commit 5ac8c08d28720c44a98a72ce97293f2de499aee8 Author: berti_r Date: Fri Aug 22 10:47:23 2025 +0200 working without encoder diff --git a/.vs/CouplingProject/v15/.suo b/.vs/CouplingProject/v15/.suo new file mode 100644 index 0000000..1a62702 Binary files /dev/null and b/.vs/CouplingProject/v15/.suo differ diff --git a/CouplingProject.project.~u b/CouplingProject.project.~u new file mode 100644 index 0000000..126fd4f --- /dev/null +++ b/CouplingProject.project.~u @@ -0,0 +1,4 @@ +berti_r +PC16663 +7268 +638914492255895376 diff --git a/CouplingProject.sln b/CouplingProject.sln new file mode 100644 index 0000000..9dd7fa0 --- /dev/null +++ b/CouplingProject.sln @@ -0,0 +1,77 @@ + +Microsoft Visual Studio Solution File, Format Version 12.00 +# TcXaeShell Solution File, Format Version 11.00 +VisualStudioVersion = 15.0.35116.124 +MinimumVisualStudioVersion = 10.0.40219.1 +Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "CouplingProject", "CouplingProject\CouplingProject.tsproj", "{9AB684AF-5DAF-4717-A9A0-49F58BF2B019}" +EndProject +Project("{FD9F1D59-E000-42F3-8744-88DE1BE93C06}") = "TwinCAT Measurement Project1", "TwinCAT Measurement Project1\TwinCAT Measurement Project1.tcmproj", "{239C13C0-6306-4EC5-92DB-7A05606AC225}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|TwinCAT CE7 (ARMV7) = Debug|TwinCAT CE7 (ARMV7) + Debug|TwinCAT OS (ARMT2) = Debug|TwinCAT OS (ARMT2) + Debug|TwinCAT OS (x64) = Debug|TwinCAT OS (x64) + Debug|TwinCAT RT (x64) = Debug|TwinCAT RT (x64) + Debug|TwinCAT RT (x86) = Debug|TwinCAT RT (x86) + Release|TwinCAT CE7 (ARMV7) = Release|TwinCAT CE7 (ARMV7) + Release|TwinCAT OS (ARMT2) = Release|TwinCAT OS (ARMT2) + Release|TwinCAT OS (x64) = Release|TwinCAT OS (x64) + Release|TwinCAT RT (x64) = Release|TwinCAT RT (x64) + Release|TwinCAT RT (x86) = Release|TwinCAT RT (x86) + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) + {9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) + {9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2) + {9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2) + {9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Debug|TwinCAT OS (x64).ActiveCfg = Debug|TwinCAT OS (ARMT2) + {9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) + {9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64) + {9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) + {9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86) + {9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) + {9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7) + {9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2) + {9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2) + {9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Release|TwinCAT OS (x64).ActiveCfg = Release|TwinCAT OS (ARMT2) + {9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) + {9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) + {9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) + {9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) + {F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) + {F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) + {F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2) + {F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2) + {F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Debug|TwinCAT OS (x64).ActiveCfg = Debug|TwinCAT OS (ARMT2) + {F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) + {F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64) + {F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) + {F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86) + {F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) + {F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7) + {F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2) + {F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2) + {F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Release|TwinCAT OS (x64).ActiveCfg = Release|TwinCAT OS (ARMT2) + {F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) + {F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) + {F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) + {F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) + {239C13C0-6306-4EC5-92DB-7A05606AC225}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) + {239C13C0-6306-4EC5-92DB-7A05606AC225}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2) + {239C13C0-6306-4EC5-92DB-7A05606AC225}.Debug|TwinCAT OS (x64).ActiveCfg = Debug|TwinCAT OS (x64) + {239C13C0-6306-4EC5-92DB-7A05606AC225}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) + {239C13C0-6306-4EC5-92DB-7A05606AC225}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) + {239C13C0-6306-4EC5-92DB-7A05606AC225}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) + {239C13C0-6306-4EC5-92DB-7A05606AC225}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2) + {239C13C0-6306-4EC5-92DB-7A05606AC225}.Release|TwinCAT OS (x64).ActiveCfg = Release|TwinCAT OS (x64) + {239C13C0-6306-4EC5-92DB-7A05606AC225}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) + {239C13C0-6306-4EC5-92DB-7A05606AC225}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection + GlobalSection(ExtensibilityGlobals) = postSolution + SolutionGuid = {8FE256EA-2BAF-443F-9ECF-646E464038C5} + EndGlobalSection +EndGlobal diff --git a/CouplingProject/CouplingProject.tsproj b/CouplingProject/CouplingProject.tsproj new file mode 100644 index 0000000..d4957db --- /dev/null +++ b/CouplingProject/CouplingProject.tsproj @@ -0,0 +1,7658 @@ + + + + + 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 + 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0000000..bbda62d --- /dev/null +++ b/CouplingProject/Untitled1/GVLs/GVL.TcGVL @@ -0,0 +1,11 @@ + + + + + + \ No newline at end of file diff --git a/CouplingProject/Untitled1/POUs/MAIN.TcPOU b/CouplingProject/Untitled1/POUs/MAIN.TcPOU new file mode 100644 index 0000000..2e37a2b --- /dev/null +++ b/CouplingProject/Untitled1/POUs/MAIN.TcPOU @@ -0,0 +1,152 @@ + + + + + + , + Busy => , + Active => , + Error => , + ErrorID => errNr ); + +fbPower4( + Axis := axis4, + Enable := enableAxis, + Enable_Positive := bEndSwitchR, + Enable_Negative := bEndSwitchL, + Override := override, + BufferMode := , + Options := , + Status => , + Busy => , + Active => , + Error => , + ErrorID => errNr ); + +fbStop1( + Axis := axis1, + Execute := executeStop, // The command is executed with a positive edge. + Deceleration := , // If the value is <= 0, the deceleration + // parameterized with the last Move command is used. + Jerk := , // If the value is <= 0, the jerk parameterized + // with the last Move command is used. + Options := , + Done => , + Busy => , + Active => , + CommandAborted => , + Error => , + ErrorID => ); +fbStop4( + Axis := axis4, + Execute := executeStop, // The command is executed with a positive edge. + Deceleration := , // If the value is <= 0, the deceleration + // parameterized with the last Move command is used. + Jerk := , // If the value is <= 0, the jerk parameterized + // with the last Move command is used. + Options := , + Done => , + Busy => , + Active => , + CommandAborted => , + Error => , + ErrorID => ); + +fbReset1( + Axis := axis1, + Execute := executeReset, // The command is executed with a positive edge. + Done => , + Busy => , + Error => , + ErrorID => ); + +fbReset4( + Axis := axis4, + Execute := executeReset, // The command is executed with a positive edge. + Done => , + Busy => , + Error => , + ErrorID => ); + +fbMoveAbsolute( + Axis := axis4, + Execute := executeMove, // The command is executed with a positive edge. + Position := position, + Velocity := velocity, + Acceleration := , // If the value is 0, the standard acceleration from + // the axis configuration in the System Manager is used. + Deceleration := , // If the value is 0, the standard deceleration from + // the axis configuration in the System Manager is used. + Jerk := , // If the value is 0, the standard jerk from the axis + // configuration in the System Manager is applied. + BufferMode := MC_BufferMode.MC_Buffered, + Options := , + Done => , + Busy => , + Active => , + CommandAborted => , + Error => , + ErrorId => ); +fbGearIn( + Master := axis1, + Slave := axis4, + Execute := executeGearIn, + RatioNumerator := 1, + RatioDenominator := 1, + Acceleration :=, + Deceleration :=, + Jerk :=, + BufferMode := MC_BufferMode.MC_Aborting, + Options =>, + InGear => gearedStatus, + Busy =>, + Active =>, + CommandAborted =>, + Error => errOut, + ErrorID =>); + +]]> + + + + + + + + \ No newline at end of file diff --git a/CouplingProject/Untitled1/PlcTask.TcTTO 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{27ef28d3-a1f7-4a34-8eee-8d7255580b6b} + + + + Code + true + + + Code + + + Code + + + + + + + + + + + Tc2_MC2, * (Beckhoff Automation GmbH) + + + Tc2_Standard, * (Beckhoff Automation GmbH) + Tc2_Standard + + + Tc2_System, * (Beckhoff Automation GmbH) + Tc2_System + + + Tc3_Module, * (Beckhoff Automation GmbH) + Tc3_Module + + + + + Content + + + + + + + + "<ProjectRoot>" + + {40450F57-0AA3-4216-96F3-5444ECB29763} + + "{40450F57-0AA3-4216-96F3-5444ECB29763}" + + + ActiveVisuProfile + 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+ + + {192FAD59-8248-4824-A8DE-9177C94C195A} + + "{192FAD59-8248-4824-A8DE-9177C94C195A}" + + + + + + + + + System.Collections.Hashtable + {54dd0eac-a6d8-46f2-8c27-2f43c7e49861} + System.String + + + + + \ No newline at end of file diff --git a/CouplingProject/Untitled1/Untitled1.tmc b/CouplingProject/Untitled1/Untitled1.tmc new file mode 100644 index 0000000..8129146 --- /dev/null +++ b/CouplingProject/Untitled1/Untitled1.tmc @@ -0,0 +1,83 @@ 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BIT10TouchProbe2InputState BIT11%08x0x%08x16#%08XNCTOPLC_AXIS_REF_STATE332ValueDWORD320FlagsNCTOPLC_AXIS_REF_STATE3_FLAGS320%08x0x%08x16#%08XNCTOPLC_AXIS_REF_CAMCOUPLINGSTATE8CamActivationPendingBIT10CamDeactivationPendingBIT11CamActiveBIT12CamDataQueuedBIT16CamScalingPendingBIT17UINTARR8128UINT08NCTOPLC_AXIS_REF2048StateDWordNCTOPLC_AXIS_REF_STATE320ErrorCodeUDINT3232AxisStateUDINT3264AxisModeConfirmationUDINT3296HomingStateUDINT32128CoupleStateUDINT32160SvbEntriesUDINT32192SafEntriesUDINT32224AxisIdUDINT32256OpModeDWordNCTOPLC_AXIS_REF_OPMODE32288ActPosLREAL64320ModuloActPosLREAL64384ActiveControlLoopIndexUINT16448ControlLoopIndexUINT16464ModuloActTurnsDINT32480ActVeloLREAL64512PosDiffLREAL64576SetPosLREAL64640SetVeloLREAL64704SetAccLREAL64768TargetPosLREAL64832ModuloSetPosLREAL64896ModuloSetTurnsDINT32960CmdNoUINT16992CmdStateUINT161008SetJerkLREAL641024SetTorqueLREAL641088ActTorqueLREAL641152StateDWord2NCTOPLC_AXIS_REF_STATE2321216StateDWord3NCTOPLC_AXIS_REF_STATE3321248TouchProbeStateDWORD321280TouchProbeCounterDWORD321312CamCouplingStateNCTOPLC_AXIS_REF_CAMCOUPLINGSTATE08641344CamCouplingTableIDUINTARR81281408ActTorqueDerivativeLREAL641536SetTorqueDerivativeLREAL641600AbsPhasingPosLREAL641664TorqueOffsetLREAL641728ActPosWithoutPosCorrectionLREAL641792ActAccLREAL641856DcTimeStampUDINT321920UserDataLREAL641984NcStructType2NCAXLESTRUCT_TOPLCNCAXLESTRUCT_TOPLC2NCAXLESTRUCT_TOPLC3NCAXLESTRUCT_TOPLC4ST_AdsAddress224NetIdSTRING(23)1920PortUINT16192ChannelUINT16208MC_AxisStates16INTMC_AXISSTATE_UNDEFINED0MC_AXISSTATE_DISABLED1MC_AXISSTATE_STANDSTILL2MC_AXISSTATE_ERRORSTOP3MC_AXISSTATE_STOPPING4MC_AXISSTATE_HOMING5MC_AXISSTATE_DISCRETEMOTION6MC_AXISSTATE_CONTINOUSMOTION7MC_AXISSTATE_SYNCHRONIZEDMOTION8ST_AxisOpModes136PositionAreaMonitoringBOOL80TargetPositionMonitoringBOOL88LoopModeBOOL816MotionMonitoringBOOL824PEHTimeMonitoringBOOL832BacklashCompensationBOOL840DelayedErrorReactionBOOL848ModuloBOOL856SimulationAxisBOOL864StopMonitoringBOOL872PositionLagMonitoringBOOL880VelocityLagMonitoringBOOL888SoftLimitMinMonitoringBOOL896SoftLimitMaxMonitoringBOOL8104PositionCorrectionBOOL8112AllowSlaveCommandsBOOL8120AllowExtSetAxisCommandsBOOL8128ST_AxisStatus768UpdateTaskIndexBYTE80UpdateCycleTimeLREAL6464CycleCounterUDINT32128NcCycleCounterUDINT32160MotionStateMC_AxisStates16192ErrorBOOL8208ErrorIDUDINT32224displaymodehexErrorStopBOOL8256DisabledBOOL8264StoppingBOOL8272StandStillBOOL8280DiscreteMotionBOOL8288ContinuousMotionBOOL8296SynchronizedMotionBOOL8304HomingBOOL8312ConstantVelocityBOOL8320AcceleratingBOOL8328DeceleratingBOOL8336OperationalBOOL8344ControlLoopClosedBOOL8352HasJobBOOL8360HasBeenStoppedBOOL8368NewTargetPositionBOOL8376InPositionAreaBOOL8384InTargetPositionBOOL8392ProtectedModeBOOL8400HomedBOOL8408HomingBusyBOOL8416MotionCommandsLockedBOOL8424SoftLimitMinExceededBOOL8432SoftLimitMaxExceededBOOL8440MovingBOOL8448PositiveDirectionBOOL8456NegativeDirectionBOOL8464NotMovingBOOL8472CompensatingBOOL8480ExtSetPointGenEnabledBOOL8488PhasingActiveBOOL8496ExternalLatchValidBOOL8504CamDataQueuedBOOL8512CamTableQueuedBOOL8520CamScalingPendingBOOL8528CmdBufferedBOOL8536PTPmodeBOOL8544DriveDeviceErrorBOOL8552IoDataInvalidBOOL8560ErrorPropagationDelayedBOOL8568DriveLimitActiveBOOL8576TargetTorqueReachedBOOL8584CoupledBOOL8592OpModeST_AxisOpModes136600NcApplicationRequestBOOL8736AMSNETID48BYTE06%d.%d.%d.%d.%d.%d[0][1][2][3][4][5]T_AmsNetIdArr48AMSNETIDE_NcDriveType32DWORDNcDriveType_undefined0NcDriveType_M2400_DAC11NcDriveType_M2400_DAC22NcDriveType_M2400_DAC33NcDriveType_M2400_DAC44NcDriveType_KL4XXX5NcDriveType_KL4XXX_NonLinear6NcDriveType_Discete_TwoSpeed7NcDriveType_Stepper8NcDriveType_Sercos9NcDriveType_KL505110NcDriveType_AX2000_B20011NcDriveType_ProfiDrive12NcDriveType_Universal13NcDriveType_NcBackplane14NcDriveType_CANopen_Lenze15NcDriveType_CANopen_DS402_MDP74216NcDriveType_AX2000_B90017NcDriveType_KL2531_Stepper20NcDriveType_KL2532_DC21NcDriveType_TCOM22 Interface to Soft Drive]]>NcDriveType_MDP_73323NcDriveType_MDP_70324E_NcEncoderType32DWORDNcEncoderType_undefined0NcEncoderType_Simulation1NcEncoderType_ABS_M30002NcEncoderType_INC_M31X03NcEncoderType_INC_KL51014NcEncoderType_ABS_KL5001_SSI5NcEncoderType_INC_KL50516NcEncoderType_ABS_KL30XX7NcEncoderType_INC_Sercos_P8NcEncoderType_INC_Sercos_PV9NcEncoderType_INC_Binary10NcEncoderType_ABS_M251011NcEncoderType_ABS_FOX5012NcEncoderType_ABS_HYDRAULIC_FORCE13NcEncoderType_INC_AX2000_B20014NcEncoderType_INC_PROFIDRIVE15NcEncoderType_INC_UNIVERSAL16NcEncoderType_INC_NCBACKPLANE17NcEncoderType_INC_CANOPEN_LENZE18NcEncoderType_INC_CANOPEN_DS402_MDP513_MDP74219NcEncoderType_INC_AX2000_B90020NcEncoderType_INC_KL515121NcEncoderType_INC_IP520924NcEncoderType_INC_KL2531_Stepper25NcEncoderType_INC_KL2532_DC26NcEncoderType_INC_TIMEBASEGENERATOR27NcEncoderType_INC_TCOM28 Interface to Soft Drive Encoder]]>NcEncoderType_INC_CANOPEN_MDP513_64BIT29NcEncoderType_SPECIFIC100E_NcAxisType32DWORDNcAxisType_undefined0NcAxisType_Continious1NcAxisType_Discrete_TwoSpeed2NcAxisType_LowCostStepper_DigIO3NcAxisType_Encoder5NcAxisType_Hydraulic6NcAxisType_TimeGenerator7NcAxisType_Specific100ST_DriveAddress672NetIDT_AmsNetID1920NetIdBytesT_AmsNetIdArr48192SlaveAddressT_AmsPort16240ChannelBYTE8256NcDriveIdDWORD32288NcDriveIndexDWORD32320NcDriveTypeE_NcDriveType32352NcEncoderIdDWORD32384NcEncoderIndexDWORD32416NcEncoderTypeE_NcEncoderType32448NcAxisIdDWORD32480NcAxisTypeE_NcAxisType32512TcSoftDriveObjectIdOTCID32544conditionalshowTcDriveObjectIdOTCID32576TcEncoderObjectIdOTCID32608TcAxisObjectIdOTCID32640_InternalAxisRefData160NcCycleCounterAvailableBOOL80NcCycleCounter_AtReadStatusCallUDINT3232LastTaskIndex_AtReadStatusCallBYTE864CounterSameTaskIndex_AtReadStatusCallUINT1680PhasingCmdNoUDINT3296PhasingCmdTriggeredBOOL8128conditionalshowAXIS_REF9088PlcToNcPLCTONC_AXIS_REF102464ItemTypeInputTcAddressTypeOutputNcToPlcNCTOPLC_AXIS_REF20481088ItemTypeOutputTcAddressTypeInputADSST_AdsAddress2243136ItemTypeOutputStatusST_AxisStatus7683392ItemTypeOutputDriveAddressST_DriveAddress6724160ItemTypeInput_internal_InternalAxisRefData1604832conditionalshowStorageDWORD012840964992conditionalshowReadStatusPouTypeFunctionBlockconditionalshow_all_localsMC_BufferMode16UINTMC_Aborting0MC_Buffered1MC_BlendingLow18MC_BlendingPrevious19MC_BlendingNext20MC_BlendingHigh21ST_PowerOptions8reservedBOOL80conditionalshowTON256INBOOL864ItemTypeInputPTTIME3296ItemTypeInputQBOOL8128ItemTypeOutputETTIME32160ItemTypeOutputMBOOL8192StartTimeTIME32224PouTypeFunctionBlockTP256INBOOL864ItemTypeInputPTTIME3296ItemTypeInputQBOOL8128ItemTypeOutputETTIME32160ItemTypeOutputStartTimeTIME32192PouTypeFunctionBlockMC_Power960AxisAXIS_REF6464ItemTypeInOutEnableBOOL8128ItemTypeInputEnable_PositiveBOOL8136ItemTypeInputEnable_NegativeBOOL8144ItemTypeInputOverrideLREAL64192100ItemTypeInputBufferModeMC_BufferMode16256ItemTypeInputOptionsST_PowerOptions8272ItemTypeInputStatusBOOL8280ItemTypeOutputBusyBOOL8288ItemTypeOutputErrorBOOL8304ItemTypeOutputErrorIDUDINT32320ItemTypeOutputdisplaymodehexEnableTimeoutTON256384conditionalshowEnableOffOnDelayTP256640conditionalshowiOverrideDWORD32896conditionalshowPouTypeFunctionBlockconditionalshow_all_localsST_MoveOptions320EnableBlendingPositionBOOL80BlendingPositionLREAL6464StartVelocityLREAL64128conditionalshowEndVelocityLREAL64192conditionalshowIgnorePositionMonitoringBOOL8256EnableStopPositionMonitoringBOOL8264_ST_FunctionBlockResults96DoneBOOL80CommandAbortedBOOL88ErrorBOOL816ErrorIDUDINT3232displaymodehexBusyCounterUDINT3264displaymodedecconditionalshow_E_TcNC_StartPosType16UINTTCNC_START_ABSOLUTE1TCNC_START_RELATIVE2TCNC_START_ENDLESS_PLUS3TCNC_START_ENDLESS_MINUS4TCNC_START_MODULO5TCNC_START_ADDITIVE6TCNC_START_MODULO_SHORT261TCNC_START_MODULO_PLUS517TCNC_START_MODULO_MINUS773TCNC_START_MODULO_CURRENT1029TCNC_START_ABS_INTERNAL9TCNC_START_ENDLESSPLUS_SLOWMANUAL272TCNC_START_ENDLESSMINUS_SLOWMANUAL273TCNC_START_ENDLESSPLUS_FASTMANUAL528TCNC_START_ENDLESSMINUS_FASTMANUAL529TCNC_START_STOPANDLOCK4096TCNC_START_HALT8192TCNC_START_TORQUE_ABORT12288TCNC_START_TORQUE_ABSOLUTE12289TCNC_START_TORQUE_RELATIVE12290conditionalshowST_TorqueControlOptions128EnableManualTorqueStartValueBOOL80ManualTorqueStartValueLREAL6464_E_TcMC_STATES16INTSTATE_INITIALIZATION100STATE_ORDER101STATE_RUNNING102STATE_WAITING103STATE_MOTIONCOMMANDSLOCKED104conditionalshow_ST_TcNC_UnversalAxisStartRequest640nStartTypeUDINT320nControlMaskUDINT3232fPosTargetLREAL6464fVeloRequLREAL64128fAccLREAL= 0) ]]>64192fDecLREAL= 0) ]]>64256fJerkLREAL= 0) ]]>64320nBufferModeUDINT32384nReservedUDINT32416fBlendingPositionLREAL64448fVeloStartLREAL64512fVeloEndLREAL64576conditionalshow_ST_TcNC_UniversalAxisTorqueStartRequest576nStartTypeUDINT320nControlMaskDWORD3232nModeDWORD3264nBufferModeUDINT3296fTorqueLREAL64128fTorqueRampLREAL64192fVelocityLimitHighLREAL64256fVelocityLimitLowLREAL64320fAccelerationLREAL= 0) ]]>64384fDecelerationLREAL= 0) ]]>64448fManualTorqueLREAL64512conditionalshow_ST_TcNC_UnversalAxisStartResponse32nCmdNoWORD160nCmdStateWORD1616conditionalshowADSRDWRTEX1792NETIDT_AmsNetID19264ItemTypeInputPORTT_AmsPort16256ItemTypeInputIDXGRPUDINT32288ItemTypeInputIDXOFFSUDINT32320ItemTypeInputWRITELENUDINT32352ItemTypeInputREADLENUDINT32384ItemTypeInputSRCADDRPVOID64448ItemTypeInputTcIgnorePersistentDESTADDRPVOID64512ItemTypeInputTcIgnorePersistentWRTRDBOOL8576ItemTypeInputTMOUTTIME326085000ItemTypeInputBUSYBOOL8640ItemTypeOutputERRBOOL8648ItemTypeOutputERRIDUDINT32672ItemTypeOutputCOUNT_RUDINT32704ItemTypeOutputPouTypeFunctionBlockhide_all_localsFW_GetCurTaskIndex128nIndexBYTE864ItemTypeOutputPouTypeFunctionBlockconditionalshowGETCURTASKINDEX256indexBYTE864ItemTypeOutputfbGetCurTaskIndexFW_GetCurTaskIndex128128conditionalshowPouTypeFunctionBlockconditionalshow_all_localsR_TRIG128CLKBOOL864ItemTypeInputQBOOL872ItemTypeOutputMBOOL880conditionalshowPouTypeFunctionBlockconditionalshow_all_locals_ST_TcNc_OperationModes128PosAreaControlDWORD3201TargetPosControlDWORD32322StopMonitoringDWORD32644096AllowSlaveCommandsDWORD32962097152conditionalshow_FB_MoveUniversalGeneric8512AxisAXIS_REF6464ItemTypeInOutLastExecutionResult_ST_FunctionBlockResults64128ItemTypeInOutExecuteBOOL8192ItemTypeInputStartType_E_TcNC_StartPosType16208ItemTypeInputPositionLREAL64256ItemTypeInputTorqueLREAL64320ItemTypeInputTorqueRampLREAL64384ItemTypeInputVelocityLREAL64448ItemTypeInputVelocityLimitHighLREAL64512ItemTypeInputVelocityLimitLowLREAL64576ItemTypeInputAccelerationLREAL64640ItemTypeInputDecelerationLREAL64704ItemTypeInputJerkLREAL64768ItemTypeInputBufferModeMC_BufferMode16832ItemTypeInputOptionsST_MoveOptions320896ItemTypeInputOptionsTorqueST_TorqueControlOptions1281216ItemTypeInputResetBOOL81344ItemTypeInputGotoRunStateBOOL81352ItemTypeInputContinuousUpdateBOOL81360ItemTypeInputDoneBOOL81368ItemTypeOutputBusyBOOL81376ItemTypeOutputActiveBOOL81384ItemTypeOutputCommandAbortedBOOL81392ItemTypeOutputErrorBOOL81400ItemTypeOutputErrorIDUDINT321408ItemTypeOutputdisplaymodehexCmdNoUINT161440ItemTypeOutputADSbusyBOOL81456ItemTypeOutputInTorqueBOOL81464ItemTypeOutputiState_E_TcMC_STATES161472_E_TcMC_STATES.STATE_INITIALIZATIONsStartRequest_ST_TcNC_UnversalAxisStartRequest6401536sTorqueStartRequest_ST_TcNC_UniversalAxisTorqueStartRequest5762176sStartResponse_ST_TcNC_UnversalAxisStartResponse322752fbAdsReadWriteADSRDWRTEX17922816ContinousModeBOOL84608InVelocityBOOL84616DiffCycleCounterUDINT324640EmptyStartResponse_ST_TcNC_UnversalAxisStartResponse324672COUNT_RUDINT324704CounterCmdNoZeroBYTE84736CounterCmdNotStartedBYTE84744DiffCmdNoINT164752InitialNcToPlcCmdNoUINT164768NcCycleCounterBYTE84784LastNcCycleCounterBYTE84792NcMappingCounterBYTE84800NcCycleCounterAvailableBOOL84808NcCycleCounterNotAvailableBOOL84816NcCyclicFeedbackExpectedBOOL84824PlcDebugCodeDWORD324832AxisIsSlaveBOOL84864GetTaskIndexGETCURTASKINDEX2564928CycleCounterUDINT325184BusyCounterUDINT325216fbTimeOutTON2565248fbStopMonitoringTimeOutTON2565504fbTimeOutMappingCounterTON2565760fbOnTriggerR_TRIG1286016sTempMsgSTRING(255)20486144AccDecreasingBOOL88192AccOldLREAL648256iContinuousUpdateBOOL88320OpMode_ST_TcNc_OperationModes1288352suppress_warning_0C0228ActMonitorStopActMonitorAbortTorqueActMonitorContinousMotionActMonitorDiscreteMotionActErrorMessageActMonitorContinuousTorqueActCalcDiffCmdNoActNcCycleCounterPouTypeFunctionBlockconditionalshowADSWRITE1344NETIDT_AmsNetID19264ItemTypeInputPORTT_AmsPort16256ItemTypeInputIDXGRPUDINT32288ItemTypeInputIDXOFFSUDINT32320ItemTypeInputLENUDINT32352ItemTypeInputSRCADDRPVOID64384ItemTypeInputTcIgnorePersistentWRITEBOOL8448ItemTypeInputTMOUTTIME324805000ItemTypeInputBUSYBOOL8512ItemTypeOutputERRBOOL8520ItemTypeOutputERRIDUDINT32544ItemTypeOutputPouTypeFunctionBlockhide_all_localsMC_Stop11264AxisAXIS_REF6464ItemTypeInOutExecuteBOOL8128ItemTypeInputDecelerationLREAL64192ItemTypeInputJerkLREAL64256ItemTypeInputOptionsST_MoveOptions320320ItemTypeInputDoneBOOL8640ItemTypeOutputBusyBOOL8648ItemTypeOutputActiveBOOL8656ItemTypeOutputCommandAbortedBOOL8664ItemTypeOutputErrorBOOL8672ItemTypeOutputErrorIDUDINT32704ItemTypeOutputdisplaymodehexLastExecutionResult_ST_FunctionBlockResults96736conditionalshowADSbusyBOOL8832conditionalshowMoveGeneric_FB_MoveUniversalGeneric8512896conditionalshowReleaseLockADSWRITE13449408conditionalshowCmdNoUINT1610752conditionalshowAxisMotionCommandsLockedBOOL810768conditionalshowiState_E_TcMC_STATES1610784_E_TcMC_STATES.STATE_INITIALIZATIONconditionalshowNoJobTimerTON25610816conditionalshowfbOnTriggerR_TRIG12811072conditionalshowCounterMotionCommandsLockedINT1611200conditionalshowActStopPouTypeFunctionBlockconditionalshow_all_localsMC_Reset2496AxisAXIS_REF6464ItemTypeInOutExecuteBOOL8128ItemTypeInputDoneBOOL8136ItemTypeOutputBusyBOOL8144ItemTypeOutputErrorBOOL8152ItemTypeOutputErrorIDUDINT32160ItemTypeOutputdisplaymodehexADSbusyBOOL8192conditionalshowiState_E_TcMC_STATES16208_E_TcMC_STATES.STATE_INITIALIZATIONconditionalshowLastExecutionResult_ST_Functio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icit_init_function_Implicit_Jitter_Distribution48wRangeMaxWORD160wCountJitterNegWORD1616wCountJitterPosWORD1632hide_Implicit_Task_Info896dwVersionDWORD320pszNameSTRING(80)6464nPriorityINT16128KindOf_Implicit_KindOfTask16144bWatchdogBOOL8160bProfilingTaskBOOL8168dwEventFunctionPointerBYTE64192pszExternalEventSTRING(80)64256dwTaskEntryFunctionPointerBYTE64320dwWatchdogSensitivityDWORD32384dwIntervalDWORD32416dwWatchdogTimeDWORD32448dwLastCycleTimeDWORD32480dwAverageCycleTimeDWORD32512dwMaxCycleTimeDWORD32544dwMinCycleTimeDWORD32576diJitterDINT32608diJitterMinDINT32640diJitterMaxDINT32672dwCycleCountDWORD32704wTaskStatusWORD16736wNumOfJitterDistributionsWORD16752pJitterDistribution_Implicit_Jitter_Distribution64768bWithinSPSTimeSlicingBOOL8832byDummyBYTE8840bShouldBlockBOOL8848bActiveBOOL8856dwIECCycleCountDWORD32864hideUntitled1{08500001-0000-0000-F000-000000000064}0PlcTask#x020100500PlcTask Inputs0589824MAIN.axis1.NcToPlc2048NCTOPLC_AXIS_REFTcAddressTypeInput3100224MAIN.axis4.NcToPlc2048NCTOPLC_AXIS_REFTcAddressTypeInput3109312MAIN.bEndSwitchR8BOOLTcInitSymbolTcAddressTypeInput3163896MAIN.bEndSwitchL8BOOLTcAddressTypeInput31641281PlcTask Outputs0589824MAIN.axis1.PlcToNc1024PLCTONC_AXIS_REFTcAddressTypeOutput3099200MAIN.axis4.PlcToNc1024PLCTONC_AXIS_REFTcAddressTypeOutput31082883PlcTask Internal0589824Global_Version.stLibVersion_Tc2_MC2288ST_LibVersion.iMajor3.iMinor3.iBuild69.iRevision0.nFlags1.sVersion3.3.69.0const_non_replacedTcVarGlobal3072000Global_Variables.AMSPORT_LOGGER16UINT100TcVarGlobal3072288Global_Variables.AMSPORT_EVENTLOG16UINT110TcVarGlobal3072304Global_Variables.TcMcGlobal7168_TCMCGLOBALTcVarGlobal3072320Global_Variables.DEFAULT_HOME_POSITION64LREAL1E+307TcVarGlobal3079488Global_Variables.DEFAULT_BACKLASHVALUE64LREAL1E+307TcVarGlobal3079552Global_Version.stLibVersion_Tc2_Math288ST_LibVersion.iMajor3.iMinor5.iBuild1.iRevision0.nFlags1.sVersion3.5.1.0const_non_replacedTcVarGlobal3079616Global_Version.stLibVersion_Tc2_Standard288ST_LibVersion.iMajor3.iMinor4.iBuild5.iRevision0.nFlags1.sVersion3.4.5.0const_non_replacedTcVarGlobal3079904Global_Version.stLibVersion_Tc2_System288ST_LibVersion.iMajor3.iMinor9.iBuild1.iRevision0.nFlags1.sVersion3.9.1.0const_non_replacedTcVarGlobal3080192Global_Variables.AMSPORT_R0_RTIME16UINT200TcVarGlobal3080480Global_Variables.AMSPORT_R0_IO16UINT300TcVarGlobal3080496Global_Variables.AMSPORT_R0_NC16UINT500TcVarGlobal3080512Global_Variables.AMSPORT_R0_NCSAF16UINT501TcVarGlobal3080528Global_Variables.AMSPORT_R0_NCSVB16UINT511TcVarGlobal3080544Global_Variables.AMSPORT_R0_ISG16UINT550TcVarGlobal3080560Global_Variables.AMSPORT_R0_CNC16UINT600TcVarGlobal3080576Global_Variables.AMSPORT_R0_LINE16UINT700TcVarGlobal3080592Global_Variables.AMSPORT_R0_PLC16UINT800TcVarGlobal3080608Global_Variables.AMSPORT_R0_PLC_RTS116UINT801TcVarGlobal3080624Global_Variables.AMSPORT_R0_PLC_RTS216UINT811TcVarGlobal3080640Global_Variables.AMSPORT_R0_PLC_RTS316UINT821TcVarGlobal3080656Global_Variables.AMSPORT_R0_PLC_RTS416UINT831TcVarGlobal3080672Global_Variables.AMSPORT_R0_CAM16UINT900TcVarGlobal3080688Global_Variables.AMSPORT_R0_CAMTOOL16UINT950TcVarGlobal3080704Global_Variables.AMSPORT_R3_SYSSERV16UINT10000TcVarGlobal3080720Global_Variables.AMSPORT_R3_SCOPESERVER16UINT14001TcVarGlobal3080736Global_Variables.ADSSTATE_INVALID16UINT0TcVarGlobal3080752Global_Variables.ADSSTATE_IDLE16UINT1TcVarGlobal3080768Global_Variables.ADSSTATE_RESET16UINT2TcVarGlobal3080784Global_Variables.ADSSTATE_INIT16UINT3TcVarGlobal3080800Global_Variables.ADSSTATE_START16UINT4TcVarGlobal3080816Global_Variables.ADSSTATE_RUN16UINT5TcVarGlobal3080832Global_Variables.ADSSTATE_STOP16UINT6TcVarGlobal3080848Global_Variables.ADSSTATE_SAVECFG16UINT7TcVarGlobal3080864Global_Variables.ADSSTATE_LOADCFG16UINT8TcVarGlobal3080880Global_Variables.ADSSTATE_POWERFAILURE16UINT9TcVarGlobal3080896Global_Variables.ADSSTATE_POWERGOOD16UINT10TcVarGlobal3080912Global_Variables.ADSSTATE_ERROR16UINT11TcVarGlobal3080928Global_Variables.ADSSTATE_SHUTDOWN16UINT12TcVarGlobal3080944Global_Variables.ADSSTATE_SUSPEND16UINT13TcVarGlobal3080960Global_Variables.ADSSTATE_RESUME16UINT14TcVarGlobal3080976Global_Variables.ADSSTATE_CONFIG16UINT15TcVarGlobal3080992Global_Variables.ADSSTATE_RECONFIG16UINT16TcVarGlobal3081008Global_Variables.ADSSTATE_STOPPING16UINT17TcVarGlobal3081024Global_Variables.ADSSTATE_INCOMPATIBLE16UINT18TcVarGlobal3081040Global_Variables.ADSSTATE_EXCEPTION16UINT19TcVarGlobal3081056Global_Variables.ADSSTATE_MAXSTATES16UINT20TcVarGlobal3081072Global_Variables.ADSIGRP_SYMTAB32UDINT61440TcVarGlobal3081088Global_Variables.ADSIGRP_SYMNAME32UDINT61441TcVarGlobal3081120Global_Variables.ADSIGRP_SYMVAL32UDINT61442TcVarGlobal3081152Global_Variables.ADSIGRP_SYM_HNDBYNAME32UDINT61443TcVarGlobal3081184Global_Variables.ADSIGRP_SYM_VALBYNAME32UDINT61444TcVarGlobal3081216Global_Variables.ADSIGRP_SYM_VALBYHND32UDINT61445TcVarGlobal3081248Global_Variables.ADSIGRP_SYM_RELEASEHND32UDINT61446TcVarGlobal3081280Global_Variables.ADSIGRP_SYM_INFOBYNAME32UDINT61447TcVarGlobal3081312Global_Variables.ADSIGRP_SYM_VERSION32UDINT61448TcVarGlobal3081344Global_Variables.ADSIGRP_SYM_INFOBYNAMEEX32UDINT61449TcVarGlobal3081376Global_Variables.ADSIGRP_SYM_DOWNLOAD32UDINT61450TcVarGlobal3081408Global_Variables.ADSIGRP_SYM_UPLOAD32UDINT61451TcVarGlobal3081440Global_Variables.ADSIGRP_SYM_UPLOADINFO32UDINT61452TcVarGlobal3081472Global_Variables.ADSIGRP_SYMNOTE32UDINT61456TcVarGlobal3081504Global_Variables.ADSIGRP_IOIMAGE_RWIB32UDINT61472TcVarGlobal3081536Global_Variables.ADSIGRP_IOIMAGE_RWIX32UDINT61473TcVarGlobal3081568Global_Variables.ADSIGRP_IOIMAGE_RISIZE32UDINT61477TcVarGlobal3081600Global_Variables.ADSIGRP_IOIMAGE_RWOB32UDINT61488TcVarGlobal3081632Global_Variables.ADSIGRP_IOIMAGE_RWOX32UDINT61489TcVarGlobal3081664Global_Variables.ADSIGRP_IOIMAGE_ROSIZE32UDINT61493TcVarGlobal3081696Global_Variables.ADSIGRP_IOIMAGE_CLEARI32UDINT61504TcVarGlobal3081728Global_Variables.ADSIGRP_IOIMAGE_CLEARO32UDINT61520TcVarGlobal3081760Global_Variables.ADSIGRP_IOIMAGE_RWIOB32UDINT61536TcVarGlobal3081792Global_Variables.ADSIGRP_DEVICE_DATA32UDINT61696TcVarGlobal3081824Global_Variables.ADSIOFFS_DEVDATA_ADSSTATE32UDINT0TcVarGlobal3081856Global_Variables.ADSIOFFS_DEVDATA_DEVSTATE32UDINT2TcVarGlobal3081888Global_Variables.SYSTEMSERVICE_OPENCREATE32UDINT100TcVarGlobal3081920Global_Variables.SYSTEMSERVICE_OPENREAD32UDINT101TcVarGlobal3081952Global_Variables.SYSTEMSERVICE_OPENWRITE32UDINT102TcVarGlobal3081984Global_Variables.SYSTEMSERVICE_CREATEFILE32UDINT110TcVarGlobal3082016Global_Variables.SYSTEMSERVICE_CLOSEHANDLE32UDINT111TcVarGlobal3082048Global_Variables.SYSTEMSERVICE_FOPEN32UDINT120TcVarGlobal3082080Global_Variables.SYSTEMSERVICE_FCLOSE32UDINT121TcVarGlobal3082112Global_Variables.SYSTEMSERVICE_FREAD32UDINT122TcVarGlobal3082144Global_Variables.SYSTEMSERVICE_FWRITE32UDINT123TcVarGlobal3082176Global_Variables.SYSTEMSERVICE_FSEEK32UDINT124TcVarGlobal3082208Global_Variables.SYSTEMSERVICE_FTELL32UDINT125TcVarGlobal3082240Global_Variables.SYSTEMSERVICE_FGETS32UDINT126TcVarGlobal3082272Global_Variables.SYSTEMSERVICE_FPUTS32UDINT127TcVarGlobal3082304Global_Variables.SYSTEMSERVICE_FSCANF32UDINT128TcVarGlobal3082336Global_Variables.SYSTEMSERVICE_FPRINTF32UDINT129TcVarGlobal3082368Global_Variables.SYSTEMSERVICE_FEOF32UDINT130TcVarGlobal3082400Global_Variables.SYSTEMSERVICE_FDELETE32UDINT131TcVarGlobal3082432Global_Variables.SYSTEMSERVICE_FRENAME32UDINT132TcVarGlobal3082464Global_Variables.SYSTEMSERVICE_MKDIR32UDINT138TcVarGlobal3082496Global_Variables.SYSTEMSERVICE_RMDIR32UDINT139TcVarGlobal3082528Global_Variables.SYSTEMSERVICE_REG_HKEYLOCALMACHINE32UDINT200TcVarGlobal3082560Global_Variables.SYSTEMSERVICE_SENDEMAIL32UDINT300TcVarGlobal3082592Global_Variables.SYSTEMSERVICE_TIMESERVICES32UDINT400TcVarGlobal3082624Global_Variables.SYSTEMSERVICE_STARTPROCESS32UDINT500TcVarGlobal3082656Global_Variables.SYSTEMSERVICE_CHANGENETID32UDINT600TcVarGlobal3082688Global_Variables.TIMESERVICE_DATEANDTIME32UDINT1TcVarGlobal3082720Global_Variables.TIMESERVICE_SYSTEMTIMES32UDINT2TcVarGlobal3082752Global_Variables.TIMESERVICE_RTCTIMEDIFF32UDINT3TcVarGlobal3082784Global_Variables.TIMESERVICE_ADJUSTTIMETORTC32UDINT4TcVarGlobal3082816Global_Variables.TIMESERVICE_TIMEZONINFORMATION32UDINT6TcVarGlobal3082848Global_Variables.ADSLOG_MSGTYPE_HINT32DWORD1TcVarGlobal3082880Global_Variables.ADSLOG_MSGTYPE_WARN32DWORD2TcVarGlobal3082912Global_Variables.ADSLOG_MSGTYPE_ERROR32DWORD4TcVarGlobal3082944Global_Variables.ADSLOG_MSGTYPE_LOG32DWORD16TcVarGlobal3082976Global_Variables.ADSLOG_MSGTYPE_MSGBOX32DWORD32TcVarGlobal3083008Global_Variables.ADSLOG_MSGTYPE_RESOURCE32DWORD64TcVarGlobal3083040Global_Variables.ADSLOG_MSGTYPE_STRING32DWORD128TcVarGlobal3083072Global_Variables.BOOTDATAFLAGS_RETAIN_LOADED8BYTE1TcVarGlobal3083104Global_Variables.BOOTDATAFLAGS_RETAIN_INVALID8BYTE2TcVarGlobal3083112Global_Variables.BOOTDATAFLAGS_RETAIN_REQUESTED8BYTE4TcVarGlobal3083120Global_Variables.BOOTDATAFLAGS_PERSISTENT_LOADED8BYTE16TcVarGlobal3083128Global_Variables.BOOTDATAFLAGS_PERSISTENT_INVALID8BYTE32TcVarGlobal3083136Global_Variables.SYSTEMSTATEFLAGS_BSOD8BYTE1TcVarGlobal3083144Global_Variables.SYSTEMSTATEFLAGS_RTVIOLATION8BYTE2TcVarGlobal3083152Global_Variables.nWatchdogTime8BYTETcVarGlobal3083160Global_Variables.FOPEN_MODEREAD32DWORD1TcVarGlobal3083168Global_Variables.FOPEN_MODEWRITE32DWORD2TcVarGlobal3083200Global_Variables.FOPEN_MODEAPPEND32DWORD4TcVarGlobal3083232Global_Variables.FOPEN_MODEPLUS32DWORD8TcVarGlobal3083264Global_Variables.FOPEN_MODEBINARY32DWORD16TcVarGlobal3083296Global_Variables.FOPEN_MODETEXT32DWORD32TcVarGlobal3083328Global_Variables.TCEVENTFLAG_PRIOCLASS16WORD16TcVarGlobal3083584Global_Variables.TCEVENTFLAG_FMTSELF16WORD32TcVarGlobal3083600Global_Variables.TCEVENTFLAG_LOG16WORD64TcVarGlobal3083616Global_Variables.TCEVENTFLAG_MSGBOX16WORD128TcVarGlobal3083632Global_Variables.TCEVENTFLAG_SRCID16WORD256TcVarGlobal3083648Global_Variables.TCEVENTFLAG_AUTOFMTALL16WORD4096TcVarGlobal3083664Global_Variables.TCEVENTSTATE_INVALID16WORD0TcVarGlobal3083680Global_Variables.TCEVENTSTATE_SIGNALED16WORD1TcVarGlobal3083696Global_Variables.TCEVENTSTATE_RESET16WORD2TcVarGlobal3083712Global_Variables.TCEVENTSTATE_CONFIRMED16WORD16TcVarGlobal3083728Global_Variables.TCEVENTSTATE_RESETCON16WORD18TcVarGlobal3083744Global_Variables.TCEVENT_SRCNAMESIZE16INT15TcVarGlobal3083760Global_Variables.TCEVENT_FMTPRGSIZE16INT31TcVarGlobal3083776Global_Variables.eWatchdogConfig16E_WATCHDOG_TIME_CONFIGE_WATCHDOG_TIME_CONFIG.eWATCHDOG_TIME_DISABLEDTcVarGlobal3083792Global_Variables.DEFAULT_ADS_TIMEOUT32TIME5000TcVarGlobal3083808Global_Variables.PI64LREAL3.14159265358979TcVarGlobal3083840Global_Variables.MAX_STRING_LENGTH32UDINT255TcVarGlobal3083904Global_Version.stLibVersion_Tc3_Module288ST_LibVersion.iMajor3.iMinor4.iBuild5.iRevision0.nFlags1.sVersion3.4.5.0const_non_replacedTcVarGlobal3084480MAIN.axis19088AXIS_REF3099136MAIN.axis49088AXIS_REF3108224MAIN.fbPower1960MC_Power3117312MAIN.fbPower4960MC_Power3118272MAIN.fbStop111264MC_Stop3119232MAIN.fbStop411264MC_Stop3130496MAIN.fbReset12496MC_Reset3141760MAIN.fbReset42496MC_Reset3144256MAIN.fbMoveAbsolute9728MC_MoveAbsolute3146752MAIN.fbGearIn7360MC_GearIn3156480MAIN.enableAxis8BOOL3163840MAIN.executeGearIn8BOOL3163848MAIN.executeStop8BOOL3163856MAIN.executeReset8BOOL3163864MAIN.executeMove8BOOL3163872MAIN.gearedStatus8BOOL3163880MAIN.errOut8BOOL3163888MAIN.override64LREAL03163904MAIN.position64LREAL-450003163968MAIN.velocity64LREAL0.53164032MAIN.errNr32UDINT3164096GVL.InPos8BOOLTcVarGlobal3164136GVL.endSwitch18BOOLTcVarGlobal3164144GVL.endSwitch28BOOLTcVarGlobal3164152TwinCAT_SystemInfoVarList._TaskPouOid_PlcTask32OTCIDno_initTcVarGlobal3165472TwinCAT_SystemInfoVarList._AppInfo2048PlcAppSystemInfono_initTcVarGlobal3165504TwinCAT_SystemInfoVarList._TaskInfo1024PlcTaskSystemInfo11no_initTcVarGlobal3167552TwinCAT_SystemInfoVarList._TaskOid_PlcTask32OTCIDno_initTcVarGlobal3168576TwinCAT_SystemInfoVarList.__PlcTask896_Implicit_Task_Info.dwVersion2TcContextNamePlcTaskTcVarGlobal3168640ApplicationNamePort_851ChangeDate2025-08-22T09:39:24GeneratedCodeSize126976GlobalDataSize28672 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/dev/null +++ b/CouplingProject/_Boot/TargetDescription.xml @@ -0,0 +1,9 @@ + + + + 3 + 1 + 4024 + 67 + + diff --git a/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentConfig.tszip b/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentConfig.tszip new file mode 100644 index 0000000..33bd3a4 Binary files /dev/null and b/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentConfig.tszip differ diff --git a/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentConfig.xml b/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentConfig.xml new file mode 100644 index 0000000..4230739 --- /dev/null +++ b/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentConfig.xml @@ -0,0 +1,736 @@ + + + + 33554432 + #x1 + #x1 + + 64 + 7 + + 3.1.4021 + + + + 1 + TcIoEth + + + 1 + TcRtsObjects + + + 1 + TcIoECat + + + 1 + TcIo + + + 1 + TcNc + + + 1 + TcPlc30 + + + 1 + TcRTime + + + + + Init1\IO: Download Config Id + 300 + 61696 + 4 + 00000000 + + + Init1\IO: Create TComObj PREOP + 10 + 3 + 0 + 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2200000300000000f0000000000000642000040310000103040000000000000000000000000000000000000000000000496d6167652d496e666f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000074000000680000000400000000000000000000002600000320000000c0000000000000000a000000000000000000000300060000000600000000000000000000020000030400000000000002000000002200000304000000100001030000000015a10003100000003be0d24de48f5bbc554ca70bf35b8ba8 + Create Image Image-Info (set to SAFEOP) + + + Init11\IO: Create TComObj SAFEOP + 10 + 3 + 0 + 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+ Create Object NC-Task 1 SAF - Device 1 (EtherCAT) 1 + + + Init11\IO: Set Para TComObj PREOP + 10 + 33751104 + 50372870 + 01 + Enable online change 'Untitled1 Instance - Device 1 (EtherCAT) 1' + + + Init11\IO: Create TComObj SAFEOP + 10 + 3 + 0 + 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+ Create Object NC-Task 1 SAF - Device 1 (EtherCAT) Info + + + Init11\IO: Set Para TComObj PREOP + 10 + 33751088 + 50372870 + 01 + Enable online change 'NC-Task 1 SAF - Untitled1 Instance' + + + Init11\IO: Create TComObj SAFEOP + 10 + 3 + 0 + 2200000300000000f0000000000000643000040310000005040000000000000000000000000000000000000000000000496d61676500000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000090000000840000000500000000000000000000002600000320000000400300004005000001000000000000000000000300000000000000000000000000000000020000030400000000000002000000002020000304000000100000050000000015a1000310000000c7696f4d2f8f025376eb747feecbf7400000000016a1000310000000ed48fbe5859c250a1634cc28773320e9 + Create Image Image (set to SAFEOP) + + + Init11\IO: Set Para TComObj PREOP + 10 + 139468800 + 263 + 3400000001000000100003004d41494e2e62456e6453776974636852000000000000000095190718000000000000000000000030 + Load Init Symbols + + + Init12\IO: Set State TComObj SAFEOP + 10 + 256 + 0 + 300008030400000000000000 + EtherCAT SyncUnit <unreferenced> (set to SAFEOP) + + + Init12\IO: Set State TComObj SAFEOP + 10 + 256 + 0 + 400008030400000000000000 + EtherCAT SyncUnit NC-Task 1 SAF (set to SAFEOP) + + + Init12\IO: Set State TComObj SAFEOP + 10 + 256 + 0 + 100008030400000000000000 + EtherCAT SyncUnit <unreferenced> (set to SAFEOP) + + + Init12\IO: Set State TComObj SAFEOP + 10 + 256 + 0 + 200008030400000000000000 + EtherCAT SyncUnit <unreferenced> (set to SAFEOP) + + + Init12\IO: Set State TComObj SAFEOP + 10 + 256 + 0 + 10000005040000002c0000003000000002000000000000000000000010000005040000003000040300000000011000020400000080841e00 + NC Task NC-Task 1 SAF (set to SAFEOP) + + + Init12\IO: Set State TComObj SAFEOP + 10 + 260 + 1 + 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+ + + Init15\IO: Set State TComObj PREOP OP + 10 + 259 + 0 + 1300010311000103 + Set Objects (2) to OP + + + Init16\IO: Set State TComObj SAFEOP OP + 10 + 256 + 0 + 100004030800000000000000 + Image Image (set to OP) + + + Init16\IO: Set State TComObj SAFEOP OP + 10 + 256 + 0 + 200004030800000000000000 + Image Image-Info (set to OP) + + + Init16\IO: Set State TComObj SAFEOP OP + 10 + 256 + 0 + 300008030800000000000000 + EtherCAT SyncUnit <unreferenced> (set to OP) + + + Init16\IO: Set State TComObj SAFEOP OP + 10 + 256 + 0 + 400008030800000000000000 + EtherCAT SyncUnit NC-Task 1 SAF (set to OP) + + + Init16\IO: Set State TComObj SAFEOP OP + 10 + 256 + 0 + 100008030800000000000000 + EtherCAT SyncUnit <unreferenced> (set to OP) + + + Init16\IO: Set State TComObj SAFEOP OP + 10 + 256 + 0 + 200008030800000000000000 + EtherCAT SyncUnit <unreferenced> (set to OP) + + + Init16\IO: Set State TComObj SAFEOP OP + 10 + 256 + 0 + 100003020800000000000000 + Set Object NC-Task 1 SAF - Device 1 (EtherCAT) 1 to OP + + + Init16\IO: Set State TComObj SAFEOP OP + 10 + 256 + 0 + 200003020800000000000000 + Set Object NC-Task 1 SAF - Device 1 (EtherCAT) Info to OP + + + Init16\IO: Set State TComObj SAFEOP OP + 10 + 256 + 0 + 300004030800000000000000 + Image Image (set to OP) + + + Init16\IO: Set State TComObj SAFEOP OP + 10 + 259 + 0 + 10000103 + Set Objects (1) to OP + 10000 + + + Init28\IO: Download Symbols + 501 + 61453 + 0 + 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+ Symbols downloaded + + + Init31\NC: Download Config Id + 500 + 254 + e4b59129 + Configuration Id downloaded + + + Init31\NC: Handle Retain + 500 + 253 + 00000000 + Handle Retain + + + Init34\NC: Start Tasks + 501 + 1280 + 01000400204e000001000000 + Task NC-Task 1 SAF started + + + Init34\NC: Start Tasks + 511 + 1280 + 01000800a086010001000000 + Task NC-Task 1 SVB started + + + Init41\IO: Send EtherCAT Init Commands + 65535 + 5.67.222.118.2.1 + 3 + 8 + Init EtherCAT Master + -2147463508 + + + Init44\IO: Set State TComObj PREOP OP + 10 + 139468800 + 139460617 + Check for autostart + 50000 + + + + + Init16\IO: Set State TComObj SAFEOP OP + 10 + 512 + 0 + + + + CouplingProject + {9AB684AF-5DAF-4717-A9A0-49F58BF2B019} + C:\Users\berti_r\Documents\TcXaeShell\CouplingProject\CouplingProject\CouplingProject.tsproj + + + + + + diff --git a/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentConfig/Untitled1.tpzip b/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentConfig/Untitled1.tpzip new file mode 100644 index 0000000..ecf00ab Binary files /dev/null and b/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentConfig/Untitled1.tpzip differ diff --git a/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentEventMessages.xml b/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentEventMessages.xml new file mode 100644 index 0000000..72d69ce --- /dev/null +++ b/CouplingProject/_Boot/TwinCAT RT (x64)/CurrentEventMessages.xml @@ -0,0 +1,450 @@ + + + + {28111931-0002-0000-5230-0B247C151200} + EL9227-5500 Überstromschutz 24V DC, 2K., max. 10A (Summe), einstellbar, erweiterte Funktionen + EL9227-5500 Overcurrent protection 24V DC, 2Ch., max. 10A (sum), adjustable, extended functionalities + + 5632 + Abkühlphase noch aktiv, Kanal {0} + Cooling down time still active, channel {0} + + + 17937 + Überschreitung des maximalen Summenstroms (max. {0} A) + exceeding the maximum sum of current (max. {0} A) + + + 17938 + Unterspannung erkannt, Kanal {0} + Undervoltage detected, channel {0} + + + 17939 + Parameter-Wert wird nicht von dieser Klemmenvariante unterstützt, Kanal {0} + Parameter-value is not supported by this variant of terminal, channel {0} + + + 17940 + Parameter-Wert nicht erlaubt und wurde verkleinert, Kanal {0} + Parameter-value not allowed and was reduced automatically, channel {0} + + + 18190 + Übertemperatur im Gerät + Overtemperature in device + + + 33151 + Interner Hardwarefehler ({0}) + internal hardware error ({0}) + + + 34336 + Unterspannung erkannt, Kanal {0} ausgelöst + Undervoltage detected, channel {0} tripped + + + 34337 + Überspannung erkannt, Kanal {0} ausgelöst + Overvoltage detected, channel {0} tripped + + + 34338 + Rückwärtseinspeisung erkannt, Kanal {0} ausgelöst + Reverse current detected, channel {0} tripped + + + 34339 + Kurzschluss erkannt, Kanal {0} ausgelöst + Short circuit detected, channel {0} tripped + + + 34340 + Überlast erkannt, Kanal {0} ausgelöst + Overload detected, channel {0} tripped + + + DisplayTxtId + true + + + + {28111931-0002-0000-5230-B21300001000} + EL5042 2K. BiSS-C Encoder + EL5042 2Ch. BiSS-C Encoder + + 2 + Kommunikation aufgebaut + Communication established + + + 3 + Initialisierung: 0x{0,X}, 0x{1,X}, 0x{2,X} + Initialization: 0x{0,X}, 0x{1,X}, 0x{2,X} + + + 4096 + Information: 0x{0,X}, 0x{1,X}, 0x{2,X} + Information: 0x{0,X}, 0x{1,X}, 0x{2,X} + + + 4867 + Encoder Netzteil ok + Encoder Supply ok + + + 4868 + Encoder Initialisierung erfolgreich abgeschlossen, Kanal: {0,X} + Encoder initialization successfully, channel: {0,X} + + + 16384 + Warnung: 0x{0,X}, 0x{1,X}, 0x{2,X} + Warning: 0x{0,X}, 0x{1,X}, 0x{2,X} + + + 32769 + Fehler: 0x{0,X}, 0x{1,X}, 0x{2,X} + Error: 0x{0,X}, 0x{1,X}, 0x{2,X} + + + 33281 + Keine Kommunikation zur Feldseite (Hilfsspannung fehlt) + No communication to field-side (Auxiliary voltage missing) + + + 33538 + Allgemeiner Encoder Fehler, Kanal: {0,X} + general encoder error, channel: {0,X} + + + 33539 + Encoder Netzteil Fehler + Encoder supply error + + + 33540 + Encoder Kommunikationsfehler, Kanal: {0,X} + Encoder communication error, channel: {0,X} + + + 33547 + Encoder Watchdog Fehler, Kanal: {0,X} + Encoder Watchdog Error, channel: {0,X} + + + 33548 + Encoder Single-Cycle-Data Fehler, Kanal: {0,X} + Encoder Single-Cycle-Data Error, channel: {0,X} + + + 65535 + Debug: 0x{0,X}, 0x{1,X}, 0x{2,X} + Debug: 0x{0,X}, 0x{1,X}, 0x{2,X} + + + DisplayTxtId + true + + + + {28111931-0002-0000-5230-2B1C36232000} + EL7211-9014 1K. MDP742 Servo-Motor-Endstufe mit OCT (50V, 4,5A RMS) und STO Eingang + EL7211-9014 1Ch. MDP742 Servo motor output stage with OCT (50V, 4.5A RMS) and STO input + + 1 + kein Fehler + No error + + + 2 + Kommunikation aufgebaut + Communication established + + + 4609 + Verbindung zur Feldseite wiederhergestellt + Communication re-established + + + 16641 + Klemmen-Übertemperatur + Terminal-Overtemperature + + + 16642 + Diskrepanz in der PDO-Konfiguration + Discrepancy in the PDO-Configuration + + + 17153 + Feedback-Warnung + Feedback-Warning + + + 17425 + Unterspannung DC-Zwischenkreis + DC-Link undervoltage + + + 17426 + Überspannung DC-Zwischenkreis + DC-Link overvoltage + + + 17427 + I2T-Modell Verstärker Überlast + I2T Amplifier overload + + + 17428 + I2T-Modell Motor Überlast + I2T Motor overload + + + 17429 + Geschwindigkeit wird begrenzt + Speed limitation active + + + 17431 + Motor-Übertemperatur + Motor-Overtemperature + + + 17432 + Limit: Strom wird limitiert + Limit: Current + + + 17433 + Limit: Verstärker I2T-Modell übersteigt 100% + Limit: Amplifier I2T-model exceeds 100% + + + 17434 + Limit: Motor I2T-Modell übersteigt 100% + Limit: Motor I2T-model exceeds 100% + + + 17435 + Limit: Drehzahl wird limitiert + Limit: Velocity limitation + + + 17436 + Spannung am STO-/Hardware enable Eingang fehlt + Voltage on STO-/Hardware enable input missing + + + 17437 + Interner Hardwarefehler + Internal hardware error + + + 17440 + Cogging Kompensation nicht unterstützt ({0}) + Cogging compensation not supported ({0}) + + + 32770 + Kommunikation abgebrochen + Communication aborted + + + 33026 + Ungültige Kombination von In- und Output PDOs + Invalid combination of Inputs and Outputs PDOs + + + 33027 + Keine Variablen verknüpft + No variable linkage + + + 33028 + Klemmen-Übertemperatur + Terminal-Overtemperature + + + 33029 + PD-Watchdog + PD-Watchdog + + + 33077 + Zykluszeit muss ein vielfaches von 125 µs sein + Cycletime has to be a multiple of 125 µs + + + 33079 + Elektronisches Typenschild: CRC-Fehler + Electronic name plate: CRC error + + + 33094 + Sync-Mode und PDO-Konfiguration sind nicht kompatibel + Sync-Mode and PDO-Configuration are not compatible + + + 33281 + Keine Kommunikation zur Feldseite ( Hilfsspannung fehlt) + No communication to field-side (Auxiliary voltage missing) + + + 33538 + Feedback-Fehler + Feedback-Error + + + 33540 + OCT Kommunikationsfehler + OCT communication error + + + 33795 + Fehler bei der ADC-Strommessung + ADC Error + + + 33796 + Überstrom auf Phase U, V oder W + Overcurrent + + + 33798 + Unterspannung DC-Zwischenkreis + Undervoltage DC-Link + + + 33799 + Überspannung DC-Zwischenkreis + Overvoltage DC-Link + + + 33800 + I2T-Modell Verstärker Überlast + I2T-Model Amplifier overload + + + 33801 + I2T-Modell Motor Überlast + I2T-Model motor overload + + + 33803 + Motorfehler oder Fehler in der Kommutierung + Motor error or commutation malfunction + + + 33804 + Phasenfehler + Phase failure + + + 33814 + Motor-Übertemperatur + Motor-Overtemperature + + + 33815 + Maximale Drehfeldfrequenz überschritten 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