Non-Boolean Parameters

• 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 connected to the drive.
• Not offset as a result of calling MC_SetPos.

• The axis rollover position is 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

  • When this parameter is changed, the new position is scaled from the old position.

In particular:

{equation}NewPosition = OldPosition * (New Rollover) / (Old Rollover){/equation}. 

• 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.
  • See Note 1 and Note 4.

• The number of updates to apply a change in velocity compensation.
• See Velocity Compensation.
  • See Note 1 and Note 4.

The bandwidth about the command position to determine the state of the in-position flag.

See Note 2.

• 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.
  • See Note 1.

• The actual torque 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.
  • See Note 1.

Compensation for Physical sensor delay for MC_TouchProbe, in microseconds.

See Note 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.
  • See Note 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.
  • See Note 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.
  • See Note 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 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.
  • See Note 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.

The parameter value is:

• DRIVE_BUS_INTERFACE_ECAT when the axis is associated with an EtherCAT device.
• DRIVE_BUS_INTERFACE_SIMULATOR when the axis is simulated.

This setting affects how responsive a simulated axis to changing command positions.

• The valid range of this parameter is (0.0, 1.5].
• The default value is 0.7.

Values are broken down into these ranges:

• (0.0, 1.0): Simulate following error.
  • A value of 0.1 generates a large following error.
  • A value of 0.9 generates a small following error.
• 1.0: No following error.
• (1.0,1.5]: Simulate leading error.

• 
  
• A value of 1.0 is recommended when using an axis as a virtual master to command motion through camming and/or gearing.

• The user units per revolution ratio for the axis.
• See Axis Data Parameters.

• 
  
• Do NOT change the user units per revolution ratio when the axis is enabled, geared, or cammed to another axis.
  Undefined behavior may result.

Drive Position Demand Value 32-bits.

• 
  
• There may be a 1 cycle delay.

Drive Axis Status Word 16-bits.

• DS-402 compatible drives:
  • This is the same as the CANopen Status Word.
• Stepper Drives:
  • This is the same as the STM Inputs (CoE object 0x6010).
    • See the AKT2G-SM-Lx Object Description.
• Simulated Drives: N/A

• 
  
• There may be a 1 cycle delay.

• 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 connected to the drive.
• Not offset as a result of calling MC_SetPos.

• The axis rollover position is 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

  • When this parameter is changed, the new position is scaled from the old position.

In particular:

{equation}NewPosition = OldPosition * (New Rollover) / (Old Rollover){/equation}. 

• 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.
  • See Note 1 and Note 4.

• The number of updates to apply a change in velocity compensation.
• See Velocity Compensation.
  • See Note 1 and Note 4.

The bandwidth about the command position to determine the state of the in-position flag.

See Note 2.

• 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.
  • See Note 1.

• The actual torque 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.
  • See Note 1.

Compensation for Physical sensor delay for MC_TouchProbe, in microseconds.

See Note 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.
  • See Note 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.
  • See Note 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.
  • See Note 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 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.
  • See Note 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.

The parameter value is:

• DRIVE_BUS_INTERFACE_ECAT when the axis is associated with an EtherCAT device.
• DRIVE_BUS_INTERFACE_SIMULATOR when the axis is simulated.

This setting affects how responsive a simulated axis to changing command positions.

• The valid range of this parameter is (0.0, 1.5].
• The default value is 0.7.

Values are broken down into these ranges:

• (0.0, 1.0): Simulate following error.
  • A value of 0.1 generates a large following error.
  • A value of 0.9 generates a small following error.
• 1.0: No following error.
• (1.0,1.5]: Simulate leading error.

• 
  
• A value of 1.0 is recommended when using an axis as a virtual master to command motion through camming and/or gearing.

• The user units per revolution ratio for the axis.
• See Axis Data Parameters.

• 
  
• Do NOT change the user units per revolution ratio when the axis is enabled, geared, or cammed to another axis.
  Undefined behavior may result.

Drive Position Demand Value 32-bits.

• 
  
• There may be a 1 cycle delay.

Drive Axis Status Word 16-bits.

• DS-402 compatible drives:
  • This is the same as the CANopen Status Word.
• Stepper Drives:
  • This is the same as the STM Inputs (CoE object 0x6010).
    • See the AKT2G-SM-Lx Object Description.
• Simulated Drives: N/A

• 
  
• There may be a 1 cycle delay.