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 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 GearRatio4 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 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 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 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 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_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 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 DWORD 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 ActPosWithoutPosCorrection LREAL 64 1792 ActAcc LREAL 64 1856 DcTimeStamp UDINT 32 1920 NcStructType 2 NCAXLESTRUCT_TOPLC NCAXLESTRUCT_TOPLC2 NCAXLESTRUCT_TOPLC3 NCAXLESTRUCT_TOPLC4 ARRAY [0..0] OF BYTE 8 BYTE 0 1 ARRAY [0..3] OF BIT 4 BIT 0 4 ARRAY [0..5] OF BIT 6 BIT 0 6 ARRAY [0..1] OF BYTE 16 BYTE 0 2 ARRAY [0..1] OF BIT 2 BIT 0 2 ARRAY [0..0] OF BIT 1 BIT 0 1 ARRAY [0..2] OF BIT 3 BIT 0 3 ARRAY [0..11] OF BIT 12 BIT 0 12 ARRAY [0..13] OF BIT 14 BIT 0 14 ARRAY [0..12] OF BIT 13 BIT 0 13 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{3EBB9639-5FF3-42B6-8847-35C70DC013C8} PlcTaskCom PlcTask NC-Task 1 SAF Inputs Outputs Image NC-Task 1 SVB Axis 1 Inputs In NCENCODERSTRUCT_IN2B 1024 nDataIn1 nDataIn2 nState4 nDataIn3 nDataIn4 nDataIn5 nDataIn6 nDataIn7 Outputs Out NCENCODERSTRUCT_OUT2 2048 nDataOut1 nDataOut2 nDataOut3 nDataOut4 nDataOut5 nDataOut6 Inputs In NCDRIVESTRUCT_IN2 1344 nDataIn1 nDataIn2 nState4 nDataIn3 nDataIn4 nDataIn5 nDataIn6 Outputs Out NCDRIVESTRUCT_OUT2 2368 nDataOut1 nDataOut2 nCtrl2 nCtrl3 nDataOut3 nDataOut4 nDataOut5 nDataOut6 Inputs FromPlc PLCTONC_AXIS_REF Outputs ToPlc NCTOPLC_AXIS_REF AxisState HomingState CoupleState Axis 2 Inputs In NCENCODERSTRUCT_IN2B 2688 nDataIn1 nDataIn2 nState4 nDataIn3 nDataIn4 nDataIn5 nDataIn6 nDataIn7 Outputs Out NCENCODERSTRUCT_OUT2 4736 nDataOut1 nDataOut2 nDataOut3 nDataOut4 nDataOut5 nDataOut6 Inputs In NCDRIVESTRUCT_IN2 3008 nDataIn1 nDataIn2 nState4 nDataIn3 nDataIn4 nDataIn5 nDataIn6 Outputs Out NCDRIVESTRUCT_OUT2 5056 nDataOut1 nDataOut2 nCtrl2 nCtrl3 nDataOut3 nDataOut4 nDataOut5 nDataOut6 Inputs FromPlc PLCTONC_AXIS_REF 1664 Outputs ToPlc NCTOPLC_AXIS_REF 2688 AxisState HomingState CoupleState tc_epicscommodule Instance {08500001-0000-0000-F000-000000000064} tc_project_app Instance {08500001-0000-0000-F000-000000000064} PlcTask Inputs GVL.axes[1].inputs.bLimitFwd BOOL GVL.axes[1].inputs.bLimitBwd BOOL GVL.axes[1].inputs.bHomeSensor BOOL GVL.axes[1].inputs.bEncLAtch BOOL GVL.axes[1].Axis.NcToPlc NCTOPLC_AXIS_REF AxisState HomingState CoupleState GVL.axes[2].inputs.bLimitFwd BOOL GVL.axes[2].inputs.bLimitBwd BOOL GVL.axes[2].inputs.bHomeSensor BOOL GVL.axes[2].inputs.bEncLAtch BOOL GVL.axes[2].Axis.NcToPlc NCTOPLC_AXIS_REF AxisState HomingState CoupleState GVL.axes[3].inputs.bLimitFwd BOOL GVL.axes[3].inputs.bLimitBwd BOOL GVL.axes[3].inputs.bHomeSensor BOOL GVL.axes[3].inputs.bEncLAtch BOOL GVL.axes[3].Axis.NcToPlc NCTOPLC_AXIS_REF AxisState HomingState CoupleState PlcTask Outputs MAIN.bOutput1 BOOL MAIN.bOutput2 BOOL MAIN.bOutput3 BOOL MAIN.bOutput5 BOOL MAIN.bOutput6 BOOL MAIN.bOutput7 BOOL GVL.axes[1].Axis.PlcToNc PLCTONC_AXIS_REF GVL.axes[2].Axis.PlcToNc PLCTONC_AXIS_REF GVL.axes[3].Axis.PlcToNc PLCTONC_AXIS_REF Device 1 (EtherCAT)

-801112064

131072 8192 0 3 0 5612 20480

0

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#x1a01 #x1a02 #x1a06 UDINT #x1a00 #x1a01 #x1a02 #x1a05 UDINT #x1a08 #x1a00 #x1a01 #x1a02 ULINT #x1a07 #x1a00 #x1a01 #x1a02 UDINT #x1601 #x1602 #x1603 USINT UINT #x1600 #x1602 #x1603 USINT ARRAY [0..0] OF BYTE UINT #x1603 #x1600 #x1601 BIT BIT BIT BIT ARRAY [0..3] OF BIT ARRAY [0..0] OF BYTE UINT #x1602 #x1600 #x1601 BIT BIT BIT BIT ARRAY [0..3] OF BIT ARRAY [0..0] OF BYTE UDINT Term 5 (EL5101) 1002 001830002600010001000000300030003000001826010000 801830002200010002000000300030003000801822010000 001004002400010003000000000000000300001024010000 001106002000010004000000000000000500001120010000 0000000000000000001000020100000001000000000000000000000000000000 0000000000000000001100010100000002000000000000000000000000000000 00000000000000000d0800010100000003000000000000000000000000000000 0010f400f410f400 53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000020030100000000000000000000000000000000000000000000000000000000000000 4443494e00000000000000000000000044432d53796e6368726f6e2028696e7075742062617365642900000000000000000000000000000000000000000020030100000000000000000001000000000000000000000000000000000000000000 #x1a01 #x1a03 #x1a04 #x1a05 #x1a06 #x1a07 #x1a08 USINT UINT UINT #x1a00 #x1a03 #x1a04 #x1a05 #x1a06 #x1a07 #x1a08 USINT ARRAY [0..0] OF BYTE UINT UINT #x1a03 #x1a04 #x1a05 #x1a06 #x1a07 #x1a08 UDINT UINT UINT #x1a04 #x1a00 #x1a01 #x1a02 BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT UINT UINT #x1a03 #x1a00 #x1a01 #x1a02 BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT BIT UDINT UDINT #x1a00 #x1a01 #x1a02 #x1a06 UDINT #x1a00 #x1a01 #x1a02 #x1a05 UDINT #x1a08 #x1a00 #x1a01 #x1a02 ULINT #x1a07 #x1a00 #x1a01 #x1a02 UDINT #x1601 #x1602 #x1603 USINT UINT #x1600 #x1602 #x1603 USINT ARRAY [0..0] OF BYTE UINT #x1603 #x1600 #x1601 BIT BIT BIT BIT ARRAY [0..3] OF BIT ARRAY [0..0] OF BYTE UINT #x1602 #x1600 #x1601 BIT BIT BIT BIT ARRAY [0..3] OF BIT ARRAY [0..0] OF BYTE UDINT Term 6 (EL9505) 1003 001001000000010004000000000000000000001000000000 0000000000000000001000010100000002000000000000000000000000000000 BIT BIT Term 7 (EL1252-0050) 7 001001002000010004000000000000000100001022010000 ae0922000000000004000000000000000000ae0900040000 100900000000000004000000000000000000100900040000 0000000000000000001000010100000002000000060000000000000000000000 0000000000000000ae0900010100000002000000060000000100000000000000 0000000000000000100900010000000002000000060000000200000000000000 0001000000000000000000000000000000000000000000000000000000000000 44634c617463680000000000000000004443204c617463682053657474696e6773000000000000000000000000000000000000000000000000000000000000010000000000000000000000000000000000000000000000000000000000000000 BIT BIT ARRAY [0..5] OF BIT #x1a11 #x1a12 #x1a13 #x1a16 USINT USINT #x1a10 #x1a12 #x1a13 #x1a16 USINT ARRAY [0..0] OF BYTE UDINT #x1a10 #x1a11 #x1a13 #x1a16 USINT ARRAY [0..0] OF BYTE ULINT ULINT #x1a10 #x1a11 #x1a12 #x1a16 USINT USINT ULINT ULINT ULINT ULINT #x1a15 UDINT #x1a14 ULINT #x1a10 #x1a11 #x1a12 #x1a13 ARRAY [0..1] OF BYTE ULINT ULINT ULINT ULINT Term 8 (EL7037) 1004 001080002600010001000000400080008000001026010000 801080002200010002000000400080008000801022010000 001108002400010003000000000000000800001124010000 801108002000010004000000000000000800801120010000 0000000000000000001100020100000001000000000000000000000000000000 0000000000000000801100010100000002000000000000000000000000000000 00000000000000000d0800010100000003000000000000000000000000000000 0010f400f410f400 53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000 004003000c0000000000000003000000000000000000000000000000000000002081f001040000000000130000 004003000a00000000000000030010000000000000000000000000000000000020f3100502000000010000 #x1a01 BIT BIT BIT BIT BIT ARRAY [0..1] OF BIT BIT BIT BIT BIT ARRAY [0..0] OF BIT BIT BIT ARRAY [0..0] OF BIT BIT UINT UINT #x1a00 BIT BIT BIT BIT BIT ARRAY [0..1] OF BIT BIT BIT BIT BIT ARRAY [0..0] OF BIT BIT BIT ARRAY [0..0] OF BIT BIT UDINT UDINT UDINT BIT BIT BIT BIT BIT BIT BIT BIT ARRAY [0..2] OF BIT BIT BIT BIT ARRAY [0..0] OF BIT BIT UINT UINT INT #x1a07 BIT BIT BIT BIT BIT BIT BIT BIT ARRAY [0..0] OF BYTE #x1a06 BIT BIT BIT BIT BIT BIT BIT BIT ARRAY [0..0] OF BYTE UDINT INT UDINT UDINT UDINT DINT #x1601 BIT BIT BIT BIT ARRAY [0..11] OF BIT UINT #x1600 BIT BIT BIT BIT ARRAY [0..11] OF BIT UDINT BIT BIT BIT ARRAY [0..0] OF BYTE BIT ARRAY [0..3] OF BIT #x1604 #x1605 #x1606 UDINT #x1603 #x1605 #x1606 INT #x1603 #x1604 #x1606 BIT BIT ARRAY [0..13] OF BIT UDINT #x1603 #x1604 #x1605 BIT BIT ARRAY [0..13] OF BIT UDINT INT UINT UINT UINT #x1603 #x1604 #x1605 ARRAY [0..1] OF BIT BIT ARRAY [0..12] OF BIT UDINT INT UINT UINT UINT Term 9 (EL7037) 1004 001080002600010001000000400080008000001026010000 801080002200010002000000400080008000801022010000 001108002400010003000000000000000800001124010000 801108002000010004000000000000000800801120010000 0000000000000000001100020100000001000000000000000000000000000000 0000000000000000801100010100000002000000000000000000000000000000 00000000000000000d0800010100000003000000000000000000000000000000 0010f400f410f400 53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000 004003000c0000000000000003000000000000000000000000000000000000002081f001040000000000130000 004003000a00000000000000030010000000000000000000000000000000000020f3100502000000010000 #x1a01 BIT BIT BIT BIT BIT ARRAY [0..1] OF BIT BIT BIT BIT BIT ARRAY [0..0] OF BIT BIT BIT ARRAY [0..0] OF BIT BIT UINT UINT #x1a00 BIT BIT BIT BIT BIT ARRAY [0..1] OF BIT BIT BIT BIT BIT ARRAY [0..0] OF BIT BIT BIT ARRAY [0..0] OF BIT BIT UDINT UDINT UDINT BIT BIT BIT BIT BIT BIT BIT BIT ARRAY [0..2] OF BIT BIT BIT BIT ARRAY [0..0] OF BIT BIT UINT UINT INT #x1a07 BIT BIT BIT BIT BIT BIT BIT BIT ARRAY [0..0] OF BYTE #x1a06 BIT BIT BIT BIT BIT BIT BIT BIT ARRAY [0..0] OF BYTE UDINT INT UDINT UDINT UDINT DINT #x1601 BIT BIT BIT BIT ARRAY [0..11] OF BIT UINT #x1600 BIT BIT BIT BIT ARRAY [0..11] OF BIT UDINT BIT BIT BIT ARRAY [0..0] OF BYTE BIT ARRAY [0..3] OF BIT #x1604 #x1605 #x1606 UDINT #x1603 #x1605 #x1606 INT #x1603 #x1604 #x1606 BIT BIT ARRAY [0..13] OF BIT UDINT #x1603 #x1604 #x1605 BIT BIT ARRAY [0..13] OF BIT UDINT INT UINT UINT UINT #x1603 #x1604 #x1605 ARRAY [0..1] OF BIT BIT ARRAY [0..12] OF BIT UDINT INT UINT UINT UINT Term 10 (EL9011) 1005