Boolean Parameters

This table is a list of Boolean supported parameters.

These parameters are read and written by the function blocks MC_ReadBoolPar and MC_WriteBoolPar.

1011	1013	1025	1026
1027	1033	1038	1039

Parameter Details

ID	Parameter	Name	R/W	Update Rate Type	Description
1011	MC_AXIS_PARAM_IN_POSITION	Axis In-Position	Read-only	Controller	TRUE if the axis: Has no active or next move queued. Command delta is 0 (zero). Actual position is within the in-position bandwidth of the command position. FALSE otherwise, Boolean.
1013	MC_AXIS_PARAM_DRIVE_WARNING	Drive Warning	Read-only	EtherCAT Cyclic	Drive Warning Status. See Note 1.
1025	MC_AXIS_PARAM_REGIST_GOOD	Good Registration Mark Occurred	Read-only	EtherCAT Non-Cyclic	TRUE indicates a good registration mark was encountered. This Boolean is automatically reset after it has been read. See Note 2.
1026	MC_AXIS_PARAM_REGIST_BAD	Bad Registration Mark Occurred	Read-only	EtherCAT Non-Cyclic	TRUE indicates a bad registration mark was encountered. This Boolean is automatically reset after it has been read. See Note 2.
1027	MC_AXIS_PARAM_FI_OCCURRED	Fast Input Occurred	Read-only	EtherCAT Non-Cyclic	This parameter is deprecated. The recommended replacement is the Done output of the MC_TouchProbe function block to verify if the fast input 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. See Note 3.
1033	MC_AXIS_PARAM_APPLY_SUPERIMPOSED_DISTANCE	Apply Superimposed Distance	Read / Write	Controller	The default value for this parameter is FALSE. If FALSE, MC_MoveAbsolute does not take into account any added superimposed distance due to MC_MoveSuperimp. The final reported position of the axis, which does include superimposed distance, may not be equal to the Position input to MC_MoveAbsolute. Click for an Example of FALSE Param 1033 = False MC_MoveSuperimp move 1 +50 MC_MoveSuperimp move 2 -35 MC_MoveAbsolute 125 (superimposed distance = 50-35 = 15) End Position = 140 If TRUE, MC_MoveAbsolute compensates for all added superimposed distance from MC_MoveSuperimp calls at the time of the initial MC_MoveAbsolute call. The final reported position of the axis is equal to the Position input to MC_MoveAbsolute. If MC_MoveSuperimp is called during MC_MoveAbsolute, then the final position includes the superimposed distance. Click for an Example of TRUE Param 1033 = True MC_MoveSuperimp move 1 +50 MC_MoveSuperimp move 2 -35 MC_MoveAbsolute 125 End Position = 125
1038	MC_AXIS_PARAM_IGNORE_DRIVE_LIM_STATUS	Ignore Drive Limit Active	Read / Write	EtherCAT Non-Cyclic	The default value is FALSE. When TRUE, the Pipe Network motion engine ignores the DS-402 Status wordbit #11 (Internal Limit Active). See Overtravel Conditions.
1039	MC_AXIS_PARAM_DRIVE_OVERRIDE_ON_LIMIT_ACTIVE	Drive Override on Limit Active	Read / Write	Static	Set to TRUE if the drive ignores controller demand position when DS-402 Status word bit #11 (Internal Limit Active) is on. Set to FALSE if the Pipe Network is responsible for stopping an axis when DS-402 Status word bit #11 is on. The default value for axes connected to AKD-family drives is TRUE. For all other axes, the default value is FALSE.

Notes

See Tuning Controller Performance for EtherCAT Communication Latency.

This is a configuration parameter.
There is some delay in acquiring fast input information from drives and calculating the registration marks.
While the information is evaluated cyclically, there may be a few cycles between when the fast input occurs and the system records the registration marks.
There is some delay in acquiring fast input information from drives and calculating the fast input position.
While the information is evaluated cyclically, there may be a few cycles between when the fast input occurs and the system records the fast input data.
There is some delay in acquiring the actual position values.
While the information is evaluated cyclically, there may be a few cycles between when the actual position is updated in the drive and the system records the fast input data.