Axis Structs

Note that in the next table, the Description field contains Parameter ID numbers; use these for MC Read and MC Write operations

• Axis struct parameters are not updated automatically; use the MC Read FB to receive an updated value of a specific parameter.

Name

Data Type

Description

Axis

STRING-UTF-32

Ready

Associated drive

STRING-UTF-32

Disabled

Units

STRING-UTF-32

Standstill

Position factor numerator

UINT32

Parameter ID: 1038

Position factor denominator

UINT32

Parameter ID: 1039

Velocity factor numerator

UINT32

Parameter ID: 1040

Velocity factor denominator

UINT32

Parameter ID: 1041

Acceleration factor numerator

UINT32

Parameter ID: 1042

Acceleration factor denominator

UINT32

Parameter ID: 1043

Motion profile

INT16

Parameter ID: 1024

Maximum acceleration

UINT32

Parameter ID: 13

Maximum deceleration

UINT32

Parameter ID: 15

Emergency stop option

INT16

Parameter ID: 1001

Disable option

INT16

Parameter ID: 1003

Halt option

INT16

Parameter ID: 1004

Fault option

INT16

Parameter ID: 1005

Emergency stop deceleration

UINT32

Parameter ID: 1023

Software position limit minimum

INT32

Parameter ID: 2

Software position limit maximum

INT32

Parameter ID: 3

Maximum position error

UINT32

Parameter ID: 7

Maximum position error time

UINT16

Parameter ID: 1008

In position error tolerance

UINT32

Parameter ID: 1009

In position error tolerance time

UINT16

Parameter ID: 1010

Maximum velocity

UINT32

Parameter ID: 9

In velocity error tolerance

UINT16

Parameter ID: 1012

In velocity error tolerance time

UINT16

Parameter ID: 1013

Zero velocity tolerance

UINT16

Parameter ID: 1014

Zero velocity tolerance time

UINT16

Parameter ID: 1015

Maximum torque

UINT16

Parameter ID: 1017

Negative torque limit

UINT16

Parameter ID: 1030

Positive torque limit

UINT16

Parameter ID: 1029

Homing method

INT8

Parameter ID: 1025

Homing velocity switch search

UINT32

Parameter ID: 1026

Homing velocity index search

UINT32

Parameter ID: 1027

Homing acceleration

UINT32

Parameter ID: 1028

Homing stopper torque

UINT16

Parameter ID: 1044

Homing blocking time

UINT16

Parameter ID: 1045

Alarm code

UINT16

Parameter ID: 1000 automatically updated (every second). Click to view Servo Drive Alarm Codes

Emergency code

UINT16

Note that if limits set in your hardware limits are exceeded, the drive will stop, and POT or NOT will be displayed on the drive's display.

This parameter indicates the direction:
- POT (Positive Over Travel) =34433
- NOT (Negative Over Travel) =34434

Target position

INT32

Parameter ID: 1

Target velocity for position

UINT32

Parameter ID: 1037

Actual position

INT32

Parameter ID: 1007

Position demand

INT32

Parameter ID: 1006

Following error actual value

INT32

Parameter ID: 1031

Target velocity

INT32

Parameter ID: 1035

Actual velocity

INT32

Parameter ID: 10 automatically updated

Velocity demand

INT32

Parameter ID: 1011

Target acceleration

UINT32

Parameter ID: 1021

Target deceleration

UINT32

Parameter ID: 1022

Target torque

INT16

Parameter ID: 1016

Actual torque

INT16

Parameter ID: 1019

Torque demand

INT16

Parameter ID: 1018

Digital inputs

UINT32

Parameter ID: 1033

Digital outputs

UINT32

Parameter ID: 1034

Status

BIT Array

Status Indication: the current state of the axis.

0.      

Ready

1.      

Disabled

2.      

Standstill

3.      

Discrete

4.      

Continuous

5.      

Stopping

6.      

Homing

7.      

Error Stop (See Cyclical Axis Error Codes))

8.      

Positive direction

9.      

Negative direction

10.    

 Position: Software Limits Exceeded
If Enable Software Limits is selected in the Axis's Mechanical Properties>Position,
this bit turns ON whenever the axis position is not within the set limits.
In order to see the direction and number of units exceeded, monitor the parameter Actual Position with the FB MC Read.

Control word

UINT16

For system use (internal DS402 parameter)

Modes of operations display

INT8

Status word

UINT16