AXIS_REF_CAN_KEB (FB)¶

Specific error numbers (uiDriveInterfaceError)¶

AXIS_REF mappings¶

InOut:

Scope	Name	Type	Initial	Comment	Inherited from
Input	wAxisStructID	WORD	16#FE12		AXIS_REF_SM3
	nAxisState	SMC_AXIS_STATE	power_off	State of the axis according to the PLCopen state diagram: 0: power_off 1: errorstop 2: stopping 3: standstill 4: discrete_motion 5: continuous_motion 6: synchronized_motion 7: homing Parameter number: 1000	AXIS_REF_SM3
	bRegulatorOn	BOOL	FALSE	Parameter number: 1010	AXIS_REF_SM3
	bDriveStart	BOOL	FALSE	Parameter number: 1011	AXIS_REF_SM3
	bCommunication	BOOL	FALSE	TRUE: Communication OK Parameter number: 1012	AXIS_REF_SM3
	wCommunicationState	WORD	16#FFFF	Parameter number: 1013	AXIS_REF_SM3
	uiDriveInterfaceError	UINT		Drive interface error number Parameter number: 1014	AXIS_REF_SM3
	bRegulatorRealState	BOOL	FALSE	Parameter number: 1015	AXIS_REF_SM3
	bDriveStartRealState	BOOL	FALSE	Parameter number: 1016	AXIS_REF_SM3
	wDriveId	WORD	0	Parameter number: 1021	AXIS_REF_SM3
	iOwner	INT	0	Parameter number: 1022	AXIS_REF_SM3
	fCycleTimeSpent	LREAL		Parameter number: 1024	AXIS_REF_SM3
	fTaskCycle	LREAL	0.005	Parameter number: 1025	AXIS_REF_SM3
	bError	BOOL	FALSE	Parameter number: 1030	AXIS_REF_SM3
	dwErrorID	DWORD	0	Drive specific error identifier, parameter number: 1031	AXIS_REF_SM3
	bErrorAckn	BOOL	FALSE	Parameter number: 1032	AXIS_REF_SM3
	bDisableErrorLogging	BOOL	FALSE	Parameter number: 1036	AXIS_REF_SM3
	fbeFBError	ARRAY [0..g_SMC_NUMBER_FB_ERRORS] OF SMC_FBERROR		Parameter number: 1035	AXIS_REF_SM3
	dwRatioTechUnitsDenom	DWORD	1	Parameter number 1051	AXIS_REF_SM3
	iRatioTechUnitsNum	DINT	1	Parameter number 1052	AXIS_REF_SM3
	nDirection	MC_Direction	positive	Parameter number 1053	AXIS_REF_SM3
	fScalefactor	LREAL	1	Parameter number 1054	AXIS_REF_SM3
	fFactorVel	LREAL	1	Parameter number 1055	AXIS_REF_SM3
	fFactorAcc	LREAL	1	Parameter number: 1056	AXIS_REF_SM3
	fFactorTor	LREAL	1	Parameter number: 1057	AXIS_REF_SM3
	fFactorJerk	LREAL	1	Factor jerk Parameter number: 1058	AXIS_REF_SM3
	fFactorCur	LREAL	1	Parameter number: 1059	AXIS_REF_SM3
	fFactorReference	LREAL	1	The factor the home offset (fReference, parameter 1211) is multiplied by after conversion to increments. When converting from increments, the received value in increments is divided by the factor. Drivers can set this to -1 to invert the sign of the home offset.	AXIS_REF_SM3
	iMovementType	INT	SMC_AXIS_TYPE.finite	Parameter number: 1060	AXIS_REF_SM3
	fPositionPeriod	LREAL	1000	Parameter number: 1061	AXIS_REF_SM3
	eRampType	SMC_RAMPTYPE	trapez	Parameter number: 1062	AXIS_REF_SM3
	motorType	SMC_MOTOR_TYPE		Parameter number: 5007	AXIS_REF_SM3
	byControllerMode	BYTE	SMC_position	Parameter number: 1091	AXIS_REF_SM3
	byRealControllerMode	BYTE	SMC_position	Parameter number: 1092	AXIS_REF_SM3
	fSetPosition	LREAL	0	Parameter number: 1100, 1	AXIS_REF_SM3
	fActPosition	LREAL	0	Parameter number: 1101	AXIS_REF_SM3
	fAimPosition	LREAL	0	Parameter number: 1105	AXIS_REF_SM3
	fSavePosition	LREAL	0	Parameter number: 1107	AXIS_REF_SM3
	fSetVelocity	LREAL	0	Parameter number: 1110, 11	AXIS_REF_SM3
	fActVelocity	LREAL	0	Parameter number: 1111, 10	AXIS_REF_SM3
	fMaxVelocity	LREAL	0	Maximum velocity of the drive (remote parameter) in [u/s] Parameter number: 1112,9	AXIS_REF_SM3
	fSWMaxVelocity	LREAL	0	Maximum velocity (software limit) in [u/s] Parameter number: 1113	AXIS_REF_SM3
	bConstantVelocity	BOOL	FALSE	Parameter number: 1115	AXIS_REF_SM3
	fSaveVelocity	LREAL	0	Parameter number: 1117	AXIS_REF_SM3
	fSetAcceleration	LREAL	0	Parameter number: 1120	AXIS_REF_SM3
	fActAcceleration	LREAL	0	Parameter number: 1121	AXIS_REF_SM3
	fMaxAcceleration	LREAL	0	Maximum acceleration of the drive (remote parameter) in [u/s²] Parameter number: 1122, 13	AXIS_REF_SM3
	fSWMaxAcceleration	LREAL	0	Maximum acceleration (software limit) in [u/s²] Parameter number: 1123	AXIS_REF_SM3
	bAccelerating	BOOL	FALSE	Parameter number: 1125	AXIS_REF_SM3
	fSaveAcceleration	LREAL	0	Parameter number: 1127	AXIS_REF_SM3
	fMaxDeceleration	LREAL	0	Maximum deceleration of the drive (remote parameter) in [u/s²] Parameter number: 1132, 15	AXIS_REF_SM3
	fSWMaxDeceleration	LREAL	0	Maximum deceleration (software limit) in [u/s²] Parameter number: 1133	AXIS_REF_SM3
	bDecelerating	BOOL	FALSE	Parameter number: 1135	AXIS_REF_SM3
	fSaveDeceleration	LREAL	0	Parameter number: 1137	AXIS_REF_SM3
	fSetJerk	LREAL	0	Parameter number: 1140	AXIS_REF_SM3
	fActJerk	LREAL	0	Parameter number: 1141	AXIS_REF_SM3
	fMaxJerk	LREAL	0	Maximum jerk of the drive (remote parameter) in [u/s³] Parameter number: 1142, 16	AXIS_REF_SM3
	fSWMaxJerk	LREAL	0	Maximum jerk (software limit) in [u/s³] Parameter number: 1143	AXIS_REF_SM3
	fRampJerk	LREAL	100000	Maximum Jerk, special value for sin² ramp type in [u/s³] Parameter number: 1144	AXIS_REF_SM3
	fSaveJerk	LREAL	0	Parameter number: 1147	AXIS_REF_SM3
	fSetCurrent	LREAL	0	Parameter number: 1150	AXIS_REF_SM3
	fActCurrent	LREAL	0	Parameter number: 1151	AXIS_REF_SM3
	fMaxCurrent	LREAL	100	Maximum current in [A] Parameter number: 1152	AXIS_REF_SM3
	fSWMaxCurrent	LREAL	0	Maximum user defined current in [A] Parameter number: 1153	AXIS_REF_SM3
fSetTorque	LREAL	0	The set torque in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1160	AXIS_REF_SM3
fActTorque	LREAL	0	Actual torque in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1161	AXIS_REF_SM3
fMaxTorque	LREAL	0	The maximum torque in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1162	AXIS_REF_SM3
fSWMaxTorque	LREAL	FPU.GetLRealSpecialVal(FPU.ESpecial_FP_Value.PosInf)	The maximum torque (software limit) in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1163	AXIS_REF_SM3
fSWLimitPositive	LREAL	0	Position limit in positive direction in [u] Parameter number: 1200, 2	AXIS_REF_SM3
fSWLimitNegative	LREAL	0	Position limit in negative direction in [u] Parameter number: 1201, 3	AXIS_REF_SM3
usiSWEndSwitchState	USINT	0	Parameter number: 1204	AXIS_REF_SM3
bSWLimitEnable	BOOL	FALSE	Parameter number: 1205	AXIS_REF_SM3
bHWLimitEnable	BOOL	TRUE	Parameter number: 1206	AXIS_REF_SM3
bStartReference	BOOL	FALSE	Parameter number: 1210	AXIS_REF_SM3
fReference	LREAL	0	Parameter number: 1211	AXIS_REF_SM3
bStartReferenceRealState	BOOL	FALSE	Parameter number: 1212	AXIS_REF_SM3
fOffsetPosition	LREAL	0	Parameter number: 1215	AXIS_REF_SM3
dwPosOffsetForResiduals	DWORD	0	Parameter number: 1230	AXIS_REF_SM3
dwOneTurn	DWORD	0	Parameter number: 1231	AXIS_REF_SM3
dwLastPosition	DWORD	0	Parameter number: 1232	AXIS_REF_SM3
bySwitchingState	SMC_SWITCHING_STATE	SMC_ST_INITIALIZING	Parameter number: 1233	AXIS_REF_SM3
iRestNumerator	DINT	0	Parameter number: 1234	AXIS_REF_SM3
iTurn	INT	0	Parameter number: 1235	AXIS_REF_SM3
dwActPosition	DWORD	0	Parameter number: 1238	AXIS_REF_SM3
usiBusBitWidth	USINT	32	The bus bit depth. This is the number of bits used to send the actual and set position from and to the drive. Between 1 and 32.	AXIS_REF_SM3
dwBusModuloMask	DWORD	16#FFFFFFFF	The value (2^k - 1) where k is the bus bit depth.	AXIS_REF_SM3
eBrakeControl	SMC3_BrakeSetState	SMC_BRAKE_AUTO	Parameter number: 1017	AXIS_REF_SM3
bBrakeClosedRealState	BOOL	FALSE	Parameter number: 1018	AXIS_REF_SM3
bOldError	BOOL		Parameter number: 1033	AXIS_REF_SM3
bVirtual	BOOL		TRUE: Virtual drive. Parameter number: 1040	AXIS_REF_SM3
bLogical	BOOL		Parameter number: 1041	AXIS_REF_SM3
fSetActTimeLagCycles	LREAL	3	The dead time in cycles between the fActPosition received in this bus task cycle, and the fSetPosition at the beginning OF THIS bus task cycle. Parameter number: 1070	AXIS_REF_SM3
diSetPosition	DINT	0	Parameter number: 1108	AXIS_REF_SM3
diActPosition	DINT	0	Parameter number: 1109	AXIS_REF_SM3
diSetVelocity	DINT	0	Parameter number: 1118	AXIS_REF_SM3
diActVelocity	DINT	0	Parameter number: 1119	AXIS_REF_SM3
diSetAcceleration	DINT	0	Parameter number: 1128	AXIS_REF_SM3
diActAcceleration	DINT	0	Parameter number: 1129	AXIS_REF_SM3
diSetCurrent	DINT	0	Parameter number: 1158	AXIS_REF_SM3
diActCurrent	DINT	0	Parameter number: 1159	AXIS_REF_SM3
diSetTorque	DINT	0	Parameter number: 1168	AXIS_REF_SM3
diActTorque	DINT	0	Parameter number: 1169	AXIS_REF_SM3
fSWLimitDeceleration	LREAL	0	Deceleration in [u/s²] with which the system will brake in case of a software limit. Parameter number: 1203	AXIS_REF_SM3
xWaitForHaltWhenStopInterruptsHome	BOOL		TRUE: When |MC_Home| is interrupted by |MC_Stop|, then``MC_Stop.bDone`` is delayed until the drive reports that it has successfully halted. bStartReferenceRealState = FALSE Parameter number: 1213	AXIS_REF_SM3
fSWErrorMaxDistance	LREAL	0	Distance in which the drive has to reach standstill after an error has occurred. Parameter number: 1250	AXIS_REF_SM3
eCheckPositionLag	SMC3_CheckPositionLagMode	0	Parameter number: 1207	AXIS_REF_SM3
fMaxPositionLag	LREAL		Parameter number: 1208	AXIS_REF_SM3
bPositionLagActive	BOOL		Parameter number: 1209	AXIS_REF_SM3
bModuloDoneByDrive	BOOL		Parameter number: 1242	AXIS_REF_SM3
diFollowingError	DINT		Parameter number: 1243	AXIS_REF_SM3
fFollowingError	LREAL		Parameter number: 1244	AXIS_REF_SM3
aCaptDesc	ARRAY [0..7] OF SMC3_CaptureDescription		Parameter number: 1400	AXIS_REF_SM3
xPersistentDataLoaded	BOOL	FALSE		AXIS_REF_SM3
strDriveInterfaceError	STRING(255)			AXIS_REF_SM3
adatAcyclic	ARRAY [1..SMC3_gc_usiNumberAcyclicChannels] OF SMC3_DriveAcyclicTel			AXIS_REF_SM3
nAbortCounter	UDINT		Internal: counts the number of aborts. This counter simply wraps to 0 when exceeding 2^32-1, so use accordingly. Increased in method SetOwner().	AXIS_REF_SM3
vMinRequiredVersion	VERSION		The minimum version of SM3_Basic that the driver requires.	AXIS_REF_SM3
bAvoidReversalOnHaltStop	BOOL		Parameter number: 1260	AXIS_REF_SM3
bConsiderLimitsOfAbortedMotionOnHaltStop	BOOL		Parameter number: 1270	AXIS_REF_SM3
bUpdateIOsInStop	BOOL		Update the IOs if the application is stopped. Parameter number 1280	AXIS_REF_SM3
bAutoRestart	BOOL	TRUE	If TRUE, an implict |SMC3_ReinitDrive| is executed after the communication to the drive is established again after a communication loss (e.g. fieldbus slave no longer operational). If FALSE, an explicit call to |SMC3_ReinitDrive| is required after communication has been established again. (This is the behavior of SoftMotion versions before 4.18.0.0.) Default is TRUE if not set by the device parameter, i.e. the drive device can override the default. Parameter number 1281	AXIS_REF_SM3
overrideFactors	SMRB.DynFactors	STRUCT(fVel := 1, fAcc := 1, fJerk := 1, fTorque := 1)		AXIS_REF_SM3
m_superimposed	SMC_SuperimposedData		Internal: information of superimposed movements	AXIS_REF_SM3
Output	strDriver	STRING(16)			AXIS_REF_SM3
	dwDriverVersion	DWORD			AXIS_REF_SM3