Axis Parameters

• True if the axis:
  • Has no active or next move queued.
  • Command delta is 0.
  • Actual position is within the in-position bandwidth In computer networking, bandwidth often refers to a data rate measured in bits/s, for example, network throughput. The reason for the connection of data rate with the term bandwidth is that the limit to the data rate of a physical communication link is related to its bandwidth in hertz of the command position.
• False otherwise, Boolean.

Drive Warning Status. ¹

• True indicates a good registration mark was encountered.
• This Boolean is automatically reset after it has been read. ²

• True indicates a bad registration mark was encountered.
• This Boolean is automatically reset after it has been read. ²

• This parameter is deprecated.
• The recommended replacement is the Done output of the MC_TouchProbe function block to verify if the fast input The inputs are taken into account at each cycle depending on the system periodicity (for example each millisecond). Under certain circumstances this can be insufficient when more accuracy is needed, or if a quick response is required from the system. To fill the gap, a drive may have some Fast Input connections (generally one or two). When an event happens that triggers a Fast Input (e.g. when a sensor sends a rising edge), the detection of a signal occurs faster (which can be 1000 times more accurate than the system periodicity). Then the timestamp associated with this input can be provided to the IPC to take corrective action has occurred.

Deprecated Behavior

• True if a fast input occurred on either Capture Engine 0 or Engine 1.
• This Boolean is automatically reset after it has been read. ³

• Axis command position – includes any command deltas from superimposed axes.
• User units.
• If a set position is in process due to homing or registration, there may be a 1 cycle delay.

• Axis actual velocity
• User unit/sec

• Axis command velocity – includes any command deltas from superimposed axes.
• User unit/sec

• The amount of phase shift applied by MC_Phasing.
• Slave axis' user units

• The cumulative distance traveled via MC_MoveSuperimp moves.
• User units

• Write: The amount to increment the master offset for an active master/slave move.
  • User units.
• Read: The amount of master offset applied.
  • User units.

• Write: The amount to increment the slave offset for an active master/slave move.
  • User units.
• Read: The amount of slave offset applied.
  • User units.

The active move type.

See Move Types.

The queued (next) move type.

See Move Types.

Position error in user units.

• Raw Feedback position in user units.
• Keeps track of the actual position based on the physical feedback device A process whereby some proportion of the output signal of a system is passed (fed back) to the input. In automation, a device coupled to each motor to provide indication of the motor's shaft angle, for use in commutating the motor and controlling its speed and position connected to the drive.
• Not offset as a result of calling MC_SetPos.

• The axis rollover position in user units.
• If the axis is a servo axis, this parameter can only be written when there are no moves in the queue. ¹

• The factor used to multiply the velocity compensation value to account for the number of updates of delay in transmission of the feedback value from the drive to the control.
• See Velocity Compensation for more information. ^{1 4}

• The number of updates to apply a change in velocity compensation.
• See Velocity Compensation for more information. ^{1 4}

• Drive Status Word
  • Similar to MLAxisStatus.
• Some status bits are set only at program startup.

• The numerator of the user-units-to-feedback-units ratio (UU/FBU Ratio).
• See User Units to Feedback Units Ratio. ¹

• The actual torque Torque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist being delivered by the drive, expressed in thousandths of max torque.
• See Example 3 - Reading the Current to Units of Amps.

• Drive address value used in EtherCAT fieldbus functions as drive address.
• Before using in fieldbus functions, this value needs to be converted to an integer by using a convert any_to_dint / any_to_udint function. ¹

• Command position solely from this axis’s interpolator (in user units).
• This value does not include any command deltas from other axes that are currently superimposed upon it.

• Command velocity solely from this axis’s interpolator (in user units).
• This value does not include any command deltas from other axes that are currently superimposed upon it.

• The latest calculated registration compensation value.
• This value is updated each time a good registration mark is encountered.
• This value is in User Units.

• The distance between the last two good registration marks.
• This value is in User Units. ²

• Number of consecutive good registration marks.
• This value is incremented each time a good registration mark is encountered.
  • It is automatically zeroed when a bad registration mark is encountered.
• The ability to write this parameter is provided to allow the application to zero this value. ²

• Number of consecutive bad registration marks.
• This value is incremented each time a bad registration mark is encountered.
  • It is automatically zeroed when a good registration mark is encountered.
• The ability to write this parameter is provided to allow the application to zero this value. ²

• The denominator of the user-units-to-feedback-units ratio (UU/FBU Ratio).
• See User Units to Feedback Units Ratio.

Amount of motion actually applied to the PLCopen A vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML axis drive by Coordinated Motion commands.

Amount of motion requested of a PLCopen axis by the Coordinated Motion commands.

• The bandwidth about the target slave velocity where the slave axis locks onto the master axis and the InGear output turns on for the MC_GearIn function block.
• User unit/sec
• Default value = 0.1. ¹

One-based number that specifies the axis on the drive.

• The user units to feedback units ratio for the axis.
• See User Units to Feedback Units Ratio.

Update rate depends on the EtherCAT.

(link to ECAT update page EtherCAT Master Settings Tab) and KAS application program (link to Define the PLC Cycle) update rates

Update rate depends on the update rate of reading the parameter through EtherCAT

(Link to times to read non-cyclic parameters [? does the time come from ECATReadSDO FB or from the MCReadParam DriveReadParam FB EtherCAT Library]) and KAS application program update rate.

Update rate depends on KAS application program update rate.

(link to Define the PLC Cycle)