - ControlAreas[4].reserved - 0 - - - ControlAreas[4].StartPosition - 0 - - - ControlAreas[4].EndPosition - 0 - - - ControlAreas[4].TransitionLength - 0 - - - ControlAreas[5].IsEnabled - FALSE - - - ControlAreas[5].reserved - 0 - - - ControlAreas[5].StartPosition - 0 - - - ControlAreas[5].EndPosition - 0 - - - ControlAreas[5].TransitionLength - 0 - - - ControlAreas[6].IsEnabled - FALSE - - - ControlAreas[6].reserved - 0 - - - ControlAreas[6].StartPosition - 0 - - - ControlAreas[6].EndPosition - 0 - - - ControlAreas[6].TransitionLength - 0 - - - ControlAreas[7].IsEnabled - FALSE - - - ControlAreas[7].reserved - 0 - - - ControlAreas[7].StartPosition - 0 - - - ControlAreas[7].EndPosition - 0 - - - ControlAreas[7].TransitionLength - 0 - - - ControlAreas[8].IsEnabled - FALSE - - - ControlAreas[8].reserved - 0 - - - ControlAreas[8].StartPosition - 0 - - - ControlAreas[8].EndPosition - 0 - - - ControlAreas[8].TransitionLength - 0 - - - ControlAreas[9].IsEnabled - FALSE - - - ControlAreas[9].reserved - 0 - - - ControlAreas[9].StartPosition - 0 - - - ControlAreas[9].EndPosition - 0 - - - ControlAreas[9].TransitionLength - 0 - - - ControlAreas[10].IsEnabled - FALSE - - - ControlAreas[10].reserved - 0 - - - ControlAreas[10].StartPosition - 0 - - - ControlAreas[10].EndPosition - 0 - - - ControlAreas[10].TransitionLength - 0 - - - ControlAreas[11].IsEnabled - FALSE - - - ControlAreas[11].reserved - 0 - - - ControlAreas[11].StartPosition - 0 - - - ControlAreas[11].EndPosition - 0 + TaskOID + 33620032 - ControlAreas[11].TransitionLength + ActiveTrackObjectId 0 - ControlAreas[12].IsEnabled + IsCommutationInverted FALSE - ControlAreas[12].reserved - 0 + MoverController + 16843360 - ControlAreas[12].StartPosition + ConfiguredDetectionTrackObjectId 0 - ControlAreas[12].EndPosition - 0 + SimulatedStartUpPart + 16842896 - ControlAreas[12].TransitionLength - 0 + SimulatedStartUpPosition + 450 - ControlAreas[13].IsEnabled - FALSE + SimulatedStartUpId + - - ControlAreas[13].reserved + + + + + + Info Server + 1007 + + XtsInfoServer + {C64A5C27-E3C9-4F5F-B4A3-F021EBB8F7B8} + + 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64 + LREAL + + + 0.0 + 1.0 0.015 - - - DetectionTimeOut - 2 - - - DetectionInfoMessage + + #x03080449 + 1 + + + DetectionTimeOut + + 64 + LREAL + + + 0.0 + 10.0 + 2.0 + + #x0308044a + 1 + + + DetectionInfoMessage + + 8 + BOOL + FALSE - - - CyclicCurrentFeedforwardAdaption - OFF - - - DRE_Optimization - OFF - - - TraceLevelMax - tlAlways - - - OpenLoopMoveCurrent - 3 - - - PhaseAdvanceAngle - 36 - - - PhaseAdvanceSpeed - 4000 - - - CurrentChangeLimit - 2 - - - - + + #x0308044b + 1 + + + PhaseAdvance + + 64 + LREAL + + + 0.0 + 4.0 + 3.0 + + #x03080450 + 1 + + + ExternalForceOid + + 32 + OTCID + + #x00000000 + + #x0308044f + 1 + + + VersionString + + 384 + STRING(47) + #x03080287 + 1 + + + Version + + 128 + TcVersion + #x03080510 + 1 + + + CommutationFilter + + 64 + LREAL + + #x0308044d + + + OpenLoopMoveForce + + 64 + LREAL + + #x0308044c + + + + + Category + XTS + + + Category + TcIoXts + + + Category + XtsMoverFeedForwardParameterSet + + + Category + XtsMoverParameterSetChild + + + ChildCategory + XtsMoverFeedForwardParameterSetChild + + + #x01010020 + + + Type + FFT_ON + + + KpAccFFT + 0.5 + + + FrictionCompensation + 0 + + + DetectionMinMovement + 0.1 + + + DetectionFilter + 250 + + + DetectionForceRamp + 195 + + + DetectionMaxForceLimitFactor + 1 + + + DetectionStandstillVelocityLimit + 15 + + + DetectionStandstillSwitchTime + 0.015 + + + DetectionTimeOut + 2 + + + DetectionInfoMessage + FALSE + + + PhaseAdvance + 3 + + + ExternalForceOid + 0 + + + CommutationFilter + 0 + + + OpenLoopMoveForce + 23 + + + - + + + + + + + + + + NC SAF + + Inputs + + + Outputs + + + Image + + + + NC SVB + + + + + + + Collision Avoidance @@ -57633,41 +34219,5 @@ and will return to Group State Standby when the situation permits. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/Base Project/_Config/IO/Device 1.xti b/Base Project/_Config/IO/Device 1.xti index 2969092..76452fd 100644 --- a/Base Project/_Config/IO/Device 1.xti +++ b/Base Project/_Config/IO/Device 1.xti @@ -1,5 +1,5 @@ - + 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diff --git a/Base Project/_Config/NC/Axes/Mover Axis 1.xti b/Base Project/_Config/NC/Axes/Mover Axis 1.xti new file mode 100644 index 0000000..7d28692 --- /dev/null +++ b/Base Project/_Config/NC/Axes/Mover Axis 1.xti @@ -0,0 +1,2861 @@ + + + + + UINTARR2 + 32 + UINT + + 0 + 2 + + + [%u, %u] + [0] + [1] + + + 0x%08x [%u, %u] + . + [0] + [1] + + + 0x%08x (%u) + . + . + + + + NCENCODERSTRUCT_IN2B + 320 + + nDataIn1 + UINTARR2 + 32 + 0 + + + nDataIn2 + UINTARR2 + 32 + 32 + + + nState1 + USINT + 8 + 64 + + + nState2 + USINT + 8 + 72 + + + nState3 + USINT + 8 + 80 + + + nState4 + USINT + + 8 + 88 + + + nDataIn3 + UINTARR2 + 32 + 96 + + + nDataIn4 + UINTARR2 + 32 + 128 + + + nDataIn5 + UINTARR2 + 32 + 160 + + + nDataIn6 + UINTARR2 + 32 + 192 + + + nState5 + USINT + 8 + 224 + + + nState6 + USINT + 8 + 232 + + + nState7 + USINT + 8 + 240 + + + nState8 + USINT + 8 + 248 + + + nDcInputTime + DINT + 32 + 256 + + + nDataIn7 + UINTARR2 + + 32 + 288 + + + + NCENCODERSTRUCT_IN + + 96 + + + + + + NCENCODERSTRUCT_OUT2 + 320 + + nDataOut1 + UINTARR2 + 32 + 0 + + + nDataOut2 + UINTARR2 + 32 + 32 + + + nCtrl1 + USINT + 8 + 64 + + + nCtrl2 + USINT + 8 + 72 + + + nCtrl3 + USINT + 8 + 80 + + + nCtrl4 + USINT + 8 + 88 + + + nDataOut3 + UINTARR2 + 32 + 96 + + + nDataOut4 + UINTARR2 + 32 + 128 + + + nDataOut5 + UINTARR2 + 32 + 160 + + + nDataOut6 + UINTARR2 + 32 + 192 + + + nCtrl5 + USINT + 8 + 224 + + + nCtrl6 + USINT + 8 + 232 + + + nCtrl7 + USINT + 8 + 240 + + + nCtrl8 + USINT + 8 + 248 + + + + NCENCODERSTRUCT_OUT + + 96 + + + + + + NCDRIVESTRUCT_IN2 + 320 + + nDataIn1 + UINTARR2 + 32 + 0 + + + nDataIn2 + UINTARR2 + 32 + 32 + + + nState1 + USINT + 8 + 64 + + + nState2 + USINT + 8 + 72 + + + nState3 + USINT + 8 + 80 + + + nState4 + USINT + + 8 + 88 + + + nDataIn3 + UINTARR2 + 32 + 96 + + + nDataIn4 + UINTARR2 + 32 + 128 + + + nDataIn5 + UINTARR2 + 32 + 160 + + + nDataIn6 + UINTARR2 + 32 + 192 + + + nState5 + USINT + 8 + 224 + + + nState6 + USINT + 8 + 232 + + + nState7 + USINT + 8 + 240 + + + nState8 + USINT + + 8 + 248 + + + nDcOutputTime + DINT + 32 + 256 + + + + NCDRIVESTRUCT_IN + + 96 + + + + + + NCDRIVESTRUCT_OUT2 + 320 + + nDataOut1 + UINTARR2 + 32 + 0 + + + nDataOut2 + UINTARR2 + 32 + 32 + + + nCtrl1 + USINT + 8 + 64 + + + nCtrl2 + USINT + 8 + 72 + + + nCtrl3 + USINT + 8 + 80 + + + nCtrl4 + USINT + 8 + 88 + + + nDataOut3 + UINTARR2 + 32 + 96 + + + nDataOut4 + UINTARR2 + 32 + 128 + + + nDataOut5 + UINTARR2 + 32 + 160 + + + nDataOut6 + UINTARR2 + 32 + 192 + + + nCtrl5 + USINT + 8 + 224 + + + nCtrl6 + USINT + 8 + 232 + + + nCtrl7 + USINT + 8 + 240 + + + nCtrl8 + USINT + 8 + 248 + + + + NCDRIVESTRUCT_OUT + + 96 + + + + + + PLCTONC_AXIS_REF_CTRL + 32 + + Enable + BIT + 1 + 0 + + + FeedEnablePlus + BIT + 1 + 1 + + + FeedEnableMinus + BIT + 1 + 2 + + + HomingSensor + BIT + 1 + 5 + + + AcceptBlockedDrive + BIT + 1 + 8 + + + PlcDebugFlag + BIT + 1 + 30 + + + NcDebugFlag + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + PLCTONC_AXIS_REF + 1024 + + 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{4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D} + + + + + NCTOPLC_AXIS_REF_OPMODE + 32 + + OpModePosAreaMonitoring + BIT + 1 + 0 + + + OpModeTargetPosMonitoring + BIT + 1 + 1 + + + OpModeLoop + BIT + 1 + 2 + + + OpModeMotionMonitoring + BIT + 1 + 3 + + + OpModePEHTimeMonitoring + BIT + 1 + 4 + + + OpModeBacklashCompensation + BIT + 1 + 5 + + + OpModeDelayedErrorReaction + BIT + 1 + 6 + + + OpModeModulo + BIT + 1 + 7 + + + OpModeSimulationAxis + BIT + 1 + 8 + + + OpModeStopMonitoring + BIT + 1 + 12 + + + OpModeOutputSmoothingFilter + BIT + 1 + 13 + + + OpModePosLagMonitoring + BIT + 1 + 16 + + + OpModeVeloLagMonitoring + BIT + 1 + 17 + + + OpModeSoftLimitMinMonitoring + BIT + 1 + 18 + + + OpModeSoftLimitMaxMonitoring + BIT + 1 + 19 + + + OpModePosCorrection + BIT + 1 + 20 + + + OpModeAllowSlaveCommands + BIT + 1 + 21 + + + OpModeAllowExtSetAxisCommands + BIT + 1 + 22 + + + ApplicationRequest + BIT + 1 + 23 + + + + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + + AvoidingCollision + BIT + 1 + 0 + + + %08x 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+ Category + AxisChild + + + Category + McAxisNoSimulation + + + Category + McAxisDrive + + + Category + McAxisEncoder + + + Category + XConverterChild + + + ChildCategory + XtsMoverControllerChild + + + McAxisIoType + TcCom + + + McAxisProfile + TcCom_XtsMoverController + + + #x05010060 + + + BlendInTime + 0.03 + + + DefaultParameterSet + 16842784 + + + ParameterSetChange + Automatic + + + ToolId + 0 + + + ForceCouple + 0 + + + InvertForceCouple + FALSE + + + + + + diff --git a/Base Project/_Config/PLC/Main.xti b/Base Project/_Config/PLC/Main.xti index 7a65771..b388cf2 100644 --- a/Base Project/_Config/PLC/Main.xti +++ b/Base Project/_Config/PLC/Main.xti @@ -1305,7 +1305,7 @@ External Setpoint Generation: - + Main Instance {08500001-0000-0000-F000-000000000064}