diff --git a/solution.sln b/solution.sln
index 60113c2..e831609 100644
--- a/solution.sln
+++ b/solution.sln
@@ -3,7 +3,7 @@ Microsoft Visual Studio Solution File, Format Version 12.00
# TcXaeShell Solution File, Format Version 11.00
VisualStudioVersion = 15.0.28307.1300
MinimumVisualStudioVersion = 10.0.40219.1
-Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "solution", "solution\solution.tsproj", "{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}"
+Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "Enc_trouble", "solution\Enc_trouble.tsproj", "{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
diff --git a/solution/Enc_trouble.tsproj b/solution/Enc_trouble.tsproj
new file mode 100644
index 0000000..8b13975
--- /dev/null
+++ b/solution/Enc_trouble.tsproj
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+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..10] OF BIT
+
+
+
+ #x1a03
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+ = 1,5 * In]]>
+
+
+ BIT
+ = 1,1 * In]]>
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..10] OF BIT
+
+
+ UINT
+
+
+ UINT
+
+
+ UINT
+
+
+ UINT
+
+
+
+ #x1a02
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+ = 1,5 * In]]>
+
+
+ BIT
+ = 1,1 * In]]>
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..10] OF BIT
+
+
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+
+
+
+
+
+
+
+ Term 3 (EK1110)
+ 1002
+
+
+
+
+ Term 4 (EK1100)
+ 1003
+
+
+ Term 5 (EL9227-5500)
+ 1001
+
+ 001080002600010001000000400080008000001026010000
+ 801080002200010002000000400080008000801022010000
+ 001104002400010003000000000000000400001124010000
+ 801118002000010004000000000000001800801120010000
+ 0000000000000000001100020100000001000000000000000000000000000000
+ 0000000000000000801100010100000002000000000000000000000000000000
+ 00000000000000000d0800010100000003000000000000000000000000000000
+ 0010f400f410f400
+ Term 5 (EL9227-5500)
+ 004003000a00000000000000030010000000000000000000000000000000000020f3100502000000010000
+
+ #x1a01
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+ = 1,5 * In]]>
+
+
+ BIT
+ = 1,1 * In]]>
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..10] OF BIT
+
+
+ UINT
+
+
+ UINT
+
+
+ UINT
+
+
+ UINT
+
+
+
+ #x1a00
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+ = 1,5 * In]]>
+
+
+ BIT
+ = 1,1 * In]]>
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..10] OF BIT
+
+
+
+ #x1a03
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+ = 1,5 * In]]>
+
+
+ BIT
+ = 1,1 * In]]>
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..10] OF BIT
+
+
+ UINT
+
+
+ UINT
+
+
+ UINT
+
+
+ UINT
+
+
+
+ #x1a02
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+ = 1,5 * In]]>
+
+
+ BIT
+ = 1,1 * In]]>
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..10] OF BIT
+
+
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+
+
+
+
+
+
+
+ Term 6 (EL5042)
+ 1004
+
+ 001080002600010001000000400080008000001026010000
+ 801080002200010002000000400080008000801022010000
+ 001100000400000003000000000000000000001104000000
+ 801114002000010004000000000000001400801120010000
+ 0000000000000000801100010100000002000000000000000000000000000000
+ 00000000000000000d0800010100000003000000000000000000000000000000
+ 0010f400f410f400
+ 53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+ 4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000
+ 4443494e00000000000000000000000044432d53796e6368726f6e2028696e7075742062617365642900000000000000000000000000000000000000000000030100000000000000000001000000000000000000000000000000000000000000
+ 004003000a00000000000000030010000000000000000000000000000000000020f3100502000000010000
+
+ #x1a02
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..4] OF BIT
+
+
+ ARRAY [0..3] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ ULINT
+
+
+
+ #x1a03
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..4] OF BIT
+
+
+ ARRAY [0..3] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ ULINT
+
+
+
+ #x1a00
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..4] OF BIT
+
+
+ ARRAY [0..3] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ UDINT
+
+
+
+ #x1a01
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..4] OF BIT
+
+
+ ARRAY [0..3] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ UDINT
+
+
+
+
+
+
+
+ Term 7 (EL5042)
+ 1004
+
+ 001080002600010001000000400080008000001026010000
+ 801080002200010002000000400080008000801022010000
+ 001100000400000003000000000000000000001104000000
+ 801114002000010004000000000000001400801120010000
+ 0000000000000000801100010100000002000000000000000000000000000000
+ 00000000000000000d0800010100000003000000000000000000000000000000
+ 0010f400f410f400
+ 53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
+ 4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000
+ 4443494e00000000000000000000000044432d53796e6368726f6e2028696e7075742062617365642900000000000000000000000000000000000000000000030100000000000000000001000000000000000000000000000000000000000000
+ 004003000a00000000000000030010000000000000000000000000000000000020f3100502000000010000
+
+ #x1a02
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..4] OF BIT
+
+
+ ARRAY [0..3] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ ULINT
+
+
+
+ #x1a03
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..4] OF BIT
+
+
+ ARRAY [0..3] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ ULINT
+
+
+
+ #x1a00
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..4] OF BIT
+
+
+ ARRAY [0..3] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ UDINT
+
+
+
+ #x1a01
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..4] OF BIT
+
+
+ ARRAY [0..3] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ UDINT
+
+
+
+
+
+
+
+ Term 8 (EL3204)
+ 1005
+
+ 001080002600010001000000800080008000001026010000
+ 801080002200010002000000800080008000801022010000
+ 001100000400000003000000000000000000001104000000
+ 801110002000010004000000000000001000801120010000
+ 0000000000000000801100010100000002000000000000000000000000000000
+ 00000000000000000d0800010100000003000000000000000000000000000000
+ 0010f400f410f400
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ BIT2
+
+
+ BIT
+
+
+ ARRAY [0..6] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ INT
+
+
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ BIT2
+
+
+ BIT
+
+
+ ARRAY [0..6] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ INT
+
+
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ BIT2
+
+
+ BIT
+
+
+ ARRAY [0..6] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ INT
+
+
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ BIT2
+
+
+ BIT
+
+
+ ARRAY [0..6] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ INT
+
+
+
+
+
+
+
+
+
+ Term 9 (EL2008)
+ 1006
+
+ 000f01004400010003000000000000000000000f44090000
+ 0000000000000000000f00020100000001000000000000000000000000000000
+
+
+ BIT
+
+
+
+
+ BIT
+
+
+
+
+ BIT
+
+
+
+
+ BIT
+
+
+
+
+ BIT
+
+
+
+
+ BIT
+
+
+
+
+ BIT
+
+
+
+
+ BIT
+
+
+
+
+
+ Term 10 (EL1008)
+ 7
+
+ 001001000000010004000000000000000100001000010000
+ 0000000000000000001000010100000002000000000000000000000000000000
+
+
+ BIT
+
+
+
+
+ BIT
+
+
+
+
+ BIT
+
+
+
+
+ BIT
+
+
+
+
+ BIT
+
+
+
+
+ BIT
+
+
+
+
+ BIT
+
+
+
+
+ BIT
+
+
+
+
+
+ Term 11 (EL7211-9014)
+ 1007
+
+
+
+
+
+ MotorType
+ AM8121-0F21-0000
+
+
+ MotorDataSchema
+ ScannedDataSheet
+
+
+ Feedback1Type
+ EKM36-0KF0A0S16
+
+
+
+ Motor vendor
+ Vendor
+ Beckhoff
+
+
+ Electric motor type
+ ElecType
+ AM8121-xFx1
+
+
+ Compatible elec motor type
+ CompElecType
+ AM8121-xFx0
+
+
+ Motor Serial number
+ Serial#
+ aa404k7d
+
+
+ Motor oder code
+ OrderCode
+ AM8121-0F21-0000
+
+
+ Motor construction
+ ConstrType
+ 0
+
+
+ Pole Pairs
+ PolePairs
+ 3
+
+
+ Standstill Current
+ I0rms
+ 4
+
+
+ Rated Current
+ Inrms
+ 4
+
+
+ Peak Current
+ Iprms
+ 17
+
+
+ Nominal Voltage
+ Unrms
+ 33.9
+
+
+ Max Voltage
+ Umaxrms
+ 96
+
+
+ Max winding du/dt
+ dudtMax
+ 8000000000
+
+
+ Max Torque
+ Mpeak
+ 1.97
+
+
+ Torque Constant
+ kT
+ 0.125
+
+
+ M(i) curve
+ M(i)
+
+ - 1.70
+ - 3.40
+ - 5.10
+ - 6.80
+ - 8.50
+ - 10.20
+ - 11.90
+ - 13.60
+ - 15.30
+ - 17.00
+
+
+ - 0.211
+ - 0.419
+ - 0.623
+ - 0.825
+ - 1.024
+ - 1.220
+ - 1.412
+ - 1.602
+ - 1.789
+ - 1.970
+
+
+
+ EMK
+ kErms
+ 0.00750
+
+
+ Winding resistance Ph-Ph 20°C
+ R
+ 1.65
+
+
+ Lq Ph-Ph
+ Lq
+ 0.00280
+
+
+ Ld Ph-Ph
+ Ld
+ 0.00280
+
+
+ Lq(i) curve
+ Lq(i)
+
+ - 1.70
+ - 3.40
+ - 5.10
+ - 6.80
+ - 8.50
+ - 10.20
+ - 11.90
+ - 13.60
+ - 15.30
+ - 17.00
+
+
+ - 0.002144
+ - 0.001588
+ - 0.001419
+ - 0.001238
+ - 0.001051
+ - 0.000925
+ - 0.000818
+ - 0.000747
+ - 0.000694
+ - 0.000656
+
+
+
+ Max speed
+ Nmax
+ 10000
+
+
+ J motor with brake and encoder
+ J
+ 0.0000210
+
+
+ T motor warn limit
+ TMotorWarn
+ 120
+
+
+ T motor shut down
+ TMotorLimit
+ 140
+
+
+ Time constant i2t
+ Ti2t
+ 54.7
+
+
+ Motor thermal constant
+ Mtc
+ 10
+
+
+ Motor brake type
+ BrakeType
+ 1
+
+
+ Min motor brake voltage
+ UBrakeMin
+ 21.6
+
+
+ Max motor brake voltage
+ UBrakeMax
+ 25.4
+
+
+ Min motor brake current for brake monitoring
+ IBrakeMin
+ 0.199
+
+
+ Brake holding torque
+ MBrake
+ 2
+
+
+ Motor brake: T on
+ TBrakeOn
+ 0.0250
+
+
+ Motor brake: T off
+ TBrakeOff
+ 0.00800
+
+
+ Motor brake: reduced holding current
+ IBrakeRed
+ 0.248
+
+
+ Motor brake: Time to reduce holding voltage
+ TBrakeRed
+ 3
+
+
+ Motor temp sensor connection
+ TempSensorCon
+ 1
+
+
+ Motor temp sensor R(T)
+ TempSensorR(T)
+
+ - -40.0
+ - -15.5
+ - 9.0
+ - 33.5
+ - 58.0
+ - 82.5
+ - 107.0
+ - 131.5
+ - 156.0
+ - 181.0
+
+
+ - 359
+ - 440
+ - 534
+ - 642
+ - 762
+ - 896
+ - 1043
+ - 1204
+ - 1377
+ - 1560
+
+
+
+ NnUnrms
+ NnUnrms
+
+ - 17.0
+ - 33.9
+
+
+ - 1000
+ - 3000
+
+
+
+ MnUnrms
+ MnUnrms
+
+ - 17.0
+ - 33.9
+
+
+ - 0.500
+ - 0.500
+
+
+
+ Version
+ Version
+ 1.26
+
+
+ MechComOffs
+ 0.00
+
+
+
+
+
+
+ 0100
+
+
+ 02
+
+
+ 0016
+
+
+ 0116
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 02
+
+
+ 001a
+
+
+ 011a
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0200
+
+
+ 90d00300
+
+
+ 0000
+
+
+ 0200
+
+
+ 90d00300
+
+
+ 0000
+
+
+ 09
+
+
+ ff7f
+
+
+ 00
+
+
+ 00
+
+
+ 00
+
+
+ 03000000
+
+
+ 14
+
+
+ 0c
+
+
+ f401
+
+
+ 00
+
+
+ 00000000
+
+
+ 0100
+
+
+ 0200
+
+
+ 00
+
+
+ 00
+
+
+ 00
+
+
+ 00
+
+
+ 00
+
+
+ 01000000
+
+
+ 0500
+
+
+ 4c01
+
+
+ 96000000
+
+
+ 94000000
+
+
+ 0a000000
+
+
+ 80bb0000
+
+
+ 901a0000
+
+
+ 60ea0000
+
+
+ 50
+
+
+ 69
+
+
+ 2003
+
+
+ e803
+
+
+ 00000400
+
+
+ e803
+
+
+ 0a00
+
+
+ 01
+
+
+ 01
+
+
+ 4001
+
+
+ 70f50000
+
+
+ ffffffff
+
+
+ 0000
+
+
+ 0000
+
+
+ 01000000
+
+
+ 64
+
+
+ 00
+
+
+ 00
+
+
+ 68420000
+
+
+ a00f0000
+
+
+ 03
+
+
+ 0e01
+
+
+ 7d000000
+
+
+ d2000000
+
+
+ 1c00
+
+
+ 570d0000
+
+
+ 50
+
+
+ 69
+
+
+ e803
+
+
+ dc05
+
+
+ 2302
+
+
+ 00
+
+
+ 00
+
+
+ 0800
+
+
+ 1900
+
+
+ f401
+
+
+ 0000
+
+
+ 401f0000
+
+
+ a00f0000
+
+
+ 2300
+
+
+ e02e0000
+
+
+ 5702
+
+
+ 6400
+
+
+ 0000000000000000
+
+
+ 6400
+
+
+ 0a00
+
+
+ 0000000001000000
+
+
+ 6400
+
+
+ 0000000001000000
+
+
+ 0000000001000000
+
+
+ c1166c0100000000
+
+
+ 1400
+
+
+ 7017
+
+
+ 00
+
+
+ 01
+
+
+ 00
+
+
+ 00
+
+
+ 00
+
+
+ 0700
+
+
+ 0000
+
+
+ 00000000
+
+
+ 00000000
+
+
+ 0000
+
+
+ 00000000
+
+
+ 04
+
+
+ 01020000
+
+
+ e6020000
+
+
+ 00000000
+
+
+ ee020000
+
+
+ 36232000
+
+
+
+
+ 24592
+ 100
+
+
+ 36880
+ 105
+
+
+ 36888
+ 100
+
+
+ 36880
+ 100
+
+
+ 24592
+ 200
+
+
+
+
+
+ 001080002600010001000000500080008000001026010000
+ 801080002200010002000000500080008000801022010000
+ 001106002400010003000000000000000600001124010000
+ 801108002000010004000000000000000600801120010000
+ 0000000000000000001100020100000001000000000000000000000000000000
+ 0000000000000000801100010100000002000000000000000000000000000000
+ 00000000000000000d0800010100000003000000000000000000000000000000
+ 0010f400f410f400
+ 000700000000000030750000e80300000100ffff000000000000000000000000
+ 4443000000000000000000000000000044432d53796e6368726f6e0000000000000000000000000000000000000000000000000030750000e8030000ffff00070100000000000000000000000000000000000000000000000000000000000000
+ 44430000000000000000000000000000534d2d53796e6368726f6e0000000000000000000000000000000000000000000000000030750000e8030000ffff01000100000000000000000000000000000000000000000000000000000000000000
+ 004003000c0000000000000000000000000000000000000000000000000000002081f001040000003623200000
+ 004003000a00000000000000000000000000000000000000000000000000000020f3100502000000010000
+ 02000300090000001000000000000000000000000000000000000000000000002011801301000000034d6f746f7220706f6c6520706169727300
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+ 020003000c0000001b000000000000000000000000000000000000000000000020108014040000009600000056656c6f63697479206c6f6f7020696e74656772616c2074696d6500
+
+
+ UDINT
+
+
+
+
+ UINT
+
+
+
+
+ DINT
+
+
+
+
+ INT
+
+
+
+
+ UINT
+
+
+
+
+ UINT
+
+
+
+
+ DINT
+
+
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..3] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..3] OF BIT
+
+
+ BIT
+
+
+
+
+ UDINT
+
+
+
+
+ UDINT
+
+
+
+
+ UDINT
+
+
+
+
+ UDINT
+
+
+
+
+ ARRAY [0..12] OF BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+
+
+ USINT
+
+
+
+ #x1a00
+ #x1a01
+ #x1a02
+ #x1a03
+ #x1a04
+ #x1a05
+ #x1a06
+ #x1a07
+ #x1a08
+ #x1a09
+ #x1a0a
+ #x1a0b
+ #x1a0c
+ #x1a0e
+ #x1a31
+
+ ARRAY [0..0] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..8] OF BIT
+
+
+ BIT
+
+
+ ARRAY [0..2] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..4] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..2] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..0] OF BYTE
+
+
+ LINT
+
+
+ INT
+
+
+ UDINT
+
+
+ LINT
+
+
+ INT
+
+
+ LINT
+
+
+ UDINT
+
+
+ USINT
+
+
+ ARRAY [0..0] OF BYTE
+
+
+ LINT
+
+
+ INT
+
+
+ INT
+
+
+ ARRAY [0..7] OF BYTE
+
+
+
+ #x1a00
+ #x1a01
+ #x1a02
+ #x1a03
+ #x1a04
+ #x1a05
+ #x1a06
+ #x1a07
+ #x1a08
+ #x1a09
+ #x1a0a
+ #x1a0b
+ #x1a0c
+ #x1a0e
+ #x1a30
+
+ ARRAY [0..0] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..8] OF BIT
+
+
+ BIT
+
+
+ ARRAY [0..2] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..4] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..2] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..0] OF BYTE
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ INT
+
+
+ UDINT
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ INT
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ UDINT
+
+
+ USINT
+
+
+ ARRAY [0..0] OF BYTE
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ INT
+
+
+ INT
+
+
+ ARRAY [0..7] OF BYTE
+
+
+
+
+ UINT
+
+
+
+
+ DINT
+
+
+
+
+ INT
+
+
+
+
+ UINT
+
+
+
+
+ UINT
+
+
+
+
+ INT
+
+
+
+
+ UDINT
+
+
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..1] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..1] OF BIT
+
+
+
+
+ USINT
+
+
+
+ #x1600
+ #x1601
+ #x1602
+ #x1603
+ #x1604
+ #x1605
+ #x1606
+ #x1607
+ #x1608
+ #x1631
+
+ ARRAY [0..0] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..11] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+ LINT
+
+
+ LINT
+
+
+ INT
+
+
+ UINT
+
+
+ UINT
+
+
+ UINT
+
+
+ ARRAY [0..9] OF BYTE
+
+
+
+ #x1600
+ #x1601
+ #x1602
+ #x1603
+ #x1604
+ #x1605
+ #x1606
+ #x1607
+ #x1608
+ #x1630
+
+ ARRAY [0..0] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..11] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ INT
+
+
+ UINT
+
+
+ UINT
+
+
+ UINT
+
+
+ ARRAY [0..9] OF BYTE
+
+
+
+
+
+
+
+
+ Term 12 (EL7211-9014)
+ 1007
+
+
+
+
+
+ MotorType
+ AM8121-0F21-0000
+
+
+ MotorDataSchema
+ ScannedDataSheet
+
+
+ Feedback1Type
+ EKM36-0KF0A0S16
+
+
+
+ Motor vendor
+ Vendor
+ Beckhoff
+
+
+ Electric motor type
+ ElecType
+ AM8121-xFx1
+
+
+ Compatible elec motor type
+ CompElecType
+ AM8121-xFx0
+
+
+ Motor Serial number
+ Serial#
+ aa404k71
+
+
+ Motor oder code
+ OrderCode
+ AM8121-0F21-0000
+
+
+ Motor construction
+ ConstrType
+ 0
+
+
+ Pole Pairs
+ PolePairs
+ 3
+
+
+ Standstill Current
+ I0rms
+ 4
+
+
+ Rated Current
+ Inrms
+ 4
+
+
+ Peak Current
+ Iprms
+ 17
+
+
+ Nominal Voltage
+ Unrms
+ 33.9
+
+
+ Max Voltage
+ Umaxrms
+ 96
+
+
+ Max winding du/dt
+ dudtMax
+ 8000000000
+
+
+ Max Torque
+ Mpeak
+ 1.97
+
+
+ Torque Constant
+ kT
+ 0.125
+
+
+ M(i) curve
+ M(i)
+
+ - 1.70
+ - 3.40
+ - 5.10
+ - 6.80
+ - 8.50
+ - 10.20
+ - 11.90
+ - 13.60
+ - 15.30
+ - 17.00
+
+
+ - 0.211
+ - 0.419
+ - 0.623
+ - 0.825
+ - 1.024
+ - 1.220
+ - 1.412
+ - 1.602
+ - 1.789
+ - 1.970
+
+
+
+ EMK
+ kErms
+ 0.00750
+
+
+ Winding resistance Ph-Ph 20°C
+ R
+ 1.65
+
+
+ Lq Ph-Ph
+ Lq
+ 0.00280
+
+
+ Ld Ph-Ph
+ Ld
+ 0.00280
+
+
+ Lq(i) curve
+ Lq(i)
+
+ - 1.70
+ - 3.40
+ - 5.10
+ - 6.80
+ - 8.50
+ - 10.20
+ - 11.90
+ - 13.60
+ - 15.30
+ - 17.00
+
+
+ - 0.002144
+ - 0.001588
+ - 0.001419
+ - 0.001238
+ - 0.001051
+ - 0.000925
+ - 0.000818
+ - 0.000747
+ - 0.000694
+ - 0.000656
+
+
+
+ Max speed
+ Nmax
+ 10000
+
+
+ J motor with brake and encoder
+ J
+ 0.0000210
+
+
+ T motor warn limit
+ TMotorWarn
+ 120
+
+
+ T motor shut down
+ TMotorLimit
+ 140
+
+
+ Time constant i2t
+ Ti2t
+ 54.7
+
+
+ Motor thermal constant
+ Mtc
+ 10
+
+
+ Motor brake type
+ BrakeType
+ 1
+
+
+ Min motor brake voltage
+ UBrakeMin
+ 21.6
+
+
+ Max motor brake voltage
+ UBrakeMax
+ 25.4
+
+
+ Min motor brake current for brake monitoring
+ IBrakeMin
+ 0.199
+
+
+ Brake holding torque
+ MBrake
+ 2
+
+
+ Motor brake: T on
+ TBrakeOn
+ 0.0250
+
+
+ Motor brake: T off
+ TBrakeOff
+ 0.00800
+
+
+ Motor brake: reduced holding current
+ IBrakeRed
+ 0.248
+
+
+ Motor brake: Time to reduce holding voltage
+ TBrakeRed
+ 3
+
+
+ Motor temp sensor connection
+ TempSensorCon
+ 1
+
+
+ Motor temp sensor R(T)
+ TempSensorR(T)
+
+ - -40.0
+ - -15.5
+ - 9.0
+ - 33.5
+ - 58.0
+ - 82.5
+ - 107.0
+ - 131.5
+ - 156.0
+ - 181.0
+
+
+ - 359
+ - 440
+ - 534
+ - 642
+ - 762
+ - 896
+ - 1043
+ - 1204
+ - 1377
+ - 1560
+
+
+
+ NnUnrms
+ NnUnrms
+
+ - 17.0
+ - 33.9
+
+
+ - 1000
+ - 3000
+
+
+
+ MnUnrms
+ MnUnrms
+
+ - 17.0
+ - 33.9
+
+
+ - 0.500
+ - 0.500
+
+
+
+ Version
+ Version
+ 1.26
+
+
+ MechComOffs
+ 0.00
+
+
+
+
+
+
+ 0100
+
+
+ 02
+
+
+ 0016
+
+
+ 0116
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 03
+
+
+ 001a
+
+
+ 011a
+
+
+ 071a
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0200
+
+
+ 90d00300
+
+
+ 0000
+
+
+ 0200
+
+
+ 90d00300
+
+
+ 0000
+
+
+ 09
+
+
+ ff7f
+
+
+ 00
+
+
+ 00
+
+
+ 00
+
+
+ 03000000
+
+
+ 14
+
+
+ 0c
+
+
+ f401
+
+
+ 00
+
+
+ 00000000
+
+
+ 0100
+
+
+ 0200
+
+
+ 00
+
+
+ 00
+
+
+ 00
+
+
+ 00
+
+
+ 00
+
+
+ 01000000
+
+
+ 0500
+
+
+ 4c01
+
+
+ 96000000
+
+
+ 94000000
+
+
+ 0a000000
+
+
+ 80bb0000
+
+
+ 901a0000
+
+
+ 60ea0000
+
+
+ 50
+
+
+ 69
+
+
+ 2003
+
+
+ e803
+
+
+ 00000400
+
+
+ e803
+
+
+ 0a00
+
+
+ 01
+
+
+ 01
+
+
+ 4001
+
+
+ 70f50000
+
+
+ ffffffff
+
+
+ 0000
+
+
+ 0000
+
+
+ 01000000
+
+
+ 64
+
+
+ 00
+
+
+ 00
+
+
+ 68420000
+
+
+ a00f0000
+
+
+ 03
+
+
+ 0e01
+
+
+ 7d000000
+
+
+ d2000000
+
+
+ 1c00
+
+
+ 5c0d0000
+
+
+ 50
+
+
+ 69
+
+
+ e803
+
+
+ dc05
+
+
+ 2302
+
+
+ 00
+
+
+ 00
+
+
+ 0800
+
+
+ 1900
+
+
+ f401
+
+
+ 0000
+
+
+ 401f0000
+
+
+ a00f0000
+
+
+ 2300
+
+
+ e02e0000
+
+
+ 5702
+
+
+ 6400
+
+
+ 0000000000000000
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+
+ 6400
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+
+ 0a00
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+
+ 0000000001000000
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+ 6400
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+
+ 0000000001000000
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+
+ 0000000001000000
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+
+ c1166c0100000000
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+
+ 1400
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+
+ 7017
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+
+ 00
+
+
+ 01
+
+
+ 00
+
+
+ 00
+
+
+ 00
+
+
+ 0700
+
+
+ 0000
+
+
+ 00000000
+
+
+ 00000000
+
+
+ 0000
+
+
+ 00000000
+
+
+ 04
+
+
+ 01020000
+
+
+ e6020000
+
+
+ 00000000
+
+
+ ee020000
+
+
+ 36232000
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+
+
+
+ 24592
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+
+ 36880
+ 105
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+
+ 36888
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+
+
+ 36880
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+
+ 24592
+ 200
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+
+
+
+
+ 001080002600010001000000500080008000001026010000
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+ 001106002400010003000000000000000600001124010000
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+ 020003000c0000001b000000000000000000000000000000000000000000000020108014040000009600000056656c6f63697479206c6f6f7020696e74656772616c2074696d6500
+
+
+ UDINT
+
+
+
+
+ UINT
+
+
+
+
+ DINT
+
+
+
+
+ INT
+
+
+
+
+ UINT
+
+
+
+
+ UINT
+
+
+
+
+ DINT
+
+
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..3] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..3] OF BIT
+
+
+ BIT
+
+
+
+
+ UDINT
+
+
+
+
+ UDINT
+
+
+
+
+ UDINT
+
+
+
+
+ UDINT
+
+
+
+
+ ARRAY [0..12] OF BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+
+
+ USINT
+
+
+
+ #x1a00
+ #x1a01
+ #x1a02
+ #x1a03
+ #x1a04
+ #x1a05
+ #x1a06
+ #x1a07
+ #x1a08
+ #x1a09
+ #x1a0a
+ #x1a0b
+ #x1a0c
+ #x1a0e
+ #x1a31
+
+ ARRAY [0..0] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..8] OF BIT
+
+
+ BIT
+
+
+ ARRAY [0..2] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..4] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..2] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..0] OF BYTE
+
+
+ LINT
+
+
+ INT
+
+
+ UDINT
+
+
+ LINT
+
+
+ INT
+
+
+ LINT
+
+
+ UDINT
+
+
+ USINT
+
+
+ ARRAY [0..0] OF BYTE
+
+
+ LINT
+
+
+ INT
+
+
+ INT
+
+
+ ARRAY [0..7] OF BYTE
+
+
+
+ #x1a00
+ #x1a01
+ #x1a02
+ #x1a03
+ #x1a04
+ #x1a05
+ #x1a06
+ #x1a07
+ #x1a08
+ #x1a09
+ #x1a0a
+ #x1a0b
+ #x1a0c
+ #x1a0e
+ #x1a30
+
+ ARRAY [0..0] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..8] OF BIT
+
+
+ BIT
+
+
+ ARRAY [0..2] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..4] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..2] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..0] OF BYTE
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ INT
+
+
+ UDINT
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ INT
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ UDINT
+
+
+ USINT
+
+
+ ARRAY [0..0] OF BYTE
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ INT
+
+
+ INT
+
+
+ ARRAY [0..7] OF BYTE
+
+
+
+
+ UINT
+
+
+
+
+ DINT
+
+
+
+
+ INT
+
+
+
+
+ UINT
+
+
+
+
+ UINT
+
+
+
+
+ INT
+
+
+
+
+ UDINT
+
+
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..1] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..1] OF BIT
+
+
+
+
+ USINT
+
+
+
+ #x1600
+ #x1601
+ #x1602
+ #x1603
+ #x1604
+ #x1605
+ #x1606
+ #x1607
+ #x1608
+ #x1631
+
+ ARRAY [0..0] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..11] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+ LINT
+
+
+ LINT
+
+
+ INT
+
+
+ UINT
+
+
+ UINT
+
+
+ UINT
+
+
+ ARRAY [0..9] OF BYTE
+
+
+
+ #x1600
+ #x1601
+ #x1602
+ #x1603
+ #x1604
+ #x1605
+ #x1606
+ #x1607
+ #x1608
+ #x1630
+
+ ARRAY [0..0] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..11] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ INT
+
+
+ UINT
+
+
+ UINT
+
+
+ UINT
+
+
+ ARRAY [0..9] OF BYTE
+
+
+
+
+
+
+
+
+ Term 13 (EL7211-9014)
+ 1007
+
+
+
+
+
+ MotorType
+ AM8121-0F21-0000
+
+
+ ConfiguedMotorType
+ AM8121-xFx1
+
+
+ MotorDataVersion
+ 1.26.0
+
+
+ MotorApplication
+ Default
+
+
+ MotorDataLocation
+ C:\TwinCAT\3.1\Components\Base\Addins\TcDriveManager\MotorPool\Beckhoff AM812x.xeds
+
+
+ MotorDataSchema
+ MotorDataSheet
+
+
+ Feedback1Type
+ Sick#EKM36-0KF0A0S16
+
+
+ Feedback1DataVersion
+ 2.1.8
+
+
+ Feedback1Application
+ Default
+
+
+
+ Motorvendor
+ Vendor
+ Beckhoff
+
+
+ Electric motor type
+ ElecType
+ AM8121-xFx1
+
+
+ Motor construction
+ ConstrType
+ 0
+
+
+ Control parameter algorithm
+ CPA
+ 0
+
+
+ Pole Pairs
+ PolePairs
+ 3
+
+
+ Standstill Current
+ I0rms
+ 4
+
+
+ Rated Current
+ Inrms
+ 4
+
+
+ Peak Current
+ Iprms
+ 17
+
+
+ Nominal Voltage
+ Unrms
+ 33.9
+
+
+ Max Voltage
+ Umaxrms
+ 96
+
+
+ Max winding du/dt
+ dudtMax
+ 8000000000
+
+
+ Max Torque
+ Mpeak
+ 1.97
+
+
+ Torque Constant
+ kT
+ 0.125
+
+
+ M(i) curve
+ M(i)
+
+ - 1.7
+ - 3.4
+ - 5.1
+ - 6.8
+ - 8.5
+ - 10.2
+ - 11.9
+ - 13.6
+ - 15.3
+ - 17
+
+
+ - 0.211
+ - 0.419
+ - 0.623
+ - 0.825
+ - 1.02
+ - 1.22
+ - 1.41
+ - 1.6
+ - 1.79
+ - 1.97
+
+
+
+ EMK
+ kErms
+ 0.0075
+
+
+ Winding resistance Ph-Ph 20°C
+ R
+ 1.65
+
+
+ Ld Ph-Ph
+ Ld
+ 0.0028
+
+
+ Lq Ph-Ph
+ Lq
+ 0.0028
+
+
+ Lq(i) curve
+ Lq(i)
+
+ - 1.7
+ - 3.4
+ - 5.1
+ - 6.8
+ - 8.5
+ - 10.2
+ - 11.9
+ - 13.6
+ - 15.3
+ - 17
+
+
+ - 0.00214
+ - 0.00159
+ - 0.00142
+ - 0.00124
+ - 0.00105
+ - 0.000925
+ - 0.000818
+ - 0.000747
+ - 0.000694
+ - 0.000656
+
+
+
+ Max speed
+ Nmax
+ 10000
+
+
+ J motor with brake
+ J
+ 2.06E-05
+
+
+ Motor brake type
+ BrakeType
+ 1
+
+
+ Min motor brake voltage
+ UBrakeMin
+ 21.6
+
+
+ Max motor brake voltage
+ UBrakeMax
+ 25.4
+
+
+ Min motor brake current for brake monitoring
+ IBrakeMin
+ 0.199
+
+
+ Brake holding torque
+ MBrake
+ 2
+
+
+ Motor brake: T on
+ TBrakeOn
+ 0.025
+
+
+ Motor brake: T off
+ TBrakeOff
+ 0.008
+
+
+ Motor brake: reduced holding current
+ IBrakeRed
+ 0.248
+
+
+ Motor brake: Time to reduce holding current
+ TBrakeRed
+ 3
+
+
+ Commutation position offset (W+/V-)
+ MechComOffs
+ 0
+
+
+ T motor warn limit
+ TMotorWarn
+ 120
+
+
+ T motor shut down
+ TMotorLimit
+ 140
+
+
+ Time constant i2t
+ Ti2t
+ 54.7
+
+
+ Motor thermal constant
+ Mtc
+ 10
+
+
+ Motor temperature sensor identification
+ TempSensorId
+ 1
+
+
+ Motor temp sensor R(T)
+ TempSensorR(T)
+
+ - -40
+ - -15.5
+ - 9
+ - 33.5
+ - 58
+ - 82.5
+ - 107
+ - 132
+ - 156
+ - 181
+
+
+ - 359
+ - 440
+ - 534
+ - 642
+ - 762
+ - 896
+ - 1043
+ - 1204
+ - 1377
+ - 1560
+
+
+
+ Rated speeds Nn(Unrms)
+ Nn(Unrms)
+
+ - 17
+ - 33.9
+
+
+ - 1000
+ - 3000
+
+
+
+ Rated torques Mn(Unrms)
+ Mn(Unrms)
+
+ - 17
+ - 33.9
+
+
+ - 0.5
+ - 0.5
+
+
+
+ Temperature sensor type
+ TempSensorType
+ 1
+
+
+ Temperature sensor connection
+ TempSensorCon
+ 1
+
+
+ Feedback connector
+ FbCon
+ 0
+
+
+ Digital name plate
+ NamePlate
+ 2
+
+
+ Feedback commutation mode
+ FbCommutationMode
+ 2
+
+
+
+
+
+
+ 0100
+
+
+ 02
+
+
+ 0016
+
+
+ 0116
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 03
+
+
+ 001a
+
+
+ 011a
+
+
+ 071a
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0200
+
+
+ 90d00300
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+
+ 0000
+
+
+ 0200
+
+
+ 90d00300
+
+
+ 0000
+
+
+ 09
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+
+ ff7f
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+ 00
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+ 00
+
+
+ 00
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+
+ 03000000
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+ 14
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+ 0c
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+ f401
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+
+ 00
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+ 00000000
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+ 2003
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+ e803
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+ 00000400
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+ e803
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+ 0a00
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+ 01
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+ 01
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+ 4001
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+ e803
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+ dc05
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+
+ 2302
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+
+ 00
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+
+ 00
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+ 0800
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+ 1900
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+
+ f401
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+
+ 0000
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+ 401f0000
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+ a00f0000
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+ 2300
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+ e02e0000
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+ 1400
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+ 7017
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+ 00
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+ 01
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+
+ 00
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+
+ 00
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+
+ 00
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+
+ 0700
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+ 0000
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+
+ 00000000
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+ 00000000
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+ 00000000
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+
+
+ UDINT
+
+
+
+
+ UINT
+
+
+
+
+ DINT
+
+
+
+
+ INT
+
+
+
+
+ UINT
+
+
+
+
+ UINT
+
+
+
+
+ DINT
+
+
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..3] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..3] OF BIT
+
+
+ BIT
+
+
+
+
+ UDINT
+
+
+
+
+ UDINT
+
+
+
+
+ UDINT
+
+
+
+
+ UDINT
+
+
+
+
+ ARRAY [0..12] OF BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+
+
+ USINT
+
+
+
+ #x1a00
+ #x1a01
+ #x1a02
+ #x1a03
+ #x1a04
+ #x1a05
+ #x1a06
+ #x1a07
+ #x1a08
+ #x1a09
+ #x1a0a
+ #x1a0b
+ #x1a0c
+ #x1a0e
+ #x1a31
+
+ ARRAY [0..0] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..8] OF BIT
+
+
+ BIT
+
+
+ ARRAY [0..2] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..4] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..2] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..0] OF BYTE
+
+
+ LINT
+
+
+ INT
+
+
+ UDINT
+
+
+ LINT
+
+
+ INT
+
+
+ LINT
+
+
+ UDINT
+
+
+ USINT
+
+
+ ARRAY [0..0] OF BYTE
+
+
+ LINT
+
+
+ INT
+
+
+ INT
+
+
+ ARRAY [0..7] OF BYTE
+
+
+
+ #x1a00
+ #x1a01
+ #x1a02
+ #x1a03
+ #x1a04
+ #x1a05
+ #x1a06
+ #x1a07
+ #x1a08
+ #x1a09
+ #x1a0a
+ #x1a0b
+ #x1a0c
+ #x1a0e
+ #x1a30
+
+ ARRAY [0..0] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..8] OF BIT
+
+
+ BIT
+
+
+ ARRAY [0..2] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..4] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..2] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..0] OF BYTE
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ INT
+
+
+ UDINT
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ INT
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ UDINT
+
+
+ USINT
+
+
+ ARRAY [0..0] OF BYTE
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ INT
+
+
+ INT
+
+
+ ARRAY [0..7] OF BYTE
+
+
+
+
+ UINT
+
+
+
+
+ DINT
+
+
+
+
+ INT
+
+
+
+
+ UINT
+
+
+
+
+ UINT
+
+
+
+
+ INT
+
+
+
+
+ UDINT
+
+
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..1] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..1] OF BIT
+
+
+
+
+ USINT
+
+
+
+ #x1600
+ #x1601
+ #x1602
+ #x1603
+ #x1604
+ #x1605
+ #x1606
+ #x1607
+ #x1608
+ #x1631
+
+ ARRAY [0..0] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..11] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+ LINT
+
+
+ LINT
+
+
+ INT
+
+
+ UINT
+
+
+ UINT
+
+
+ UINT
+
+
+ ARRAY [0..9] OF BYTE
+
+
+
+ #x1600
+ #x1601
+ #x1602
+ #x1603
+ #x1604
+ #x1605
+ #x1606
+ #x1607
+ #x1608
+ #x1630
+
+ ARRAY [0..0] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..11] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ INT
+
+
+ UINT
+
+
+ UINT
+
+
+ UINT
+
+
+ ARRAY [0..9] OF BYTE
+
+
+
+
+
+
+
+
+ Term 14 (EL7211-9014)
+ 1007
+
+
+
+
+
+ MotorType
+ AM8121-0F21-0000
+
+
+ MotorDataSchema
+ ScannedDataSheet
+
+
+ Feedback1Type
+ EKM36-0KF0A0S16
+
+
+
+ Motor vendor
+ Vendor
+ Beckhoff
+
+
+ Electric motor type
+ ElecType
+ AM8121-xFx1
+
+
+ Compatible elec motor type
+ CompElecType
+ AM8121-xFx0
+
+
+ Motor Serial number
+ Serial#
+ aa404k7p
+
+
+ Motor oder code
+ OrderCode
+ AM8121-0F21-0000
+
+
+ Motor construction
+ ConstrType
+ 0
+
+
+ Pole Pairs
+ PolePairs
+ 3
+
+
+ Standstill Current
+ I0rms
+ 4
+
+
+ Rated Current
+ Inrms
+ 4
+
+
+ Peak Current
+ Iprms
+ 17
+
+
+ Nominal Voltage
+ Unrms
+ 33.9
+
+
+ Max Voltage
+ Umaxrms
+ 96
+
+
+ Max winding du/dt
+ dudtMax
+ 8000000000
+
+
+ Max Torque
+ Mpeak
+ 1.97
+
+
+ Torque Constant
+ kT
+ 0.125
+
+
+ M(i) curve
+ M(i)
+
+ - 1.70
+ - 3.40
+ - 5.10
+ - 6.80
+ - 8.50
+ - 10.20
+ - 11.90
+ - 13.60
+ - 15.30
+ - 17.00
+
+
+ - 0.211
+ - 0.419
+ - 0.623
+ - 0.825
+ - 1.024
+ - 1.220
+ - 1.412
+ - 1.602
+ - 1.789
+ - 1.970
+
+
+
+ EMK
+ kErms
+ 0.00750
+
+
+ Winding resistance Ph-Ph 20°C
+ R
+ 1.65
+
+
+ Lq Ph-Ph
+ Lq
+ 0.00280
+
+
+ Ld Ph-Ph
+ Ld
+ 0.00280
+
+
+ Lq(i) curve
+ Lq(i)
+
+ - 1.70
+ - 3.40
+ - 5.10
+ - 6.80
+ - 8.50
+ - 10.20
+ - 11.90
+ - 13.60
+ - 15.30
+ - 17.00
+
+
+ - 0.002144
+ - 0.001588
+ - 0.001419
+ - 0.001238
+ - 0.001051
+ - 0.000925
+ - 0.000818
+ - 0.000747
+ - 0.000694
+ - 0.000656
+
+
+
+ Max speed
+ Nmax
+ 10000
+
+
+ J motor with brake and encoder
+ J
+ 0.0000210
+
+
+ T motor warn limit
+ TMotorWarn
+ 120
+
+
+ T motor shut down
+ TMotorLimit
+ 140
+
+
+ Time constant i2t
+ Ti2t
+ 54.7
+
+
+ Motor thermal constant
+ Mtc
+ 10
+
+
+ Motor brake type
+ BrakeType
+ 1
+
+
+ Min motor brake voltage
+ UBrakeMin
+ 21.6
+
+
+ Max motor brake voltage
+ UBrakeMax
+ 25.4
+
+
+ Min motor brake current for brake monitoring
+ IBrakeMin
+ 0.199
+
+
+ Brake holding torque
+ MBrake
+ 2
+
+
+ Motor brake: T on
+ TBrakeOn
+ 0.0250
+
+
+ Motor brake: T off
+ TBrakeOff
+ 0.00800
+
+
+ Motor brake: reduced holding current
+ IBrakeRed
+ 0.248
+
+
+ Motor brake: Time to reduce holding voltage
+ TBrakeRed
+ 3
+
+
+ Motor temp sensor connection
+ TempSensorCon
+ 1
+
+
+ Motor temp sensor R(T)
+ TempSensorR(T)
+
+ - -40.0
+ - -15.5
+ - 9.0
+ - 33.5
+ - 58.0
+ - 82.5
+ - 107.0
+ - 131.5
+ - 156.0
+ - 181.0
+
+
+ - 359
+ - 440
+ - 534
+ - 642
+ - 762
+ - 896
+ - 1043
+ - 1204
+ - 1377
+ - 1560
+
+
+
+ NnUnrms
+ NnUnrms
+
+ - 17.0
+ - 33.9
+
+
+ - 1000
+ - 3000
+
+
+
+ MnUnrms
+ MnUnrms
+
+ - 17.0
+ - 33.9
+
+
+ - 0.500
+ - 0.500
+
+
+
+ Version
+ Version
+ 1.26
+
+
+ MechComOffs
+ 0.00
+
+
+
+
+
+
+ 0100
+
+
+ 02
+
+
+ 0016
+
+
+ 0116
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 02
+
+
+ 001a
+
+
+ 011a
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0000
+
+
+ 0200
+
+
+ 90d00300
+
+
+ 0000
+
+
+ 0200
+
+
+ 90d00300
+
+
+ 0000
+
+
+ 09
+
+
+ ff7f
+
+
+ 00
+
+
+ 00
+
+
+ 00
+
+
+ 03000000
+
+
+ 14
+
+
+ 0c
+
+
+ f401
+
+
+ 00
+
+
+ 00000000
+
+
+ 0100
+
+
+ 0200
+
+
+ 00
+
+
+ 00
+
+
+ 00
+
+
+ 00
+
+
+ 00
+
+
+ 01000000
+
+
+ 0500
+
+
+ 4c01
+
+
+ 96000000
+
+
+ 94000000
+
+
+ 0a000000
+
+
+ 80bb0000
+
+
+ 901a0000
+
+
+ 60ea0000
+
+
+ 50
+
+
+ 69
+
+
+ 2003
+
+
+ e803
+
+
+ 00000400
+
+
+ e803
+
+
+ 0a00
+
+
+ 01
+
+
+ 01
+
+
+ 4001
+
+
+ 70f50000
+
+
+ ffffffff
+
+
+ 0000
+
+
+ 0000
+
+
+ 01000000
+
+
+ 64
+
+
+ 00
+
+
+ 00
+
+
+ 68420000
+
+
+ a00f0000
+
+
+ 03
+
+
+ 0e01
+
+
+ 7d000000
+
+
+ d2000000
+
+
+ 1c00
+
+
+ 570d0000
+
+
+ 50
+
+
+ 69
+
+
+ e803
+
+
+ dc05
+
+
+ 2302
+
+
+ 00
+
+
+ 00
+
+
+ 0800
+
+
+ 1900
+
+
+ f401
+
+
+ 0000
+
+
+ 401f0000
+
+
+ a00f0000
+
+
+ 2300
+
+
+ e02e0000
+
+
+ 5702
+
+
+ 6400
+
+
+ 0000000000000000
+
+
+ 6400
+
+
+ 0a00
+
+
+ 0000000001000000
+
+
+ 6400
+
+
+ 0000000001000000
+
+
+ 0000000001000000
+
+
+ c1166c0100000000
+
+
+ 1400
+
+
+ 7017
+
+
+ 00
+
+
+ 01
+
+
+ 00
+
+
+ 00
+
+
+ 00
+
+
+ 0700
+
+
+ 0000
+
+
+ 00000000
+
+
+ 00000000
+
+
+ 0000
+
+
+ 00000000
+
+
+ 04
+
+
+ 01020000
+
+
+ e6020000
+
+
+ 00000000
+
+
+ ee020000
+
+
+ 36232000
+
+
+
+
+ 24592
+ 100
+
+
+ 36880
+ 105
+
+
+ 36888
+ 100
+
+
+ 36880
+ 100
+
+
+ 24592
+ 200
+
+
+
+
+
+ 001080002600010001000000500080008000001026010000
+ 801080002200010002000000500080008000801022010000
+ 001106002400010003000000000000000600001124010000
+ 801108002000010004000000000000000600801120010000
+ 0000000000000000001100020100000001000000000000000000000000000000
+ 0000000000000000801100010100000002000000000000000000000000000000
+ 00000000000000000d0800010100000003000000000000000000000000000000
+ 0010f400f410f400
+ 000700000000000030750000e80300000100ffff000000000000000000000000
+ 4443000000000000000000000000000044432d53796e6368726f6e0000000000000000000000000000000000000000000000000030750000e8030000ffff00070100000000000000000000000000000000000000000000000000000000000000
+ 44430000000000000000000000000000534d2d53796e6368726f6e0000000000000000000000000000000000000000000000000030750000e8030000ffff01000100000000000000000000000000000000000000000000000000000000000000
+ 004003000c0000000000000000000000000000000000000000000000000000002081f001040000003623200000
+ 004003000a00000000000000000000000000000000000000000000000000000020f3100502000000010000
+ 02000300090000001000000000000000000000000000000000000000000000002011801301000000034d6f746f7220706f6c6520706169727300
+ 020003000c0000000d00000000000000000000000000000000000000000000002011801204000000a00f000052617465642063757272656e7400
+ 020003000c0000000b00000000000000000000000000000000000000000000002011801104000000684200004d61782063757272656e7400
+ 020003000c0000000f000000000000000000000000000000000000000000000020118016040000007d000000546f7271756520636f6e7374616e7400
+ 020003000a00000012000000000000000000000000000000000000000000000020118019020000001c0057696e64696e6720696e64756374616e636500
+ 020003000c0000001700000000000000000000000000000000000000000000002011801804000000d2000000526f746f72206d6f6d656e74206f6620696e657274696100
+ 020003000a0000001b00000000000000000000000000000000000000000000002011802d0200000023024d6f746f7220746865726d616c2074696d6520636f6e7374616e7400
+ 020003000a000000110000000000000000000000000000000000000000000000201280120200000019004170706c69636174696f6e2064656c617900
+ 020003000a0000000d00000000000000000000000000000000000000000000002012801102000000080052656c656173652064656c617900
+ 020003000a00000012000000000000000000000000000000000000000000000020118015020000000e01436f6d6d75746174696f6e206f666673657400
+ 020003000c0000001600000000000000000000000000000000000000000000002011801b04000000570d00004d6f746f72207370656564206c696d69746174696f6e00
+ 020003000a0000001d00000000000000000000000000000000000000000000002012801302000000f401456d657267656e6379206170706c69636174696f6e2074696d656f757400
+ 020003000a00000012000000000000000000000000000000000000000000000020108033020000000a005374616e64207374696c6c2077696e646f7700
+ 020003000a0000001e000000000000000000000000000000000000000000000020108013020000004c0143757272656e74206c6f6f702070726f706f7274696f6e616c206761696e00
+ 020003000a0000001a00000000000000000000000000000000000000000000002010801202000000050043757272656e74206c6f6f7020696e74656772616c2074696d6500
+ 020003000c0000001f000000000000000000000000000000000000000000000020108015040000009400000056656c6f63697479206c6f6f702070726f706f7274696f6e616c206761696e00
+ 020003000c0000001b000000000000000000000000000000000000000000000020108014040000009600000056656c6f63697479206c6f6f7020696e74656772616c2074696d6500
+
+
+ UDINT
+
+
+
+
+ UINT
+
+
+
+
+ DINT
+
+
+
+
+ INT
+
+
+
+
+ UINT
+
+
+
+
+ UINT
+
+
+
+
+ DINT
+
+
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..3] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..3] OF BIT
+
+
+ BIT
+
+
+
+
+ UDINT
+
+
+
+
+ UDINT
+
+
+
+
+ UDINT
+
+
+
+
+ UDINT
+
+
+
+
+ ARRAY [0..12] OF BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+
+
+ USINT
+
+
+
+ #x1a00
+ #x1a01
+ #x1a02
+ #x1a03
+ #x1a04
+ #x1a05
+ #x1a06
+ #x1a07
+ #x1a08
+ #x1a09
+ #x1a0a
+ #x1a0b
+ #x1a0c
+ #x1a0e
+ #x1a31
+
+ ARRAY [0..0] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..8] OF BIT
+
+
+ BIT
+
+
+ ARRAY [0..2] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..4] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..2] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..0] OF BYTE
+
+
+ LINT
+
+
+ INT
+
+
+ UDINT
+
+
+ LINT
+
+
+ INT
+
+
+ LINT
+
+
+ UDINT
+
+
+ USINT
+
+
+ ARRAY [0..0] OF BYTE
+
+
+ LINT
+
+
+ INT
+
+
+ INT
+
+
+ ARRAY [0..7] OF BYTE
+
+
+
+ #x1a00
+ #x1a01
+ #x1a02
+ #x1a03
+ #x1a04
+ #x1a05
+ #x1a06
+ #x1a07
+ #x1a08
+ #x1a09
+ #x1a0a
+ #x1a0b
+ #x1a0c
+ #x1a0e
+ #x1a30
+
+ ARRAY [0..0] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..8] OF BIT
+
+
+ BIT
+
+
+ ARRAY [0..2] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..4] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..2] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..0] OF BYTE
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ INT
+
+
+ UDINT
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ INT
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ UDINT
+
+
+ USINT
+
+
+ ARRAY [0..0] OF BYTE
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ INT
+
+
+ INT
+
+
+ ARRAY [0..7] OF BYTE
+
+
+
+
+ UINT
+
+
+
+
+ DINT
+
+
+
+
+ INT
+
+
+
+
+ UINT
+
+
+
+
+ UINT
+
+
+
+
+ INT
+
+
+
+
+ UDINT
+
+
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..1] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..1] OF BIT
+
+
+
+
+ USINT
+
+
+
+ #x1600
+ #x1601
+ #x1602
+ #x1603
+ #x1604
+ #x1605
+ #x1606
+ #x1607
+ #x1608
+ #x1631
+
+ ARRAY [0..0] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..11] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+ LINT
+
+
+ LINT
+
+
+ INT
+
+
+ UINT
+
+
+ UINT
+
+
+ UINT
+
+
+ ARRAY [0..9] OF BYTE
+
+
+
+ #x1600
+ #x1601
+ #x1602
+ #x1603
+ #x1604
+ #x1605
+ #x1606
+ #x1607
+ #x1608
+ #x1630
+
+ ARRAY [0..0] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..11] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ INT
+
+
+ UINT
+
+
+ UINT
+
+
+ UINT
+
+
+ ARRAY [0..9] OF BYTE
+
+
+
+
+
+
+
+
+ Term 15 (EL9576)
+ 1008
+
+ 001080002600010001000000800080008000001026010000
+ 801080002200010002000000800080008000801022010000
+ 001100000400000003000000000000000000001104000000
+ 80110b002000010004000000000000000b00801120010000
+ 0000000000000000801100010100000002000000000000000000000000000000
+ 00000000000000000d0800010100000003000000000000000000000000000000
+ 0010f400f410f400
+ 004003000c0000000000000003000000000000000000000000000000000000002081f001040000000000160000
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..6] OF BIT
+
+
+ BIT2
+
+
+ UDINT
+
+
+ DINT
+
+
+ USINT
+
+
+
+
+ USINT
+
+
+
+
+
+
+ Term 16 (EL9011)
+ 1009
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti
index ba2dbbd..92a55c0 100644
--- a/solution/_Config/NC/NC.xti
+++ b/solution/_Config/NC/NC.xti
@@ -1,5 +1,1429 @@
-
+
+
+
+ UINTARR2_2
+ 32
+ UINT
+
+ 0
+ 2
+
+
+ 0x%08X (%d)
+ .
+ .
+
+
+
+ UDINTARR2_2
+ 64
+ UINTARR2_2
+
+ 0
+ 2
+
+
+ 0x%016I64X (%I64d)
+ .
+ .
+
+
+
+ NCENCODERSTRUCT_IN3
+ 640
+
+ nDataIn1
+ UDINTARR2_2
+ 64
+ 0
+
+
+ nDataIn2
+ UDINTARR2_2
+ 64
+ 64
+
+
+ nDataIn3
+ UDINTARR2_2
+ 64
+ 128
+
+
+ nDataIn4
+ UDINTARR2_2
+ 64
+ 192
+
+
+ nDataIn5
+ UDINTARR2_2
+ 64
+ 256
+
+
+ nDataIn6
+ UDINTARR2_2
+ 64
+ 320
+
+
+ nDataIn7
+ UDINTARR2_2
+ 64
+ 384
+
+
+ nDataIn8
+ UDINTARR2_2
+ 64
+ 448
+
+
+ nState1
+ UINT
+ 16
+ 512
+
+
+ nState2
+ UINT
+ 16
+ 528
+
+
+ nState3
+ UINT
+ 16
+ 544
+
+
+ nState4
+ UINT
+ 16
+ 560
+
+
+ nState5
+ UINT
+ 16
+ 576
+
+
+ nComState
+ UINT
+ 16
+ 592
+
+
+ nDcInputTime
+ DINT
+ 32
+ 608
+
+
+
+ NCENCODERSTRUCT_OUT3
+ 640
+
+ nDataOut1
+ UDINTARR2_2
+ 64
+ 0
+
+
+ nDataOut2
+ UDINTARR2_2
+ 64
+ 64
+
+
+ nDataOut3
+ UDINTARR2_2
+ 64
+ 128
+
+
+ nDataOut4
+ UDINTARR2_2
+ 64
+ 192
+
+
+ nDataOut5
+ UDINTARR2_2
+ 64
+ 256
+
+
+ nDataOut6
+ UDINTARR2_2
+ 64
+ 320
+
+
+ nDataOut7
+ UDINTARR2_2
+ 64
+ 384
+
+
+ nDataOut8
+ UDINTARR2_2
+ 64
+ 448
+
+
+ nCtrl1
+ UINT
+ 16
+ 512
+
+
+ nCtrl2
+ UINT
+ 16
+ 528
+
+
+ nCtrl3
+ UINT
+ 16
+ 544
+
+
+ nCtrl4
+ UINT
+ 16
+ 560
+
+
+ nCtrl5
+ UINT
+ 16
+ 576
+
+
+ nComCtrl
+ UINT
+ 16
+ 592
+
+
+
+ UINTARR2
+ 32
+ UINT
+
+ 0
+ 2
+
+
+ [%u, %u]
+ [0]
+ [1]
+
+
+ 0x%08x [%u, %u]
+ .
+ [0]
+ [1]
+
+
+ 0x%08x (%u)
+ .
+ .
+
+
+
+ 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
+
+
+ ExtTorque
+ LREAL
+ 64
+ 896
+
+
+
+ NcStructType
+ 1
+
+
+
+
+
+
+
+
+
+
+
+
+ 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
+
+
+ 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}
+
+
+
+
+ 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
+
+
+ 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
+ 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
+
+
+ UserData
+ LREAL
+ 64
+ 1984
+
+
+
+ NcStructType
+ 2
+
+
+
+
+ NCAXLESTRUCT_TOPLC
+
+
+ NCAXLESTRUCT_TOPLC2
+
+
+ NCAXLESTRUCT_TOPLC3
+
+
+ NCAXLESTRUCT_TOPLC4
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
NC-Task 1 SAF
@@ -16,5 +1440,578 @@
NC-Task 1 SVB
+
+ Axis 1
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ In
+ NCENCODERSTRUCT_IN3
+
+ nState1
+
+
+
+ nComState
+
+
+
+
+
+ Outputs
+
+ Out
+ NCENCODERSTRUCT_OUT3
+
+
+
+
+
+
+
+
+
+ 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
+
+
+
+ Outputs
+
+ ToPlc
+ NCTOPLC_AXIS_REF
+
+
+
+
+ Axis 2
+
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ In
+ NCENCODERSTRUCT_IN3
+
+ nState1
+
+
+
+ nComState
+
+
+
+
+
+ Outputs
+
+ Out
+ NCENCODERSTRUCT_OUT3
+
+
+
+
+
+
+
+
+
+ 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
+
+
+
+ Outputs
+
+ ToPlc
+ NCTOPLC_AXIS_REF
+
+
+
+
+ Axis 3
+
+
+
+
+
+
+
+
+ Inputs
+
+ In
+ NCENCODERSTRUCT_IN3
+
+ nState1
+
+
+
+ nComState
+
+
+
+
+
+ Outputs
+
+ Out
+ NCENCODERSTRUCT_OUT3
+
+
+
+
+
+
+
+
+
+ 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
+
+
+
+ Outputs
+
+ ToPlc
+ NCTOPLC_AXIS_REF
+
+
+
+
+ Axis 4
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ In
+ NCENCODERSTRUCT_IN3
+
+ nState1
+
+
+
+ nComState
+
+
+
+
+
+ Outputs
+
+ Out
+ NCENCODERSTRUCT_OUT3
+
+
+
+
+
+
+
+
+
+ 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
+
+
+
+ Outputs
+
+ ToPlc
+ NCTOPLC_AXIS_REF
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti
index 3097a91..6f08261 100644
--- a/solution/_Config/PLC/tc_project_app.xti
+++ b/solution/_Config/PLC/tc_project_app.xti
@@ -1,7 +1,989 @@
-
+
+
+
+ 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
+
+
+ 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}
+
+
+
+
+ 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
+
+
+ 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
+ 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
+
+
+ UserData
+ LREAL
+ 64
+ 1984
+
+
+
+ NcStructType
+ 2
+
+
+
+
+ NCAXLESTRUCT_TOPLC
+
+
+ NCAXLESTRUCT_TOPLC2
+
+
+ NCAXLESTRUCT_TOPLC3
+
+
+ NCAXLESTRUCT_TOPLC4
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 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
+
+
+ ExtTorque
+ LREAL
+ 64
+ 896
+
+
+
+ NcStructType
+ 1
+
+
+
+
+
+
+
+
+
+
+
+
-
+
tc_project_app Instance
{08500001-0000-0000-F000-000000000064}
@@ -16,6 +998,142 @@
BOOL
+
+ GVL.astAxes[1].stStatus.nEncoderRawCounter
+
+ UDINT
+
+
+ GVL.astAxes[1].stStatus.nStepperDriveCounter
+
+ UDINT
+
+
+ GVL.astAxes[1].stInputs.bLimitFwd
+
+ BOOL
+
+
+ GVL.astAxes[1].stInputs.bLimitBwd
+
+ BOOL
+
+
+ GVL.astAxes[1].stInputs.bHomeSensor
+
+ BOOL
+
+
+ GVL.astAxes[1].stInputs.nTempPT100
+
+ INT
+
+
+ GVL.astAxes[1].Axis.NcToPlc
+ NCTOPLC_AXIS_REF
+
+
+ GVL.astAxes[2].stStatus.nEncoderRawCounter
+
+ UDINT
+
+
+ GVL.astAxes[2].stStatus.nStepperDriveCounter
+
+ UDINT
+
+
+ GVL.astAxes[2].stInputs.bLimitFwd
+
+ BOOL
+
+
+ GVL.astAxes[2].stInputs.bLimitBwd
+
+ BOOL
+
+
+ GVL.astAxes[2].stInputs.bHomeSensor
+
+ BOOL
+
+
+ GVL.astAxes[2].stInputs.nTempPT100
+
+ INT
+
+
+ GVL.astAxes[2].Axis.NcToPlc
+ NCTOPLC_AXIS_REF
+
+
+ GVL.astAxes[3].stStatus.nEncoderRawCounter
+
+ UDINT
+
+
+ GVL.astAxes[3].stStatus.nStepperDriveCounter
+
+ UDINT
+
+
+ GVL.astAxes[3].stInputs.bLimitFwd
+
+ BOOL
+
+
+ GVL.astAxes[3].stInputs.bLimitBwd
+
+ BOOL
+
+
+ GVL.astAxes[3].stInputs.bHomeSensor
+
+ BOOL
+
+
+ GVL.astAxes[3].stInputs.nTempPT100
+
+ INT
+
+
+ GVL.astAxes[3].Axis.NcToPlc
+ NCTOPLC_AXIS_REF
+
+
+ GVL.astAxes[4].stStatus.nEncoderRawCounter
+
+ UDINT
+
+
+ GVL.astAxes[4].stStatus.nStepperDriveCounter
+
+ UDINT
+
+
+ GVL.astAxes[4].stInputs.bLimitFwd
+
+ BOOL
+
+
+ GVL.astAxes[4].stInputs.bLimitBwd
+
+ BOOL
+
+
+ GVL.astAxes[4].stInputs.bHomeSensor
+
+ BOOL
+
+
+ GVL.astAxes[4].stInputs.nTempPT100
+
+ INT
+
+
+ GVL.astAxes[4].Axis.NcToPlc
+ NCTOPLC_AXIS_REF
+
GVL.nAirPressureSensorGroup1
@@ -45,6 +1163,22 @@
BOOL
+
+ GVL.astAxes[1].Axis.PlcToNc
+ PLCTONC_AXIS_REF
+
+
+ GVL.astAxes[2].Axis.PlcToNc
+ PLCTONC_AXIS_REF
+
+
+ GVL.astAxes[3].Axis.PlcToNc
+ PLCTONC_AXIS_REF
+
+
+ GVL.astAxes[4].Axis.PlcToNc
+ PLCTONC_AXIS_REF
+
@@ -62,4 +1196,28 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
deleted file mode 100644
index e6a917a..0000000
--- a/solution/solution.tsproj
+++ /dev/null
@@ -1,22 +0,0 @@
-
-
-
-
-
-
-
-
-
-
- PlcTask
-
-
-
-
-
-
-
-
-
-
-
diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
index ac3e9a0..e8ff55d 100644
--- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL
+++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
@@ -8,7 +8,7 @@ VAR_GLOBAL
END_VAR
VAR_GLOBAL CONSTANT
- nAXIS_NUM: UINT := 0; //Specifies the total of axes in the system
+ nAXIS_NUM: UINT := 4; //Specifies the total of axes in the system
nPNEUMATIC_AXIS_NUM: UINT := 0; //Specifies the total number of pneumatic axes in the system
//Pneumatic air pressure groups high and low limits