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On the PLC, an IPA_Axis data type consists of 3 underlying data types: IPA_DataIn, IPA_DataOut and IPA_Status. The IPA_AxisManager AOI is required to populate the structures. DataIn and DataOut gives usable names to the cyclic data from the configuration data. Below are the Names and DataTypes used in the PLC, along with corresponding parameter and bits number from the IPA.
DataIn
Name | DataType | Parameter | Bit# | ConfigurationGroup | Start Parameter | |
|---|---|---|---|---|---|---|
1 | iCoordinatePosition | DINT | 12288 | 0 | 12288 | |
2 | iTargetPosition | DINT | 12289 | |||
3 | iActualPosition | DINT | 12290 | |||
4 | iFollowing_Error | DINT | 12291 | |||
5 | iHardware_Capture | DINT | 12292 | |||
6 | iSoftware_Capture | DINT | 12293 | |||
7 | iPrimary_Setpoint | DINT | 12294 | |||
8 | iCommandedPosition | DINT | 12295 | |||
9 | Not_In_Position | BOOL | 768 | 1 | 4120 | |
10 | InErrorWindow | BOOL | 769 | |||
11 | NA770 | BOOL | 770 | |||
12 | NA771 | BOOL | 771 | |||
13 | InTorqLimit | BOOL | 772 | |||
14 | Not_InTorq_Band | BOOL | 773 | |||
15 | NA774 | BOOL | 774 | |||
16 | NA775 | BOOL | 775 | |||
17 | Not_RefMarker | BOOL | 776 | |||
18 | CaptureComplete | BOOL | 777 | |||
19 | HSINTRegistered | BOOL | 778 | |||
20 | HSINTAborted | BOOL | 779 | |||
21 | SineMode | BOOL | 780 | |||
22 | GearLock | BOOL | 781 | |||
23 | GearAtSpeed | BOOL | 782 | |||
24 | GearStopping | BOOL | 783 | |||
25 | ClampOutputSignal | BOOL | 784 | |||
26 | OpenServoLoop | BOOL | 785 | |||
27 | FilterActivate | BOOL | 786 | |||
28 | RENRequest | BOOL | 787 | |||
29 | GearActivate | BOOL | 788 | |||
30 | GearActive | BOOL | 789 | |||
31 | CamActivate | BOOL | 790 | |||
32 | BallscrewActivate | BOOL | 791 | |||
33 | JogActive | BOOL | 792 | |||
34 | JogDirection | BOOL | 793 | |||
35 | JogAtSpeed | BOOL | 794 | |||
36 | JogStopping | BOOL | 795 | |||
37 | JogForward | BOOL | 796 | |||
38 | JogReverse | BOOL | 797 | |||
39 | JogLimitCheck | BOOL | 798 | |||
40 | JogLockout | BOOL | 799 | |||
41 | QAFlags | INT | 8448 | 2 | 4360 | |
42 | BIt8464 | BOOL | 8464 | |||
43 | DriveEnable | BOOL | 8465 | |||
44 | DriveReset | BOOL | 8466 | |||
45 | KillAllMotion | BOOL | 8467 | |||
46 | NA8468 | BOOL | 8468 | |||
47 | ExcessErrorCheck | BOOL | 8469 | |||
48 | NA8470 | BOOL | 8470 | |||
49 | NA8471 | BOOL | 8471 | |||
50 | DriveFault | BOOL | 8472 | |||
51 | NA8473 | BOOL | 8473 | |||
52 | NA8474 | BOOL | 8474 | |||
53 | Completing_Drive_Reset | BOOL | 8475 | |||
54 | DriveEnableState | BOOL | 8476 | |||
55 | DriveFaultLatch | BOOL | 8477 | |||
56 | NA8478 | BOOL | 8478 | |||
57 | ExcessPositionError | BOOL | 8479 | |||
58 | PositiveEOTState | BOOL | 16128 | 3 | 4600 | |
59 | NegativeEOTState | BOOL | 16129 | |||
60 | HomeState | BOOL | 16130 | |||
61 | NA16131 | BOOL | 16131 | |||
62 | PositiveEOTEncountered | BOOL | 16132 | |||
63 | NegativeEOTEncountered | BOOL | 16133 | |||
64 | HomingSuccess | BOOL | 16134 | |||
65 | HomingFailed | BOOL | 16135 | |||
66 | PositiveSoftLimitState | BOOL | 16136 | |||
67 | NegativeSoftLimitState | BOOL | 16137 | |||
68 | NA16138 | BOOL | 16138 | |||
69 | NA16139 | BOOL | 16139 | |||
70 | PositiveSoftLimitEncountered | BOOL | 16140 | |||
71 | NegativeSoftLimtEncountered | BOOL | 16141 | |||
72 | NA16142 | BOOL | 16142 | |||
73 | NA16143 | BOOL | 16143 | |||
74 | PositiveEOTLimitLevelInvert | BOOL | 16144 | |||
75 | NegativeEOTLimitLevelInvert | BOOL | 16145 | |||
76 | HomeLevelInvert | BOOL | 16146 | |||
77 | JogMoveInterrupt | BOOL | 16147 | |||
78 | PositiveEOTEnable | BOOL | 16148 | |||
79 | NegativeEOTLimitEnable | BOOL | 16149 | |||
80 | PositiveSoftLimitEnable | BOOL | 16150 | |||
81 | NegativeSoftLimitEnable | BOOL | 16151 | |||
82 | HomeBackupEnable | BOOL | 16152 | |||
83 | HomeNegativeEdgeSelect | BOOL | 16153 | |||
84 | HomeNegativeFinalDirection | BOOL | 16154 | |||
85 | NA16155 | BOOL | 16155 | |||
86 | NA16156 | BOOL | 16156 | |||
87 | NA16157 | BOOL | 16157 | |||
88 | NA16158 | BOOL | 16158 | |||
89 | NA16159 | BOOL | 16159 | |||
90 | Input0 | BOOL | 4096 | 0 | 4 | 4096 |
91 | Input1 | BOOL | 4096 | 1 | ||
92 | Input2 | BOOL | 4096 | 2 | ||
93 | Input3 | BOOL | 4096 | 3 | ||
94 | Input4 | BOOL | 4096 | 4 | ||
95 | Input5 | BOOL | 4096 | 5 | ||
96 | Input6 | BOOL | 4096 | 6 | ||
97 | NA7 | BOOL | 4096 | 7 | ||
98 | NA831 | SINT | 4096 | |||
99 | Outputs | DINT | 4097 | |||
100 | MiscIn | DINT | 4098 | |||
101 | MiscOut | DINT | 4099 | |||
102 | StatusWord | DINT | 4100 | |||
103 | Stat1 | DINT | 4101 | |||
104 | Stat2 | DINT | 4102 | |||
105 | Stat3 | DINT | 4103 | |||
106 | MotorConfigWarning | BOOL | 9472 | 5 | 4392 | |
107 | MotorConfigError | BOOL | 9473 | |||
108 | FirmwareError | BOOL | 9474 | |||
109 | MotorConfigError9475 | BOOL | 9475 | |||
110 | MotorConfigError9476 | BOOL | 9476 | |||
111 | MotorConfigError9477 | BOOL | 9477 | |||
112 | MotorConfigError9478 | BOOL | 9478 | |||
113 | MotorConfigError9479 | BOOL | 9479 | |||
114 | MotorConfigError9480 | BOOL | 9480 | |||
115 | MotorConfigError9481 | BOOL | 9481 | |||
116 | NA9482 | BOOL | 9482 | |||
117 | NA9483 | BOOL | 9483 | |||
118 | NA9484 | BOOL | 9484 | |||
119 | MotorConfigError9485 | BOOL | 9485 | |||
120 | MotorConfigError9486 | BOOL | 9486 | |||
121 | NA9487 | BOOL | 9487 | |||
122 | NA9488 | BOOL | 9488 | |||
123 | NA9489 | BOOL | 9489 | |||
124 | NA9490 | BOOL | 9490 | |||
125 | NA9491 | BOOL | 9491 | |||
126 | NA9492 | BOOL | 9492 | |||
127 | NA9493 | BOOL | 9493 | |||
128 | NA9494 | BOOL | 9494 | |||
129 | NA9495 | BOOL | 9495 | |||
130 | NA9496 | BOOL | 9496 | |||
131 | NA9497 | BOOL | 9497 | |||
132 | DriveFaulted | BOOL | 9498 | |||
133 | BridgeFault | BOOL | 9499 | |||
134 | BridgeTempFault | BOOL | 9500 | |||
135 | OvervoltageFault | BOOL | 9501 | |||
136 | UnderVoltageFault | BOOL | 9502 | |||
137 | FoldBackWarning | BOOL | 9503 | |||
138 | RegenFault | BOOL | 9984 | 6 | 4408 | |
139 | NA9985 | BOOL | 9985 | |||
140 | DriveTempFault | BOOL | 9986 | |||
141 | MotorThermalModelFault | BOOL | 9987 | |||
142 | MotorTempFault | BOOL | 9988 | |||
143 | BadHallState | BOOL | 9989 | |||
144 | FeedbackFailure | BOOL | 9990 | |||
145 | DriveDisabled | BOOL | 9991 | |||
146 | OverCurrentFault | BOOL | 9992 | |||
147 | RegenWarning | BOOL | 9993 | |||
148 | NA9994 | BOOL | 9994 | |||
149 | NA9995 | BOOL | 9995 | |||
150 | NA9996 | BOOL | 9996 | |||
151 | NA9997 | BOOL | 9997 | |||
152 | NA9998 | BOOL | 9998 | |||
153 | NA9999 | BOOL | 9999 | |||
154 | NA10000 | BOOL | 10000 | |||
155 | NA10001 | BOOL | 10001 | |||
156 | HardwareError | BOOL | 10002 | |||
157 | InternalError | BOOL | 10003 | |||
158 | EncoderReadFault | BOOL | 10004 | |||
159 | NA10005 | BOOL | 10005 | |||
160 | EncoderLossFault | BOOL | 10006 | |||
161 | NA10007 | BOOL | 10007 | |||
162 | NA10008 | BOOL | 10008 | |||
163 | PowerStageDisabled | BOOL | 10009 | |||
164 | PowerStageInputOpen | BOOL | 10010 | |||
165 | PowerStageInputMismatch | BOOL | 10011 | |||
166 | NA10012 | BOOL | 10012 | |||
167 | NA10013 | BOOL | 10013 | |||
168 | NA10014 | BOOL | 10014 | |||
169 | NA10015 | BOOL | 10015 | |||
170 | Velocity | REAL | 12315 | 7 | 12315 | |
171 | Acceleration | REAL | 12316 | |||
172 | SummationPoint | REAL | 12317 | |||
173 | FilterOutput | REAL | 12318 | |||
174 | TorqueOut | REAL | 12319 | |||
175 | RPMFactor | REAL | 12370 | 8 | 12370 | |
176 | RPM | REAL | 12371 | |||
177 | SmoothEncVel | REAL | 12372 | |||
178 | StartRad | REAL | 12373 | |||
179 | EndRad | REAL | 12374 | |||
180 | PPU | REAL | 12375 | |||
181 | ProgramFlags0 | DINT | 4128 | 9 | 4128 | |
182 | ProgramFlags1 | DINT | 4129 | |||
183 | ProgramFlags2 | DINT | 4130 | |||
184 | ProgramFlags3 | DINT | 4131 | |||
185 | ProgramFlags4 | DINT | 4132 | |||
186 | ProgramFlags5 | DINT | 4133 | |||
187 | ProgramFlags6 | DINT | 4134 | |||
188 | ProgramFlags7 | DINT | 4135 | |||
189 | User0 | DINT | 38912 | 10 | 38912 | |
190 | User1 | DINT | 38913 | |||
191 | User2 | DINT | 38914 | |||
192 | User3 | DINT | 38915 | |||
193 | User4 | DINT | 38916 | |||
194 | User5 | DINT | 38917 | |||
195 | User6 | DINT | 38918 | |||
196 | User7 | DINT | 38919 |
DataOut
Name | DataType | Parameter | ConfigurationGroup | Start Parameter | |
|---|---|---|---|---|---|
1 | ControlWord0 | DINT | 4156 | 11 | 4156 |
2 | ControlWord1 | DINT | 4157 | ||
3 | ControlWord2 | DINT | 4158 | ||
4 | ControlWord3 | DINT | 4159 | ||
5 | JogVel | REAL | 12348 | 12 | 12348 |
6 | JogAcc | REAL | 12349 | ||
7 | JogDec | REAL | 12350 | ||
8 | JogJrk | REAL | 12351 | ||
9 | iData0 | DINT | 39000 | 13 | 39000 |
10 | iData1 | DINT | 39001 | ||
11 | iData2 | DINT | 39002 | ||
12 | iData3 | DINT | 39003 | ||
13 | iData4 | DINT | 39004 | ||
14 | iData5 | DINT | 39005 | ||
15 | iData6 | DINT | 39006 | ||
16 | iData7 | DINT | 39007 | ||
17 | fpData0 | REAL | 39200 | 14 | 39200 |
18 | fpData1 | REAL | 39201 | ||
19 | fpData2 | REAL | 39202 | ||
20 | fpData3 | REAL | 39203 | ||
21 | fpData4 | REAL | 39204 | ||
22 | fpData5 | REAL | 39205 | ||
23 | fpData6 | REAL | 39206 | ||
24 | fpData7 | REAL | 39207 | ||
25 | fpData8 | REAL | 39208 | 15 | 39208 |
26 | fpData9 | REAL | 39209 | ||
27 | fpData10 | REAL | 39210 | ||
28 | fpData11 | REAL | 39211 | ||
29 | fpData12 | REAL | 39212 | ||
30 | fpData13 | REAL | 39213 | ||
31 | fpData14 | REAL | 39214 | ||
32 | fpData15 | REAL | 39215 |
Status
Name | DataType | Logic | Bit or Parameter |
|---|---|---|---|
Enabled | BOOL | DriveEnable | Bit 8465 |
Faulted | BOOL | DriveFaulted | BIT9498 |
Ready | BOOL | DriveEnable and NOT KillAllMotion | BIT8465 and NOT BIT 8467 |
Watchdog | BOOL | ProgramFlags1.0 | BIT1056 |
Moving | BOOL | Jog Active or Gear Active or Cam Active | BIT792 or BIT789 or BIT790 |
Homing | BOOL | IPA_Home FB is active | |
DiscreteMotion | BOOL | not used | |
ContinuousMotion | BOOL | not used | |
SyncMotion | BOOL | not used | |
FBActive | BOOL | AOI command is in progress | |
FBDone | BOOL | AOI command is complete | |
FBRunning | BOOL | IPA_Move command in progress | |
FBActiveCommand | DINT | Designates which AOI is in progress | |
FBLastCommand | DINT | Designates which AOI was called last | |
FBNextCommand | DINT | Designates new AOI to be called | |
FBCurrentMove | DINT | Count of the AOIs called | |
ActualPosiiton | REAL | Actual Motor position in scaled units | P12290/P12375 |
jw-2015-08-27