Modicon Premium PLCs TSX CSY 84 / 85 / 164
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1. 59 Symbol Type Access Meaning Address SCALE DENOMINATOR REAL RW Scale factor SoMFr m c 61 denominator configuration of an independent axis and GetGearRation function ACCEL UNIT INT RW Acceleration unit MWr m c 63 SPEED_UNIT INT RW Velocity unit MWr m c 64 POSITION_UNIT INT RW Position unit MWr m c 65 60 TSX CSY 84 164 Module using Unity Pro T_CSY_FOLLOW type ODDT implicit exchange objects List of implicit exchange input objects Symbol Type Access Meaning Address CH_ERROR EBOOL R Channel default bit lr m c ERR RAMPING EBOOL R Indicates whether the lr m c 0 axis is accelerating or decelerating STEADY EBOOL The speed is steady lr m c 1 STOPPING EBOOL The movement is lr m c 2 decelerating to a stop PROFILE_END EBOOL R The last profile lr m c 3 command has been sent to the module IN_POSITION EBOOL R The axis is within the lr m c 4 in position band AXIS HOMING EBOOL R The axis is homing lr m c 5 For an imaginary axis this bit is inactive AXIS_HOMED EBOOL R The axis position lr m c 6 reading is referenced off the home position AXIS_NOT_FOLLOWING EBOOL R The drive is not lr m c 7 recognizing module commands HOLDING EBOOL R The axis is holding in lr m c 8 wait position RESUMING EBOOL R The axis is moving lr m c 9 after a hold DRIV2. 35001688 06 35001688 06 Schneider Electric Industries SAS Headquarters Owing to changes in standards and equipment the characteristics given in the text and images 35 rue Joseph Monier in this document are not binding us F 92506 Rueil Malmaison Cedex until they have been confirmed with us http www schneider electric com Printed in June 2009 94
3. 19 Adjustment Functions Function Code Feedback Parameters DisableRollover 412 None None EnableRollover 411 None None GetAbsFollovverBias 1526 Feedback 1 Position Parameter 1 Axis identifier GetAccel 1041 Feedback 2 None Acceleration GetAccelMax 1116 Feedback 2 None Acceleration GetActualSpeed 5065 Feedback 1 Speed None GetCamProfile 1530 Feedback 1 Profile Parameter 1 Axis identifier identifier GetDecel 1042 Feedback 2 None Deceleration GetDecelMax 1117 Feedback 2 None Deceleration GetDefaultSpeed 1065 Feedback 1 Speed None GetEnableMode 1524 Feedback 1 Mode None GetEnablePositonBand 1538 Feedback 2 Position None GetFollowerBias 1527 Feedback 2 Position Parameter 1 Axis identifier GetFollowerMode 1529 Feedback 1 Follower Parameter 1 Axis mode identifier GetFollowerRatio 1114 Feedback 2 Parameter 1 Axis Numerator identifier Feedback 3 Denominator GetlnPositionBand 1035 Feedback 2 Position None GetMasterOffset 1532 Feedback 2 Position Parameter 1 Axis identifier 20 TSX CSY 84 85 164 Module using PL7 Function Code Feedback Parameters GetMasterTrigger 1531 Feedback 2 Position Parameter 1 Axis Position identifier GetOpticalPower 1547 Feedback 2 None Percentage GetPositionLimit 1505 Feedback 2 Position Parameter 1 direc
4. Feedback 2 numerator Feedback 3 denominator None Ge InterpType 530 Feedback 1 Interp type None Ge Master 1528 Feedback 1 Axis identifier None Se Accel Type 2540 None Parameter 1 Acceleration type Se Coord 533 None Parameter 1 Table ength Parameter 3 Master position Parameter 4 Slave position SetFollovverConfig 420 None Parameter 1 Axis identifier Parameter 2 Follovver mode Parameter 3 Profile numerator or dentificator Parameter 4 denominator SetGearRatio 2500 None Parameter 3 numerator Parameter 4 denominator SetlnterpType 531 None Parameter 1 Interp ype SetMaster 2528 None Parameter 1 Axis identifier SetIDN3022 570 None Parameter 3 Declaration of the master axis 24 TSX CSY 84 85 164 Module using PL7 Read Write Functions for IDN Parameters Function Code Feedback Parameters GetIDN_P 1557 Feedback 1 SERCOS Parameter 1 identifier parameter GetIDN_S 1556 Feedback 1 SERCOS Parameter 1 identifier parameter GetIDN_UP 1559 Feedback 1 SERCOS Parameter 1 identifier parameter GetlDN US 1558 Feedback 1 SERCOS Parameter 1 identifier parameter SetIDN_P 2557 None Parameter 1 identifier Parameter 2 SERCOS parameter SetIDN_S 2556 None Parameter 1 identif
5. INT RW Number of slave MWr m c 44 axis 2 69 Symbol Type Access Meaning Address FOLL_DESCRIPTION_2 INT RW Description of slave axis 2 This word comprises the significant bits described below which have variable names and three unnamed bits which act on the start conditions bits 8 9 and 10 set to zero immediate start bit 8 set to one and bits 9 and 10 set to zero master position reached in negative threshold direction bit 9 set to one and bits 8 and 10 set to zero master position reached in positive threshold direction bits 8 and 9 set to one and bit 10 set to zero master position gt threshold bits 8 and 9 set to zero and bit 10 set to one master position lt threshold MWr m c 45 FOLL_WHERE_2 BOOL 0 controller MWr m c 45 0 FOLL_TYPE_2 BOOL 0 Ratio Mode 1 Cam Mode MWr m c 45 1 FOLL_POSITION_2 BOOL 0 Following the actual position 1 Following the commanded position MWr m c 45 2 70 TSX CSY 84 164 Module using Unity Pro Symbol Type Access Meaning Address FOLL_FOL_ON_HALT_2 BOOL R 1 stop the follower MWr m c 45 3 axis if master slave link is removed FOLL_HALT_MASTER_2 BOOL R 1 stop the master MWr m c 45 6 in the event of a following error FOLL_BIAS_REMAIN_2 BOOL R 1 dynamic offset MWr m
6. TRF_RECIPE Parameters The command to be carried out is available in the words MWyy i 3 defined in the word MWxy i 10 and the result is o MWxy i 8 Address Type Symbol Meaning MWxy i 10 Word ACTION TRF Action to perform MWxy i 3 Word ERROR_TRF TRF_RECIPE command writing fault MDxy i 4 Double RETURN_TRF_1 Feedback 1 of the function Word MPxy i 6 Floating RETURN_TRF_2 Feedback 2 of the function point SoMFxy i 8 Floating RETURN TRF 3 Feedback 3 of the function point MDxy i 11 Double PARAM_TRF_1 Parameter 1 Word MDxy i 13 Double PARAM_TRF_2 Parameter 2 Word point MPxy i 15 Floating PARAM_TRF_3 Parameter 3 point MPxy i 17 Floating PARAM_TRF_4 Parameter 4 Motion Control Functions Function Code Feedback Parameters ForcedHome 6039 None None Home 6034 None Parameter 3 direction Parameter 4 speed Unhome 6038 None None 18 TSX CSY 84 85 164 Module using PL7 Move Functions Function Code Feedback Parameters Movelmmed 513 None Parame Parame Parame er 1 er 3 er 4 type position speed Movelmmedinterpo 905 None Parame Parame Parame Parame eri er2 er3 er4 axis Group ID speed type position speed MoveQueue 520 None Parame Parame Parame er 1 er 3 er 4 type position speed
7. AXIS_NEG_LIMIT EBOOL R The axis has reached lr m c 22 the negative limit AXIS_WARNING EBOOL R Motion Warning lr m c 23 status returned by the drive AXIS_HOLD EBOOL R The axis is stopped and lr m c 28 waiting for a command AXIS HALT EBOOL R The axis has stopped lr m c 29 AXIS_FASTSTOP EBOOL R The axis has lr m c 30 faststopped AXIS_READY EBOOL R The axis is ready to Solr m c 31 respond to a command CONF OR EBOOL R The channel lr m c 32 is configured 45 List of implicit exchange output objects Symbol Type Access Meaning Address CONTROL_ACQUIRE EBOOL RW Control acquisition Qr m c 2 CONTROL_ENABLE EBOOL RW Control enable Qr m c 10 CONTROL_FOLLOW EBOOL RW Follow control for an axis Qr m c 11 or a set of follower axes CONTROL RESUME EBOOL RW Resumes control after Qr m c 12 a stop CONTROL CLEAR FLT EBOOL RW Fault clear control Qr m c 15 ALLOW_ACQUIRE EBOOL RW Acquisition 9eQr m c 18 enable control ALLOW ENABLE EBOOL RW Disables axis control Qr m c 26 ALLOW_FOLLOW EBOOL RW Cancels follow control Qr m c 27 for an axis or a set of follower axes ALLOW_RESUME EBOOL RW Authorizes a movement Qr m c 28 to continue after a stop using the HOLD command ALLOW_MOVE EBOOL RW Authorizes a movement Qr m c 29 to continue after a stop using the HALT command ALLOW_NOT_FASTSTOP EBOOL
8. Qr m c 27 for an axis or a set of follower axes ALLOW_RESUME EBOOL RW Authorizes a Qr m c 28 movement to continue after a stop using the HOLD command ALLOW_MOVE EBOOL RW Authorizes a Qr m c 29 movement to continue after a stop using the HALT command ALLOW_NOT_FASTSTOP EBOOL RW Control after a Faststop Qr m c 30 ALLOW_NOT_FLT EBOOL RW Enables fault control Qr m c 31 82 TSX CSY 84 164 Module using Unity Pro Settings report word Symbol Type Access Meaning Address PARAM_RPT INT R Settings report word Indicates a programming error The least significant byte contains the error codes and the most significant byte contains the address in the registers of the field which caused the error lWr m c 2 83 T_CSY_COORD type ODDT explicit exchange objects Explicit exchange execution flags EXCH_STS Symbol Type Access Meaning Address STS IN PROGR BOOL R Reading channel s status vvords MWr m c 0 0 CMD_IN_PROGR BOOL Exchange of command parameters in progress MWr m c 0 1 ADJ IN PROGR BOOL Exchange of adjustment parameters in progress MWr m c 0 2 RECONF_IN_PROGR BOOL Module reconfiguration in progress MWr m c 0 15 Explicit exchange report EXCH_RPT Symbol Type Access Meaning Address STS_ERR
9. Reserved 8 TSX CSY 84 85 164 Module using PL7 Address Type Symbol Description Qxy i 18 Bit ALLOW_ACQUIRE Falling edge Releases the controlled axes The AXIS IN COMMAND MotionStatus bit is clear when he axes are released nhibit action clear Prevents acquisition of controlled axes by his MotionSet Associated CONTROL bit CONTROL_ACQUIRE Qxy i 19 Bit Reserved Qxy i 20 Bi Reserved Qxy i 21 Bit Reserved Qxy i 22 Bi Reserved Qxy i 23 Bit Reserved Qxy i 24 Bi Reserved Qxy i 25 Bit Reserved Qxy i 26 Bi ALLOW_ENABLE Falling edge Disables the controlled axes The DRIVE_DISABLED MotionStatus bit is set to 1 when the axes are disabled nhibit action clear Prevents enabling of the MotionSet Associated CONTROL bit CONTROL_ENABLE Qxy i 27 Bit ALLOW_FOLLOW Falling edge Turns following off for a FollowerSet or a member of a FollowerSet The AXIS_IS_LINKED MotionStatus bit is set to 0 when the following is inactive Inhibit action clear Turns following off Associated CONTROL bit CONTROL_FOLLOW Address Type Symbol Description Qxy i 28 Bit ALLOW_RESUME Falling edge Issues a hold command to the controlled axes The AXIS_HOLD MotionStatus bit is set to 1 when the motion profile is holding with 0
10. command fault PROCESS CONF BOOL R Creation of move MWr m c 2 11 object in progress PROCESS_CONF_FAILED BOOL R Configuration fault MWr m c 2 12 except for channel 0 58 TSX CSY 84 164 Module using Unity Pro Symbol Type Access Meaning Address PARAM_CMD_2 DINT RW Parameter 2 MDr m c 29 PARAM_CMD_3 REAL RW Parameter 3 MFr m c 31 PARAM_CMD_4 REAL RW Parameter 4 MFr m c 33 READ_PARAM WRITE_PARAM interface words Symbol Type Access Meaning Address FUNCTION_VALIDATION INT RW Word containing MWr m c 35 the selective validation bits ACCEL REAL RW Acceleration value MFr m c 36 DECEL REAL RW Deceleration value MFr m c 38 ACCEL_TYPE INT RW Acceleration type MWr m c 40 N_POSITION_BAND REAL RW Value of the in MFr m c 41 position band ENABLE_POSITION_BAND REAL RW Value of the MFr m c 43 monitoring window ROLLOVER_MAX REAL RW Maximum rollover MFr m c 45 ROLLOVER_MIN REAL RW Minimum rollover MFr m c 47 ACCEL_MAX REAL RW Maximum MFr m c 49 acceleration DECEL_MAX REAL RW Maximum MFr m c 51 deceleration SPEED_MAX REAL RW Maximum speed SoMFr m c 53 POSITION MAX REAL RW Maximum position SoMFr m c 55 POSITION MIN REAL j RVV Minimum position SoMFr m c 57 SCALE NUMERATOR REAL RW Scale factor SG MFr m c 59 numerator configuration of an independent axis and GetGearRation function
11. commanded speed Inhibit action clear Turns resuming off Hold state remains whenever axes are enabled Associated CONTROL bit CONTROL_RESUME Qxy 29 Bit ALLOW_MOVE Falling edge Issues a halt The AXIS_HALT MotionStatus bit is set when the halt process starts nhibit action clear Turns off movement commands Halt state remains whenever axes are enabled Qxy i 30 Bit ALLOW_NOT_ FASTSTOP Falling edge Issues a FastStop command to the controlled axes The AXIS_FASTSTOP MotionStatus bit is set to 1 nhibit action clear Turns off movements and remains in FastStop when the axes are enabled Rising edge Cancels FastStop if he axes are supplied The AXIS FASTSTOP MotionStatus bit is clear 9 Qxy i 31 Bit ALLOW NOT FAULT Falling edge Triggers a user error The AXIS SUMMARY FAULT MotionStatus bit is set to 1 nhibit action clear Keeps user error asserted 96 QDxy i O Double word REMOTE POSITION Simulated position 10 TSX CSY 84 85 164 Module using PL7 Adjustment Parameters for the SERCOS Function With channel 0 READ_PARAM commands he following parameters are exchanged by the WRITE_PARAM and Address Type Symbol Description MWxy i 35 Word CYCLE_TIME SERCOSB ring cycle time see chapter 6 SERCOS Function Configuration MWxy i 36 Word BAUD_RATE Ring flow rate in Bauds MW xy i 37
12. waiting for a command AXIS_HALT EBOOL R The axis has stopped lr m c 29 52 TSX CSY 84 164 Module using Unity Pro Symbol Type Access Meaning Address AXIS FASTSTOP EBOOL R The axis has faststopped lr m c 30 AXIS_READY EBOOL R The axis is ready to lr m c 31 respond to a command CONF_OK EBOOL R The channel is configured lr m c 32 List of implicit exchange output objects Symbol Type Access Meaning Address CONTROL_ACQUIRE EBOOL RW Control acquisition Qr m c 2 CONTROL JOG POS EBOOL RW Manual mode Visual Qr m c 4 move command to move axis in positive direction CONTROL_JOG_NEG EBOOL RW Manual mode Visual Qr m c 5 move command to move axis in negative direction REAL_TIME_CTRL_BIT1 EBOOL RW Drive bit Qr m c 6 REAL_TIME_CTRL_BIT2 EBOOL RW Drive bit Qr m c 7 OPERATION MODE 1 EBOOL RW Operation Qr m c 8 mode selection OPERATION_MODE_2 EBOOL RW Operation Qr m c 9 mode selection CONTROL_ENABLE EBOOL RW Control enable Qr m c 10 CONTROL_FOLLOW EBOOL RW Follow control for an Qr m c 11 axis or a set of follower axes CONTROL_RESUME EBOOL RW Resumes control after Qr m c 12 a stop CONTROL_INC_POS EBOOL RW Manual mode 9eQr m c 13 Incremental move command to move axis in positive direction 53 Symbol Type A
13. Access Meaning Address ERROR_CMD INT RW Error during MWr m c 19 WRITE_CMD RETURN_CMD_1 DINT RW Return 1 of the function MDr m c 20 RETURN_CMD_2 REAL RW Return 2 of the function MFr m c 22 RETURN_CMD_3 REAL RW Return 3 of the function MFr m c 24 ACTION_CMD INT RW Action to be carried out MWr m c 26 PARAM_CMD_1 DINT RW Parameter 1 MDr m c 27 PARAM_CMD_2 DINT RW Parameter 2 MDr m c 29 PARAM_CMD_3 REAL RW Parameter 3 MFr m c 31 PARAM_CMD_4 REAL RW Parameter 4 MFr m c 33 90 TSX CSY 84 164 Module using Unity Pro IODDT T_GEN_MOD applicable for all modules List of objects Symbol Type Access Meaning Address MOD_ERROR EBOOL R Module error bit Ir m MOD ERR EXCH_STS INT R Channel exchange MWr m c 0 control word STS IN PROGR BOOL R Counting channel MWr m c 0 0 error bit EXCH_RPT INT R Exchange MWr m c 1 report word STS_ERR BOOL R Fault reading MWr m c 1 0 channel s status words MOD_FLT INT R Module internal MWr m c 2 error word MOD_FAIL BOOL R Internal fault MWr m c 2 0 module failed CH_FLT BOOL R Faulty channel s MWr m c 2 1 BLK BOOL R Terminal block fault MWr m c 2 2 CONF_FLT BOOL R Hardware or software MWr m c 2 5 configuration fault NO_MOD BOOL R Module missing or off MWr m c 2 6 91 User notes 92 TSX CSY 84 164 Module using Unity Pro 93 il
14. BIT1 Solxy i 27 Bi DRIVE REALTIME Drive bit BIT2 Solxy i 28 Bi AXIS HOLD The axis is stopped and vvaiting for a command Solxy i 29 Bi AXIS HALT The axis has stopped Solxy i 30 Bi AXIS FASTSTOP The axis has faststopped TSX CSY 84 85 164 Module using PL7 Address Type Symbol Description lxy i 31 Bit AXIS_READY The axis is ready to respond to a command lxy i 32 Bit CONF_OK The channel is configured IFxy i 0 eee POSITION Actual position poin Implicitly Exchanged Output Variables The following 32 outpu processor and the axis bits and the output word are implicitly exchanged between the control module Address Type Symbol Description Qxy i 0 Bit Reserved Qxy i 1 Bit Reserved Qxy i 2 Bit CONTROL_ACQUIRE Rising edge Acquires command of controlled axes and links them to the MotionSet The AXIS IN COMMAND MotionStatus bit is set to 1 if the operation was performed correctly Associated ALLOW bit ALLOW ACQUIRE Qxy i 3 Bit Reserved Qxy i 4 Bit CONTROL JOG POS Rising edge performs continuous movements in positive direction Falling edge stops the movement in progress Qxy i 5 Bit CONTROL_JOG_NEG Rising edge performs continuous movements in negative direction Falling edge stops the movement in progress Qxy i 6 Bit REALTIME_CONTROL _BIT1
15. BOOI R Faul statu t reading channel s s words ailure MWr m c 1 0 CMD_ERR BOOI Comi exch 1 mand parameters ange fault ailure 9e MWr m c 1 1 ADJ ERR BOOI exch 12 Adjustment parameters ange fault ailure 9eMWr m c 1 2 RECONF ERR BOO Faul during channel reconfiguration l allure MWr m c 1 15 84 TSX CSY 84 164 Module using Unity Pro Fault channel words Symbol Type Access Meaning Address EXT_FLTO BOOL R External fault 0 drive fault MWr m c 2 0 EXT_FLT1 BOOL External fault 1 communication fault with the axis MWr m c 2 1 EXT_FLT2 BOOL External fault 2 MWr m c 2 3 INT FLT BOOL Internal fault MWr m c 2 4 CONF_FLT BOOL Configuration fault hardware and software configuration different MWr m c 2 5 COM_FLT BOOL Communication fault MWr m c 2 6 APPLI FLT BOOL Application fault configuration adjustment or command fault MWr m c 2 7 PROCESS_CONF BOOL Creation of move object in progress MWr m c 2 11 PROCESS_CONF_FAILED BOOL Configuration fault except for channel 0 MWr m c 2 12 85 VVRITE CMD interface words Symbol Type
16. RW Control after a Faststop Qr m c 30 ALLOW_NOT_FLT EBOOL RW Enables fault control Qr m c 31 Settings report word Symbol Type Access Meaning Address PARAM_RPT INT IR Settings report word Indicates a lWr m c 2 programming error The least significant byte contains the error codes and the most significant byte contains the address in the registers of the field which caused the error 46 TSX CSY 84 164 Module using Unity Pro T_CSY_RING type ODDT explicit exchange objects Explicit exchange execution flags EXCH_STS in progress Symbol Type Access Meaning Address STS IN PROGR BOOL R Reading channel s MWr m c 0 0 status words CMD_IN_PROGR BOOL R Exchange of command MWr m c 0 1 parameters in progress ADJ_IN_PROGR BOOL R Exchange of MWr m c 0 2 adjustment parameters in progress TRF IN PROGR BOOL R TRF_RECIPE function MWr m c 0 3 executing RECONF_IN_PROGR BOOL R Module reconfiguration MWr m c 0 15 Explicit exchange report EXCH_RPT Symbol Type Access Meaning Address STS_ERR BOOL R Faul reading channel s atus words failure MWr m c 1 0 CMD_ERR BOOL R nagola ommand parameters xchange fault failure MWr m c 1 1 ADJ_ERR BOOL R 20D djustment parameters xchange fault failure MWr m c 1 2 TRF_ERR BOOL R ault during execution of PE f
17. Return 3 of the 9eMFr m c 8 TRF RECIPE function ACTION TRF NT R Action to perform by the MWr m c 10 TRF_RECIPE function PARAM_TRF_1 DINT R Parameter 1 of the MDr m c 11 TRF_RECIPE function PARAM_TRF_2 DINT R Parameter 2 of the MDr m c 13 TRF_RECIPE function PARAM_TRF_3 REAL R Parameter 3 of the MFr m c 15 TRF_RECIPE function PARAM_TRF_4 REAL R Parameter 4 of the MFr m c 17 50 TSX CSY 84 164 Module using Unity Pro T_CSY_IND type ODDT implicit exchange objects List of implicit exchange input objects class 2 diagnostic Symbol Type Access Meaning Address CH_ERROR EBOOL R Channel default bi lr m c ERR RAMPING EBOOL R Indicates whether the lr m c 0 axis is accelerating or decelerating STEADY EBOOL R The speed is steady Solr m c 1 STOPPING EBOOL R The movement is lr m c 2 decelerating to a stop PROFILE_END EBOOL R The last profile command lr m c 3 has been sent to the module IN POSITION EBOOL R The axis is within the in lr m c 4 position band AXIS_HOMING EBOOL R The axis is homing Solr m c 5 For an imaginary axis this bit is inactive AXIS HOMED EBOOL R The axis position reading lr m c 6 is referenced off the home position AXIS_NOT_FOLLOWING EBOOL R The drive is lr m c 7 not recognizing module commands HOLDING EBOOL R The axis is holding in lir m c 8 wait position RESUMING
18. Rising edge activates the IDN command when configured in the drive Address Type Symbol Description Qxy i 7 Bit REALTIME_CONTROL _BIT2 Rising edge activates the IDN command when configured in the drive Qxy i 8 Bit Reserved Qxy i 9 Bit Reserved Qxy i 10 Bit CONTROL_ENABLE Rising edge Enables the controlled axes The DRIVE_ENABLED MotionStatus bit is set to 1 if the operation was performed correctly Associated ALLOW bit ALLOW_ENABLE Qxy i 11 Bit CONTROL_FOLLOW Rising edge Turns following on for the FollowerSet or a member of a FollowerSet The AXIS_IS_LINKED MotionStatus bit is set to 1 when the following is active Associated ALLOW bit ALLOW_FOLLOW Qxy i 12 Bit CONTROL_RESUME Rising edge Resumes from a hold The AXIS_HOLD MotionStatus bit is set to 0 when he resume starts Associated ALLOW bit ALLOW_RESUME Qxy i 13 Bit CONTROL_INC_ POS Rising edge performs incremental movements in positive direction Qxy i 14 Bit CONTROL_INC_NEG Rising edge performs incremental movements in negative direction Qxy i 15 Bit CONTROL_CLEAR_ FAULT Rising edge Clears motion faults MotionFault The AXIS_SUMMARY_FAULT MotionStatus bit is set to 0 if the operation was performed correctly Qxy i 16 Bit Reserved Qxy i 17 Bit
19. Word IWxy i 2 Word 96lWxy i 2 indicates a programming fault The LSB indicates the error type error eedback code and the MSB indicates the address of the field register that caused the Error code Description 1 Attempt to assign value out of range Attempt to assign incompatible units Unit not supported or unknown Drive fault during upload Drive fault during download Unexpected null pointer to object Failed to set units in drive Units not set String too big to fit into MotionString nvalid index into a collection nvalid value in command nvalid value for an enumeration nvalid token in input nvalid feedback channel for command 2 3 4 5 6 7 8 9 A B Cc D E F nvalid feedback device for command nvalid feedback clocking rate nvalid feedback power source nvalid feedback resolution nvalid holding register address Holding register database not configured Holding register database empty 9 9 AJOJN Holding register block too big 30 TSX CSY 84 85 164 Module using PL7 Error code Description 7 Holding register block does not correspond to the database 8 Cannot grant access to holding register block 9 Cannot release access to holding register block A File open failed B File write fail
20. axis 2 SoMFxy i 50 Floating TRIGGER POSITION 2 Value of trigger for point slave axis 2 MWxy i 52 Word SLAVE_CHANNEL_3 Number of slave axis 3 MWxy i 53 Word FOLL_DESCRIPTION_3 Definition of slave axis 3 The description of the bits is identical to the description for slave axis 1 MFxy i 54 Floating NUMERATOR_3 Numerator of slave point axis 3 SoMFxy i 56 Floating DENOMINATOR 3 Denominator of slave point axis 3 MFxy i 58 Floating TRIGGER_POSITION_3 Value of trigger for point slave axis 3 MWxy i 60 Word SLAVE CHANNEL 4 Number of slave axis 4 MWxy i 61 Word FOLL_DESCRIPTION_4 Definition of slave axis 4 The description of the bits is identical to the description for slave axis 1 SoMFxy i 62 Floating NUMERATOR 4 Numerator of slave point axis 4 SoMFxy i 64 Floating DENOMINATOR 4 Denominator of slave point axis 4 SoMFxy i 66 Floating TRIGGER POSITION 4 Value of trigger for point slave axis 4 MWxy i 68 Word SLAVE_CHANNEL_5 Number of slave axis 5 15 Address Type Symbol Description MWxy i 69 Word FOLL_DESCRIPTION_5 Definition of slave axis 5 The description of the bits is identical to the description for slave axis 1 SoMFxy i 70 Floating NUMERATOR 5 Numerator of slave point axis 5 SoMFxy i 72 Floating DENOMINATOR 5 Denominator of slave point axis 5 So MFxy i 74 Floating TRIGGER POSITION 5 Value of trigger for point slave axis 5 M
21. slave error MW xy i 37 X7 Bi FOLL BIAS REMAINS 1 1 dynamic offset on position of master 13 Address Type Symbol Description MWyy i 37 X8 Bit FOLL_START_1 Start condition to 0 immediate MWxy i 37 X10 1 master position reaches trigger in negative direction 2 master position reaches trigger in positive direction 3 master position gt trigger 4 master position lt trigger MWxy i 37 X11 Bit FOLL_FAULT_MASTER 0 nothing 1 and if X6 disable and fast stop of the master on fault from the slave MWxy i 37 X12 Bit FOLL_FAULT_SLAVE 0 nothing 1 disable and fast stop of the slave on fault from the master 96MWXy i 37 X13 Bit Always clear to MWxy i 37 X15 MF xy i 38 Floating NUMERATOR_1 Numerator of slave point axis 1 SoMFxy i 40 Floating DENOMINATOR 1 Denominator of slave point axis 1 MPxy i 42 Floating TRIGGER_POSITION_1 Value of trigger for point slave axis 1 MWxy i 44 Word SLAVE_CHANNEL_2 Number of slave axis 2 MWxy i 45 Word FOLL DESCRIPTION 2 Definition of slave axis 2 The description of the bits is identical to the description for slave axis 1 14 TSX CSY 84 85 164 Module using PL7 Address Type Symbol Description SoMFxy i 46 Floating NUMERATOR 2 Numerator of slave point axis 2 SoMFxy i 48 Floating DENOMINATOR 2 Denominator of slave point
22. Access Meaning Address ERROR_CMD NT RW Error during MWr m c 19 WRITE_CMD RETURN_CMD_1 DINT RW Return 1 of the function MDr m c 20 RETURN_CMD_2 REAL RW Return 2 of the function MFr m c 22 RETURN_CMD_3 REAL RW Return 3 of the function MFr m c 24 ACTION_CMD NT RW Action to be carried out MWr m c 26 PARAM_CMD_1 DINT RW Parameter 1 MDr m c 27 PARAM_CMD_2 DINT RW Parameter 2 MDr m c 29 PARAM_CMD_3 REAL RW Parameter 3 MFr m c 31 PARAM_CMD_4 REAL RW Parameter 4 MFr m c 33 PARAM_CMD_5 REAL RW Parameter 5 MFr m c 35 PARAM_CMD_6 REAL RW Parameter 6 MFr m c 37 PARAM_CMD_7 REAL RW Parameter 7 MFr m c 39 PARAM_CMD_8 REAL RW Parameter 8 MEFr m c 41 PARAM_CMD_9 REAL RW Parameter 9 SoMFr m c 43 PARAM CMD 10 REAL RW Parameter 10 MFr m c 45 PARAM_CMD_11 REAL RW Parameter 11 9eMFr m c 47 PARAM CMD 12 REAL RW Parameter 12 MFr m c 49 PARAM_CMD_13 REAL RW Parameter 13 MFr m c 51 PARAM_CMD_14 REAL RW Parameter 14 MFr m c 53 PARAM_CMD_15 REAL RW Parameter 15 SoMFr m c 55 PARAM CMD 16 REAL RW Parameter 16 MFr m c 57 PARAM_CMD_17 REAL RW Parameter 17 MFr m c 59 PARAM_CMD_18 REAL RW Parameter 18 MFr m c 61 86 TSX CSY 84 164 Module using Unity Pro T_CSY_CAM type ODDT implicit exchange objects List of implicit exchange input objects Symbol Type Access Meaning Address CH_ERROR EBOOL R Channel default bit 9elr m c ERR 87 T_CSY_CAM type O
23. D type ODDT implicit exchange objects 41 T_CSY_CMD type ODDT explicit exchange objects 43 T_CSY_RING type ODDT implicit exchange objects 44 T_CSY_RING type ODDT explicit exchange objects 47 T_CSY_TRF type ODDT explicit exchange objects 50 T_CSY_IND type ODDT implicit exchange objects 51 T_CSY_IND type ODDT explicit exchange objects 56 T_CSY_FOLLOW type ODDT implicit exchange objects 61 T_CSY_FOLLOW type ODDT explicit exchange objects 65 T_CSY_COORD type ODDT implicit exchange objects 80 T_CSY_COORD type ODDT explicit exchange objects 84 T_CSY_CAM type ODDT implicit exchange objects 87 T_CSY_CAM type ODDT explicit exchange objects 88 IODDT T GEN MOD applicable for all modules 91 User notes 92 TSX CSY 84 85 164 Module using PL7 Implicitly Exchanged Input Variables The following 32 input bits and the input word are implicitly exchanged between the processor and the axis control module Address Type Symbol Description 9elxy i ERR Bi ERR Channel fault lxy i 0 Bi RAMPING Indicates whether the axis is accelerating or decelerating lxy i 1 Bi STEADY The speed is steady lxy i 2 Bi STOPPING The movement is decelerating to a stop lxy i 3 Bi PROFILE_END The last profile command has been sent to the module lxy i 4 Bi IN_POSITION The axis is within the in position band lxy i 5 Bi AXIS HOMING The axis is homing For an imaginary axis this bit is inactiv
24. DDT explicit exchange objects Explicit exchange execution flag EXCH_STS Symbol Type Access Meaning Address STS IN PROGR BOOL R Reading channel s status vvords MWr m c 0 0 CMD_IN_PROGR BOOL Exchange of command parameters in progress MWr m c 0 1 ADJ IN PROGR BOOL Exchange of adjustment parameters in progress MWr m c 0 2 TRF_IN_PROGR BOOL TRF_RECIPE function executing MWr m c 0 3 RECONF_IN_PROGR BOOL Module reconfiguration in progress MWr m c 0 15 Explicit exchange report EXCH_RPT Symbol Type Access Meaning Address STS_ERR BOO R Faul atu reading channel s S words ailure 9e MWr m c 1 0 CMD ERR BOO olaa e 3 xch 0 mand parameters ange fault ailure MWr m c 1 1 ADJ_ERR BOO gt xch x0 djustmen parameters ange fault ailure 9e MWr m c 1 2 TRF ERR BOO aul during execution of PE function 9e MWr m c 1 3 RECONF ERR BOO aul F TRF REC E during channel reconfiguration 1 ailure MWr m c 1 15 88 TSX CSY 84 164 Module using Unity Pro Fault channel words Symbol Type Access Meaning Address EXT FLTO BOOL R External fault 0 MWr m c 2 0 drive fault EXT_FL
25. EBOOL R The axis is moving after lir m c 9 a hold DRIVE_ENABLED EBOOL R The drive is enabled lr m c 10 DRIVE_DIAG EBOOL R The drive is performing a lr m c 11 class 3 diagnostic DRIVE_WARNING EBOOL R The drive is performinga lr m c 12 51 Symbol Type Access Meaning Address DRIVE_FLT EBOOL R The drive is performing a lr m c 13 class 1 diagnostic DRIVE_DISABLED EBOOL R The drive is disabled lr m c 14 AXIS_SUMMARY_FLT EBOOL R Drive fault lr m c 15 AXIS_COM_OK EBOOL R Communication between lr m c 16 the drive and the module is OK AXIS_IS_LINKED EBOOL R The axis belongs toaset lr m c 17 of axes AXIS IN CMD EBOOL R The axis is active and can lr m c 18 be controlled AXIS_AT_TARGET EBOOL R The axis is within the in Solr m c 20 position band for the target position AXIS POS LIMIT EBOOL R The axis has reached the lr m c 21 positive limit AXIS_NEG_LIMIT EBOOL R The axis has reached the lr m c 22 negative limit AXIS_WARNING EBOOL R Motion Warning status Solr m c 23 returned by the drive BIAS REMAIN EBOOL R Offset added to the lr m c 24 command position AXIS_MANUAL_MODE EBOOL R Operation of axis in lr m c 25 manual mode DRIVE_REALTIME_BIT1 EBOOL R Drive bit lr m c 26 DRIVE_REALTIME_BIT2 EBOOL R Drive bit lr m c 27 AXIS_HOLD EBOOL R The axis is stopped and lr m c 28
26. E_ENABLED EBOOL The drive is enabled Solr m c 10 DRIVE DIAG EBOOL The drive is performing lr m c 11 a class 3 diagnostic DRIVE_WARNING EBOOL R The drive is performing lr m c 12 a class 2 diagnostic 61 Symbol Type Access Meaning Address DRIVE_FLT EBOOL R The drive is performing lr m c 13 a class 1 diagnostic DRIVE_DISABLED EBOOL The drive is disabled lr m c 14 AXIS_SUMMARY_FLT EBOOL Drive fault lr m c 15 AXIS COM OR EBOOL Communication Solr m c 16 between the drive and the module is OK AXIS IS LINRED EBOOL R The axis belongs toa lr m c 17 set of axes AXIS IN CMD EBOOL R The axis is active and lr m c 18 can be controlled AXIS AT TARGET EBOOL R The axis is within the lr m c 20 in position band for the target position AXIS_POS_LIMIT EBOOL R The axis has reached lr m c 21 the positive limit AXIS_NEG_LIMIT EBOOL R The axis has reached lr m c 22 the negative limit AXIS_WARNING EBOOL R Motion Warning lr m c 23 status returned by the drive AXIS_HOLD EBOOL R The axis is stopped lr m c 28 and waiting for a command AXIS_HALT EBOOL The axis has stopped lr m c 29 AXIS FASTSTOP EBOOL The axis has lr m c 30 faststopped AXIS_READY EBOOL R The axis is ready to lr m c 31 respond to a command CONF_OK EBOOL R The channel lr m c 32 is configured 62 TSX CSY 84 164 Module using Un
27. L RW Return 2 of the function MFr m c 22 RETURN_CMD_3 REAL RW Return 3 of the function MFr m c 24 ACTION_CMD INT RW Action to be carried out MWr m c 26 PARAM CMD 1 DINT RW Parameter 1 MDr m c 27 PARAM_CMD_2 DINT RW Parameter 2 MDr m c 29 PARAM_CMD_3 REAL RW Parameter 3 MFr m c 31 PARAM_CMD_4 REAL RW Parameter 4 SoMFr m c 33 READ PARAM WRITE PARAM interface words Symbol Type Access Meaning Address CYCLE TIME INT RW SERCOS ring cycle time MWr m c 35 BAUD RATE INT RW SERCOS bus flow rate 9MWr m c 36 in bauds OPTICAL POWER INT RW Optical power in the fiber MWr m c 37 49 T_CSY_TRF type ODDT explicit exchange objects TRF_RECIPE function execution flags Symbol Type Access Meaning Address TRF_IN_PROGR BOOL R TRF_RECIPE function executing MWr m c 0 3 Explicit exchange report EXCH_RPT Symbol Type Access Meaning Address TRF_ERR BOOL R Fault during execution of TRF_RECIPE function MWr m c 1 3 TRF_RECIPE function object TRF_RECIPE function Symbol Type Access Meaning Address ERROR_TRF NT R Write error of the MWr m c 3 TRF_RECIPE function RETURN TRF 1 DINT JR Return 1 of the MDr m c 4 TRF_RECIPE function RETURN TRF 2 REAL R Return 2 of the SoMFr m c 6 TRF_RECIPE function RETURN_TRF_3 REAL R
28. Modicon Premium PLCs TSX CSY 84 85 164 SERCOS Motion Control Reminder Edition June 2009 Schneider P Electric TSX CSY 84 85 164 Module TSX CSY 84 85 164 module using PL7 Implicitly Exchanged Input Variables 5 Implicitly Exchanged Output Variables 7 Adjustment Parameters for the SERCOS Function 11 Adjustment Parameters for an Individual Axis 11 Adjustment Parameters for a Set of Follower Axes 13 Constant Words 16 WRITE_CMD Parameters 17 TRF_RECIPE Parameters 18 Motion Control Functions 18 Move Functions 19 Adjustment Functions 20 Diagnostic Functions 23 Configuration functions 24 Read Write Functions for IDN Parameters 25 List of TRF_RECIPE command codes 26 Module Faults Accessible via Word MWxy MOD 2 27 Channel Faults Accessible via Word MWxy i 2 27 Faults Accessible via Word MWxy i 3 TSX CSY 85 28 Programming Faults Accessible via Word IWxy i 2 30 WRITE CMD Command Writing Faults 33 Faults Accessible via the GetMotionFault Command 36 Faults Accessible via the GetMotionWarning Command 37 User Notes 39 TSX CSY 84 85 164 Module TSX CSY 84 module using Unity Pro T_CSY_CM
29. ON_4 BOOL 0 Following the actual position 1 Following the commanded position MWr m c 61 2 74 TSX CSY 84 164 Module using Unity Pro Symbol Type Access Meaning Address FOLL_FOL_ON_HALT_4 BOOL R 1 stop the follower MWr m c 61 3 axis if master slave link is removed FOLL_HALT_MASTER_4 BOOL R 1 stop the master MWr m c 61 6 in the event of a following error FOLL_BIAS_REMAIN_4 BOOL R 1 dynamic offset MWr m c 61 7 on position of master NUMERATOR_4 REAL RW Numerator for slave MFr m c 62 axis 4 DENOMINATOR 4 REAL RW Denominator for MFr m c 64 slave axis 4 TRIGGER_POSITION_4 REAL RW Value of trigger for 9eMFr m c 66 slave axis 4 SLAVE CHANNEL 5 NT RW Number of slave MWr m c 68 axis 5 75 Symbol Type Access Meaning Address FOLL DESCRIPTION 5 NT RW Description of slave axis 5 This word comprises the significant bits described below which have variable names and three unnamed bits which act on the start conditions bits 8 9 and 10 set to zero immediate start bit 8 set to one and bits 9 and 10 set to zero master position reached in negative threshold direction bit 9 set to one and bits 8 and 10 set to zero master position reached in positive threshold direction bits 8 and 9 set to one and bit 10 set to zero master position gt threshol
30. T1 BOOL R External fault 1 MWr m c 2 1 communication fault with the axis EXT_FLT2 BOOL External fault 2 MWr m c 2 3 INT_FLT BOOL Internal fault MWr m c 2 4 CONF_FLT BOOL Configuration MWr m c 2 5 fault hardware and software configuration differen COM_FLT BOOL R Communication MWr m c 2 6 fault APPLI FLT BOOL R Application fault MWr m c 2 7 configuration adjustment or command fault PROCESS_CONF BOOL R Creation of move MWr m c 2 11 object in progress PROCESS_CONF_FAILED BOOL R Configuration fault MWr m c 2 12 except for channel 0 TRF_RECIPE function object Symbol Type Access Meaning Address ERROR_TRF INT R Write error of the MWr m c 3 TRF_RECIPE function RETURN_TRF_1 DINT R Return 1 of the MDr m c 4 TRF_RECIPE function RETURN TRF 2 REAL R Return 2 of the MFr m c 6 TRF_RECIPE function 89 Symbol Type Access Meaning Address RETURN_TRF_3 REAL R Return 3 of the MFr m c 8 TRF_RECIPE function ACTION_TRF INT R Action to perform by the MWr m c 10 TRF_RECIPE function PARAM_TRF_1 DINT R Parameter 1 of the MDr m c 11 TRF_RECIPE function PARAM_TRF_2 DINT R Parameter 2 of the MDr m c 13 TRF_RECIPE function PARAM TRF 3 REAL JR Parameter 3 of the MFr m c 15 TRF_RECIPE function PARAM_TRF_4 REAL R Parameter 4 of the MFr m c 17 TRF_RECIPE function VVRITE CMD interface words Symbol Type
31. Word OPTICAL POWER Optical power in the fiber Adjustment Parameters for an Individual Axis With channels 1 to 16 the following parameters are exchanged by the WRITE PARAM and READ PARAM commands Address Type Symbol Description 9eMWXxy i 35 X0 Bi ENABLE ROLLOVER Enables rollover mode 96MWXxy i 35 X1 Bi TEST POSITION BAND Enables position test 96MWXy i 35 X2 Bi Reserved Always clear 96MWXy i 35 X3 Bi Reserved Always clear 96MWXxy i 35 X4 Bi DISABLE LIMITS Disables limits CHECKING checking 96MWXxy i 35 X5 Bi Reserved 96MWXxy i 35 X6 Bi _FREEWHEEL_STOP 0 fast stop then release of torque at stop on fault 1 freewheel stop on fault SoMFxy i 36 Floating ACCEL point Acceleration value 11 Address Type Symbol Description SoMFxy i 38 Floating DECEL Deceleration value poin MWxy i 40 Word ACCEL_TYPE Acceleration type MFxy i 41 Floating IN_POSITION_BAND Value of the in position poin band MF xy i 43 Floating ENABLE_POSITION_ Value of the monitoring poin BAND window SoMFxy i 45 Floating ROLLOVER MAX Maximum rollover poin MFxy i 47 Floating ROLLOVER_MIN Minimum rollover poin MFxy i 49 Floating ACCEL_MAX Maximum acceleration poin SoMFxy i 51 Floating DECEL MAX Maximum deceleration poin SoMFxy i 53 Floating SPEED MAX Maximum speed poin SoMFxy i 55 Flo
32. Wxy i 76 Word SLAVE_CHANNEL_6 Number of slave axis 6 MWxy i 77 Word FOLL_DESCRIPTION_6 Definition of slave axis 6 The description of the bits is identical to the description for slave axis 1 MF xy i 78 Floating NUMERATOR_6 Numerator of slave point axis 6 MF xy i 80 Floating DENOMINATOR 6 Denominator of slave point axis 6 MFxy i 82 Floating TRIGGER_POSITION_6 Value of trigger for point slave axis 6 Constant Words Address Type Symbol Description KWxy i 0 Word CHANNEL ID Channel identification KWxy i 2 Word SERCOS_ADD SERCOS address of the axis only for a real axis or a remote axis 16 TSX CSY 84 85 164 Module using PL7 WRITE_CMD Parameters The command to be carried out is defined in the word MWxy i 26 and the result is available in the words MWxy i 19 to 9 MWXxy i 24 Address Type Symbol Meaning MWxy i 19 Word ERROR_CMD WRITE_CMD command writing ault SoMDxy i 20 Double RETURN_CMD_1 Return 1 of the function Word MFxy i 22 Floating RETURN_CMD_2 Return 2 of the function point MFxy i 24 Floating RETURN CMD 3 Return 3 of the function point MWxy i 26 Word ACTION CMD Action to perform MDxy i 27 Double PARAM_CMD_1 Parameter 1 Word SoMDxy i 29 Double PARAM_CMD_2 Parameter 2 Word MFxy i 31 Floating PARAM_CMD_3 Parameter 3 point SoMFxy i 33 Floating PARAM_CMD_4 Parameter 4 point 17
33. _ON_HALT_3 BOOL R 1 stop the follower MWr m c 53 3 axis if master slave link is removed FOLL_HALT_MASTER_3 BOOL R 1 stop the master MWr m c 53 6 in the event ofa following error FOLL BIAS REMAIN 3 BOOL R 1 dynamic offset MWr m c 53 7 on position of master NUMERATOR_3 REAL RW Numerator for slave MFr m c 54 axis 3 DENOMINATOR 3 REAL RW Denominator for MFr m c 56 slave axis 3 TRIGGER_POSITION_3 REAL RW Value of trigger for SoMFr m c 58 slave axis 3 SLAVE CHANNEL 4 INT RW Number of slave MWr m c 60 axis 4 73 Symbol Type Access Meaning Address FOLL_DESCRIPTION_4 INT RW Description of slave axis 4 This word comprises the significant bits described below which have variable names and three unnamed bits which act on the start conditions bits 8 9 and 10 set to zero immediate start bit 8 set to one and bits 9 and 10 set to zero master position reached in negative threshold direction bit 9 set to one and bits 8 and 10 set to zero master position reached in positive threshold direction bits 8 and 9 set to one and bit 10 set to zero master position gt threshold bits 8 and 9 set to zero and bit 10 set to one master position lt threshold MWr m c 61 FOLL_WHERE_4 BOOL 0 controller MWr m c 61 0 FOLL_TYPE_4 BOOL 0 Ratio Mode 1 Cam Mode MWr m c 61 1 FOLL_POSITI
34. ating POSITION MAX Maximum position poin SoMFxy i 57 Floating POSITION MIN Minimum position poin 9e MFxy i 59 Floating SCALE NUMERATOR Scaling factor poin numerator 9o MFxy i 61 Floating SCALE DENOMINATOR Scaling factor poin denominator MWxy i 63 Word ACCEL_UNITS Acceleration unit MWxy i 64 Word SPEED_UNITS Velocity unit MWxy i 65 Word POSITION_UNITS Position unit See Configuration of an Individual Axis and the GetGearRatio Function 12 TSX CSY 84 85 164 Module using PL7 Adjustment Parameters for a Set of Follower Axes With channels 21 to 24 the following parameters are exchanged by the WRITE_PARAM and READ_PARAM commands on modules TSX CSY 84 164 and MOD_PARAM on module TSX CSY 164 Address Type Symbol Description MW xy i 35 Word MASTER_CHANNEL Number of the master axis MWxy i 36 Word SLAVE_CHANNEL_1 Number of slave axis 1 MWxy i 37 Word FOLL_DESCRIPTION_1 Definition of slave axis 1 MW xy i 37 X0 Bi FOLL_WHERE_1 0 Controller MWxy i 37 X1 Bi FOLL_TYPE_1 0 Gearing 1 Camming MWyy i 37 X2 Bi FOLL_POSITION_1 0 following the actual position 1 following the commanded position 9eMWXxy i 37 X3 Bi FOLL_FOLLOW_ON_ 1 stop the follower HALT_1 axis if master slave link is removed MW xy i 37 X4 Bi Always clear MWxy i 37 X5 Bi Always clear MWxy i 37 X6 Bi FOLL HALT MASTER 1 1 normal master stop in the event of a
35. ault MWr m c 2 5 hardware and software configuration different COM_FLT BOOL R Communication fault MWr m c 2 6 APPLI_FLT BOOL R Application fault MWr m c 2 7 configuration adjustment or command fault PROCESS_CONF BOOL R Creation of move MWr m c 2 11 object in progress PROCESS_CONF_FAILED BOOL R Configuration fault MWr m c 2 12 except for channel 0 66 TSX CSY 84 164 Module using Unity Pro WRITE_CMD interface words Symbol Type Access Meaning Address ERROR_CMD NT RW Error during MWr m c 19 WRITE_CMD RETURN_CMD_1 DINT RW Return 1 of the function MDr m c 20 RETURN_CMD_2 REAL RW Return 2 of the function MFr m c 22 RETURN_CMD_3 REAL RW Return 3 of the function MFr m c 24 ACTION_CMD NT RW Action to be carried out MWr m c 26 PARAM_CMD_1 DINT RW Parameter 1 MDr m c 27 PARAM_CMD_2 DINT RW Parameter 2 MDr m c 29 PARAM_CMD_3 REAL RW Parameter 3 MFr m c 31 PARAM_CMD_4 REAL RW Parameter 4 MFr m c 33 67 READ_PARAM WRITE PARAM interface words Symbol Type Access Meaning Address MASTER CHANNEL INT RW Number of the master axis 1 to 16 N is not accessible 9eMWr m c 35 SLAVE CHANNEL 1 INT RW Number of slave axis 1 9eMWr m c 36 FOLL DESCRIPTION 1 INT RW Description of slave axis 1 This word comprises the significant bits de
36. c 45 7 on position of master NUMERATOR_2 REAL RW Numerator for slave MFr m c 46 axis 2 DENOMINATOR 2 REAL RW Denominator for MFr m c 48 slave axis 2 TRIGGER_POSITION_2 REAL RW Value of trigger for MFr m c 50 slave axis 2 SLAVE CHANNEL 3 INT RW Number of slave MWr m c 52 axis 3 71 Symbol Type Access Meaning Address FOLL DESCRIPTION 3 INT RW Description of slave axis 3 This word comprises the significant bits described below which have variable names and three unnamed bits which act on the start conditions bits 8 9 and 10 set to zero immediate start bit 8 set to one and bits 9 and 10 set to zero master position reached in negative threshold direction bit 9 set to one and bits 8 and 10 set to zero master position reached in positive threshold direction bits 8 and 9 set to one and bit 10 set to zero master position gt threshold bits 8 and 9 set to zero and bit 10 set to one master position lt threshold MWr m c 53 FOLL_WHERE_3 BOOL 0 controller MWr m c 53 0 FOLL_TYPE_3 BOOL 0 Ratio Mode 1 Cam Mode MWr m c 53 1 FOLL_POSITION_3 BOOL 0 Following the actual position 1 Following the commanded position MWr m c 53 2 72 TSX CSY 84 164 Module using Unity Pro Symbol Type Access Meaning Address FOLL_FOL
37. ccess Meaning Address CONTROL_INC_NEG EBOOL RW Manual mode Qr m c 14 Incremental move command to move axis in negative direction CONTROL_CLEAR_FLT EBOOL RW Fault clear control Qr m c 15 ALLOW_ACQUIRE EBOOL RW Acquisition Qr m c 18 enable control ALLOW_ENABLE EBOOL RW Disables axis control Qr m c 26 ALLOW_FOLLOW EBOOL RW Cancels follow control Qr m c 27 for an axis or a set of follower axes ALLOW_RESUME EBOOL RW Authorizes a Qr m c 28 movement to continue after a stop using the HOLD command ALLOW_MOVE EBOOL RW Authorizes a Qr m c 29 movement to continue after a stop using the HALT command ALLOW NOT FASTSTOP EBOOL RW Control after Qr m c 30 a Faststop ALLOW_NOT_FLT EBOOL RW Enables fault control Qr m c 31 Actual position Symbol Type Access Meaning Address POSITION REAL R Actual position IFr m c 0 54 TSX CSY 84 164 Module using Unity Pro Settings report word Symbol Type Access Meaning Address PARAM_RPT INT R Settings report word Indicates a programming error The least significant byte contains the error codes and the most significant byte contains the address in the registers of the field which caused the error 9elWr m c 2 Simulated position Symbol Type Access Meaning Address REMOTE POSITION DINT RW External setpoint Simulated position Real and Imaginary Axis position increment i
38. d bits 8 and 9 set to zero and bit 10 set to one master position lt threshold MWr m c 69 FOLL_WHERE_5 BOOL 0 controller MWr m c 69 0 FOLL_TYPE_5 BOOL 0 Ratio Mode 1 Cam Mode MWr m c 69 1 FOLL_POSITION_5 BOOL 0 Following the actual position 1 Following the commanded position MWr m c 69 2 76 TSX CSY 84 164 Module using Unity Pro Symbol Type Access Meaning Address FOLL_FOL_ON_HALT_5 BOOL R 1 stop the follower MWr m c 69 3 axis if master slave link is removed FOLL_HALT_MASTER_5 BOOL R 1 stop the master MWr m c 69 6 in the event of a following error FOLL_BIAS_REMAIN_5 BOOL R 1 dynamic offset MWr m c 69 7 on position of master NUMERATOR_6 REAL RW Numerator for slave MFr m c 70 axis 6 DENOMINATOR 6 REAL RW Denominator for MFr m c 72 slave axis 6 TRIGGER_POSITION_6 REAL RW Value of trigger for 9eMFr m c 74 Slave axis 6 SLAVE CHANNEL 6 NT RW Number of slave 9 eMWr m c 76 axis 6 77 Symbol Type Access Meaning Address FOLL_DESCRIPTION_6 INT RW Description of slave axis 6 This word comprises the significant bits described below which have variable names and three unnamed bits which act on the start conditions bits 8 9 and 10 set to zero immediate start bit 8 set to one and bits 9 and 10 set to ze
39. dius equals 0 type 11 9514 Link too long Next segment 0 types 1 2 or 10 9515 The number of points in the linear segment is set to 0 types 0 1 or 10 9516 The number of points in the third degree polynomial interpolation segment is set to 0 type 1 9517 The number of points in the circular interpolation segment is set to 0 type 0 9518 The number of points in the circular interpolation segment is set to 0 type 1 or 12 9519 The center position set in the table differs from the position calculated by the module by more than 50 of the radius of the circle type 12 9520 Group not configured 9521 At least one of the axes in the group has not been configured 9522 The number of points in the fifth degree polynomial interpolation segment is set to 0 type 2 9523 The number of points in the interpolation table equals zero first word in the table 9524 Not enough memory to calculate interpolation 9525 As the length of the next segment is zero the link cannot be made 9526 The master table is empty so the interpolation calculation has not been made 9527 The number of words per point is incorrect in the interpolation table 9528 The type of interpolation requested does not exist parameter type other than 0 1 2 10 11 or 12 9002 Error code already exists but may occur if the SERCOS ring has not been configured correctly 29 Programming Faults Accessible via
40. e Solxy i 6 Bi AXIS HOMED The axis position reading is referenced off the home position lxy i 7 Bi AXIS_NOT_FOLLOWING The drive is not recognizing module commands Solxy i 8 Bi HOLDING The axis is holding Solxy i 9 Bi RESUMING The axis is moving after a hold lxy i 10 Bi DRIVE_ENABLED The drive is enabled Solxy i 11 Bi DRIVE DIAG The drive is performing a class 3 diagnostic Solxy i 12 Bi DRIVE_WARNING The drive is performing a class 2 diagnostic lxy i 13 Bi DRIVE_FAULT The drive is performing a class 1 diagnostic Slxy i 14 Bi DRIVE_DISABLED The drive is disabled Address Type Symbol Description Solxy i 15 Bi AXIS SUMMARY Drive fault FAULT lxy i 16 Bi AXIS_COMM_OK Communication between the module and the drive is OK lxy i 17 Bi AXIS_IS_LINKED The axis belongs to a set of axes lxy i 18 Bi AXIS IN COMMAND The axis is active and can be controlled lxy i 19 Bi Reserved Solxy i 20 Bi AXIS AT TARGET The axis is within the in position band for the target position Solxy i 21 Bi AXIS POS LIMIT The axis has reached the positive limit Solxy i 22 Bi AXIS NEG LIMIT The axis has reached the negative limit Solxy i 23 Bi AXIS VVARNING MotionWarning status returned by the drive Solxy i 24 Bi BIAS REMAIN Offset added to the command position lxy i 25 Bi AXIS_MANUAL_MODE 0 automatic mode by default 1 manual mode Solxy i 26 Bi DRIVE REALTIME Drive bit
41. ed C File read failed D File close failed E File seek failed F Malformed input 20 Clear fault function failed to clear faults 21 Missing tag in tags cfg 22 No axis object available 23 Too many axes in configuration 24 Duplicate axes in configuration 25 Missing or invalid axis 26 Axis object or config file not found 27 Value has different number of coordinates from axis 28 Motion axis not active 29 A move fault has occurred on the motion controller 2A Drive is not enabled 2B Command timed out 2C Only one SERCOS ring may be configured 2D Axis rename failed 2E Cannot perform command as currently configured 2F Invalid object type 30 Drive must be disabled to perform command 31 Error code Description 31 Drive must be enabled to perform command 32 Command not allowed at this time 33 Command cannot be completed due to drive fault 32 TSX CSY 84 85 164 Module using PL7 WRITE_CMD Command Writing Faults The MWxyy i 19 command The following tab word signals a possible error while explicitly writing a WRITE_CMD e lists the error codes and descriptions of errors Programming errors Error code Description 1 Attempt to assign value out of range 2 Attempt to assign incompatible units 3 Unit not supported or unknown 4 Drive fault during download 5 Drive fault during upload 7 Failed to set units i
42. ent to the module IN_POSITION EBOOL R The axis is within the lr m c 4 in position band AXIS_HOMING EBOOL R The axis is homing For lr m c 5 an imaginary axis this bit is inactive AXIS HOMED EBOOL R The axis position lr m c 6 reading is referenced off the home position AXIS_NOT_FOLLOWING EBOOL R The drive is lr m c 7 not recognizing module commands HOLDING EBOOL R The axis is holding in lr m c 8 wait position RESUMING EBOOL R The axis is moving after lr m c 9 a hold DRIVE_ENABLED EBOOL R The drive is enabled Solr m c 10 DRIVE DIAG EBOOL R The drive is performing lr m c 11 a class 3 diagnostic DRIVE_WARNING EBOOL R The drive is performing lr m c 12 44 TSX CSY 84 164 Module using Unity Pro Symbol Type Access Meaning Address DRIVE_FLT EBOOL R The drive is performing lr m c 13 a class 1 diagnostic DRIVE_DISABLED EBOOL R The drive is disabled lr m c 14 AXIS_SUMMARY_FLT EBOOL R Drive fault lr m c 15 AXIS_COM_OK EBOOL R Communication lr m c 16 between the drive and the module is OK AXIS IS LINRED EBOOL R The axis belongs to a lr m c 17 set of axes AXIS_IN_CMD EBOOL R The axis is active and lr m c 18 can be controlled AXIS AT TARGET EBOOL R The axis is within the lr m c 20 in position band for the target position AXIS POS LIMIT EBOOL R The axis has reached lr m c 21 the positive limit
43. er a hold DRIVE_ENABLED EBOOL R The drive is enabled lr m c 10 DRIVE FLT EBOOL R The drive is 9elr m c 13 performing a class 1 diagnostic AXIS SUMMARY FLT EBOOL R Drive fault lr m c 15 AXIS_IN_CMD EBOOL R The axis is active and lr m c 18 can be controlled AXIS HOLD EBOOL R The axis is stopped lr m c 28 and waiting for a command AXIS_HALT EBOOL R The axis has stopped lr m c 29 AXIS FASTSTOP EBOOL R The axis has Solr m c 30 faststopped AXIS READY EBOOL R The axis is ready lr m c 31 to respond to a command 41 List of implicit exchange output objects Symbol Type Access Meaning Address CONTROL_ACQUIRE EBOOL RW Control acquisition Qr m c 2 CONTROL_ENABLE EBOOL RW Control enable Qr m c 10 CONTROL RESUME EBOOL RW Resumes control after Qr m c 12 a stop CONTROL CLEAR FLT EBOOL RW Fault clear control Qr m c 15 ALLOW_ACQUIRE EBOOL RW Acquisition Qr m c 18 enable control ALLOW_ENABLE EBOOL RW Disables axis control Lo Qr m c 26 ALLOW_RESUME EBOOL RW Authorizes a Qr m c 28 movement to continue after a stop using the HOLD command ALLOW_MOVE EBOOL RW Authorizes a Qr m c 29 movement to continue after a stop using the HALT command 42 TSX CSY 84 164 Module using Unity Pro T_CSY_CMD type ODDT explicit exchange objects Explicit exchange execution flags EXCH_STS Symbol Type Access Meanin
44. essible via Word MWxy MOD 2 Bits MWxy MOD 2 X0 to MWxy MOD 2 X15 enable module faults to be diagnosed Bit Meaning Internal fault module failure Functional fault external fault communication fault or application fault see the channel status word MWxy i 2 Terminal block fault Module self testing Reserved Configuration fault hardware and software configuration different Module missing or off to 15 Reserved Channel Faults Accessible via Word MWxy i 2 Bits MWxy i 2 X0 to MWxy i 2 X15 are used to diagnose the channel faults Bit Meaning 0 External fault 0 drive fault External fault 1 communication fault with the axis Reserved External fault 2 Internal fault Configuration fault hardware and software configuration different Communication fault Application fault configuration adjustment or command fault Fan fault channel 0 only OO NI 9 9 AJOJN Overtemperature channel 0 only 27 Bit Meaning 10 Temperature sensor fault channel 0 only 11 Creation of move in progress object 12 Configuration fault except for channel 0 13 Reserved 14 Channel LED status steady 15 Channel LED status flashing Faults Accessible via Word MWxy i 3 TSX CSY 85 Word 6MWXxy i 3 where i is between 21 and 24 for groups of channels contain
45. eter 3 position SetSpeedLimit 2066 None Parameter 3 speed SetSpeedOverride 2513 None Parameter 3 percentage SetFunctionalMode 2572 None Parameter 1 0 AUTOMATIC mode 1 MANUAL mode 22 TSX CSY 84 85 164 Module using PL7 Diagnostic Functions Function Code Feedback Parameters GetActualPhase 550 Feedback 1 phase None GetAxisld 523 Feedback 1 Axis None identifier GetCombinedControl 1534 Feedback 1 Motion None Control bits GetCommandedPhase 1545 Feedback 1 phase None GetCommanded 1053 Feedback 2 position None Position GetControl 1525 Feedback 1 Motion None Control bits GetLoopDiagnostic 1546 Feedback 1 diagnostic None Mode mode GetMotionFault 5510 Feedback 1 List of None faults GetMotionWarning 5511 Feedback 1 List of None warnings GetMoveQueueLength 9510 Return 1 Length None GetNumberlnSet 541 Feedback 1 No of None axes GetNumberOfDrivesIn 548 Return 1 No of drives None Ring GetSercosAddress 549 Feedback 1 address Parameter 1 axis IsLoopUp 543 Feedback 1 0 1 None SetCommandedPhase 2545 None Parameter 1 phase SetLoopDiagnostic 2546 None Parameter 1 Mo de diagnostic mode 23 Configuration functions Function Code Feedback Parameters Ge AccelType 1540 Feedback 1 Acceleration type None Ge GearRatio 1500
46. g Address CMD_IN_PROGR BOOL R Exchange of command parameters in progress MWr m c 0 1 Explicit exchange report EXCH_RPT Symbol Type Access Meaning Address CMD_ERR BOOL R Command parameters exchange fault MWr m c 1 1 VVRITE CMD interface words Symbol Type Access Meaning Address ERROR_CMD NT RW Error during MWr m c 19 WRITE_CMD RETURN_CMD_1 DINT RW Return 1 of the function MDr m c 20 RETURN_CMD_2 REAL RW Return 2 of the function MFr m c 22 RETURN_CMD_3 REAL RW Return 3 of the function MFr m c 24 ACTION_CMD NT RW Action to be carried out MWr m c 26 PARAM_CMD_1 DINT RW Parameter 1 MDr m c 27 PARAM_CMD_2 DINT RW Parameter 2 MDr m c 29 PARAM_CMD_3 REAL RW Parameter 3 MFr m c 31 PARAM_CMD_4 REAL RW Parameter 4 MFr m c 33 43 T_CSY_RING type ODDT implicit exchange objects List of implicit exchange input objects a class 2 diagnostic Symbol Type Access Meaning Address CH_ERROR EBOOL R Channel default bit Solr m c ERR RAMPING EBOOL R Indicates whether the lr m c 0 axis is accelerating or decelerating STEADY EBOOL R The speed is steady lr m c 1 STOPPING EBOOL R The movement is lr m c 2 decelerating to a stop PROFILE_END EBOOL R The last profile lr m c 3 command has been s
47. he interpolator but the MotionControl ALLOW MOVE bit is clear This should only happen if the drive is stopped at the exact moment when a move command starts Faults Accessible via the GetMotionWarning Command The following table lists the motion warnings contained in the MotionWarning data ype Name Bit Description MW SURV WARNING 0 If 2 axes have a position displacement greater than the fault trigger value the module triggers a fault on the 2 faulty axes MW SURV WARNING 1 If 2 axes have a position difference greater PROP than the error trigger value the module triggers a fault on the 2 faulty axes stops all the axes of the list and triggers a warning MW SURV WARNING PROP on the non faulty axes MW STOP BY SET 2 Axis invalidated by the set following a fault MW AXIS IS LINKED 17 The motion command was not performed because the axis is already a member of a CoordinatedSet or FollowerSet 37 Case of a CoordinatedSet or FollowerSet of axes AT_THIS_TIME Name Bit Description MW AXIS IS MOVING 3 The motion control command was not performed because the motion axis was moving MW MEMBER WARNIN 4 Alarm on a member of the set G MW MEMBER FAULT 5 Fault on a member of invalidated set MW AXIS NOT 6 the axis is not referenced HOMED MW CANNOT ENABLE 10 The drive will refuse confirmation MW ACQUIRE 18 The Coordina
48. ier Parameter 2 SERCOS parameter SetlDN UP 2559 None Parameter 1 identifier Parameter 3 SERCOS parameter SetIDN_US 2558 None Parameter 1 identifier Parameter 3 SERCOS parameter 25 List of TRF_RECIPE command codes The actions that can be performed on the TSX CSY 84 module using the TRF_RECIPE service are Function ACTION TRF Meaning MWyxy i 10 Real axis 16001 Loading of drive parameters in the PLC memory 1 Real axis 26001 Unloading of drive parameters from the PLC 1 memory Key 1 PARAM_TRF_1 to PARAM TRF 4 0 The actions that can be performed on the TSX CSY 164 module using the TRF_RECIPE service are Function ACTION_TRF Meaning MWxy i 10 Independent axis 14200 Monitoring stopped at a given moment Independent axis 16200 Re reading of monitoring parameters for a given moment Independent axis 26200 Start monitoring of a TRF_RECIPE function on channel 0 The actions that can be performed on the TSX CSY 85 module using the TRF_RECIPE service are Function ACTION_TRF Meaning MWxy i 10 Set of follower axes 14905 Achieving minimum possible constant speed Set of follower axes 16901 Trajectory Calculation Result Set of follower axes 26900 Trajectory Calculation Function 26 TSX CSY 84 85 164 Module using PL7 Module Faults Acc
49. ity Pro List of implicit exchange output objects Symbol Type Access Meaning Address CONTROL ACQUIRE EBOOL RW Control acquisition Qr m c 2 CONTROL ENABLE EBOOL RW Control enable Qr m c 10 CONTROL_FOLLOW EBOOL RW Follow control for Qr m c 11 an axis or a set ol ollower axes CONTROL RESUME EBOOL RW Resumes control after Qr m c 12 a stop CONTROL CLEAR FLT EBOOL RW Fault clear contro Qr m c 15 ALLOW_ACQUIRE EBOOL RW Acquisition Qr m c 18 enable control ALLOW_ENABLE EBOOL RW Disables axis control Qr m c 26 ALLOW_FOLLOW EBOOL RW Cancels follow control Qr m c 27 or an axis or a set of ollower axes ALLOW RESUME EBOOL RW Authorizes a movement Qr m c 28 o continue after a stop using the HOLD command ALLOW MOVE EBOOL RW Authorizes a movement Qr m c 29 to continue after a stop using the HALT command ALLOW NOT FASTSTOP EBOOL RW Control after a Faststop Qr m c 30 ALLOW NOT FLT EBOOL RW Enables fault contro Qr m c 31 Actual position Symbol Type Access Meaning Address POSITION REAL R Actual position 9olFr m c 0 63 Settings report word Symbol Type Access Meaning Address PARAM_RPT INT R Settings report word Indicates a programming error The least significant byte contains the error codes and the most significant byte co
50. le is OK AXIS IS LINKED EBOOL R The axis belongs to a Solr m c 17 set of axes AXIS IN CMD EBOOL R The axis is active and lr m c 18 can be controlled AXIS AT TARGET EBOOL R The axis is within the in lr m c 20 position band for the target position AXIS POS LIMIT EBOOL R The axis has reached lr m c 21 the positive limit AXIS_NEG_LIMIT EBOOL R The axis has reached lr m c 22 the negative limit AXIS_WARNING EBOOL R Motion Warning status lr m c 23 returned by the drive AXIS HOLD EBOOL R The axis is stopped and lr m c 28 waiting for a command AXIS HALT EBOOL The axis has stopped Solr m c 29 AXIS FASTSTOP EBOOL The axis has lr m c 30 faststopped AXIS_READY EBOOL R The axis is ready to lr m c 31 respond to a command CONF_OK EBOOL R The channel is lr m c 32 configured 81 List of implicit exchange output objects Symbol Type Access Meaning Address CONTROL_ACQUIRE EBOOL RW Control acquisition Qr m c 2 CONTROL_ENABLE EBOOL RW Control enable Qr m c 10 CONTROL_FOLLOW EBOOL RW Follow control for an Qr m c 11 axis or a set of follower axes CONTROL_RESUME EBOOL RW Resumes control after Qr m c 12 astop CONTROL_CLEAR_FLT EBOOL RW Fault clear control Qr m c 15 ALLOW_ACQUIRE EBOOL RW Acquisition enable Qr m c 18 control ALLOW_ENABLE EBOOL RW Disables axis control 9eQr m c 26 ALLOW FOLLOW EBOOL RW Cancels follow control
51. n manual mode QDr m c 0 55 T_CSY_IND type ODDT explicit exchange objects Explicit exchange execution flags EXCH_STS Symbol Type Access Meaning Address STS IN PROGR BOOL R Reading channel s status vvords MWr m c 0 0 CMD_IN_PROGR BOOL Exchange of command parameters in progress MWr m c 0 1 ADJ IN PROGR BOOL Exchange of adjustment parameters in progress MWr m c 0 2 RECONF_IN_PROGR BOOL Module reconfiguration in progress MWr m c 0 15 Explicit exchange report EXCH_RPT Symbol Type Access Meaning Address STS_ERR BOOL R Fault reading channel s status words 1 failure MWr m c 1 0 CMD_ERR BOOL Command parameters exchange fault 1 failure MWr m c 1 1 ADJ_ERR BOOL Adjustment parameters exchange fault 1 failure MWr m c 1 2 RECONF_ERR BOOL Fault during channel reconfiguration 1 failure MWr m c 1 15 56 TSX CSY 84 164 Module using Unity Pro TRF_RECIPE function objects TRF_RECIPE function Symbol Type Access Meaning Address ERROR_TRF NT R Write error of the MWr m c 3 TRF_RECIPE function RETURN_TRF_1 DINT R Return 1 of the MDr m c 4 TRF_RECIPE function RETURN_TRF_2 REAL R Return 2 of the MFr m c 6 TRF_RECIPE fu
52. n drive 8 Units not set 11 nvalid value in command 12 nvalid value for an enumeration 32 Clear fault function failed to clear faults 34 No axis object available 35 Too many axes in configuration 36 Duplicate axes in configuration 37 Missing or invalid axis 38 Axis object or config file not found 39 Value has different number of coordinates from axis 40 Motion axis not active 41 A move fault has occurred on the motion controller 42 Drive is not enabled 43 Command timed out 44 Only one SERCOSB ring may be configured 45 Axis rename failed 33 Error code Description 46 Cannot perform command as currently configured 47 Invalid object type 48 Drive must be disabled to perform command 49 Drive must be enabled to perform command 50 Command not allowed at this time 51 Command cannot be completed due to drive fault 60 Manual mode refused for axis linked to a co ordinated or follower set 61 Auto control refused for an axis in manual mode 62 Follower set with slaves in cam profile 63 Deceleration for one of the slaves or for the master is greater than he maximum deceleration configured 64 Refusal of TRF_ RECIPE 26200 the instance is already active 65 Refusal of TRF_ RECIPE 26200 the alarm trigger value is greater han the fault trigger value 66 Refusal of TRF_ RECIPE 26200 one of the trigger values is negative 67 Refusal of TRF_ RECIPE 26200 one of the denomi
53. nators is invalid 68 Refusal of TRF_ RECIPE 16200 or 14200 the instance is inactive Communication errors Error code Description 1000 Target not responding 1001 Garbled communications 1002 SERCOSS error 1003 No opcode echo from drive 34 TSX CSY 84 85 164 Module using PL7 Error code Description 1004 SERCOSS loop not ready 1005 SERCOSB error 1006 SERCOSS read failed cyclic channel Drive errors Error code Description 4000 RMS current fault 4001 Drive overtemperature condition 4002 Drive overtemperature condition 4005 Resolver or encoder feedback fault 4006 General drive fault phase error 4007 Drive short circuit fault 4009 Drive voltage fault 4011 Following error fault 4012 Drive has detected communications fault 4013 Hardware end of travel fault 4015 Homing digital output or control conflict fault from 2 sources 4016 SERCOS master has detected communication fault 5001 The watchdog expired and all axes disabled 35 Faults Accessible via the GetMotionFault Command The following table lists the motion aults contained in the MotionFault data type ERROR Name Bit Description MF MOVE BUT 0 A move command has reached the motion NOT ENABLED interpolator but the drive is disabled This should only occu
54. nction RETURN_TRF_3 REAL R Return 3 of the MFr m c 8 TRF_RECIPE function ACTION_TRF NT R Action to perform by the MWr m c 10 TRF_RECIPE function PARAM_TRF_1 DINT R Parameter 1 of the MDr m c 11 TRF_RECIPE function PARAM_TRF_2 DINT JR Parameter 2 of the MDr m c 13 TRF_RECIPE function PARAM_TRF_3 REAL R Parameter 3 of the SoMFr m c 15 TRF_RECIPE function PARAM_TRF_4 REAL R Parameter 4 of the MFr m c 17 VVRITE CMD interface words Symbol Type Access Meaning Address ERROR_CMD INT RW Error during WRITE_CMD MWr m c 19 RETURN_CMD_1 DINT RW Return 1 of the function MDr m c 20 RETURN_CMD_2 REAL RW Return 2 of the function MFr m c 22 RETURN_CMD_3 REAL RW Return 3 of the function MFr m c 24 ACTION_CMD INT RW Action to be carried out MWr m c 26 PARAM CMD 1 DINT RW Parameter 1 MDr m c 27 57 Fault channel words Symbol Type Access Meaning Address EXT FLTO BOOL R External fault 0 MWr m c 2 0 drive fault EXT_FLT1 BOOL R External fault 1 MWr m c 2 1 communication fault with the axis EXT_FLT2 BOOL R External fault 2 MWr m c 2 3 INT_FLT BOOL R Internal fault MWr m c 2 4 CONF_FLT BOOL R Configuration fault MWr m c 2 5 hardware and software configuration different COM_FLT BOOL R Communication fault MWr m c 2 6 APPLI FLT BOOL R Application fault MWr m c 2 7 configuration adjustment or
55. ntains the address in the registers of the field which caused the error 9elWr m c 2 64 TSX CSY 84 164 Module using Unity Pro T_CSY_FOLLOW type ODDT explicit exchange objects Explicit exchange execution flags EXCH_STS Symbol Type Access Meaning Address STS IN PROGR BOOL R Reading channel s MWr m c 0 0 status words CMD_IN_PROGR BOOL R Exchange of MWr m c 0 1 command parameters in progress ADJ_IN_PROGR BOOL R Exchange of MWr m c 0 2 adjustment parameters in progress RECONF_IN_PROGR BOOL R Module MWr m c 0 15 reconfiguration in progress Explicit exchange report EXCH_RPT Symbol Type Access Meaning Address STS_ERR BOOL R Fault reading MWr m c 1 0 channel s status words 1 failure CMD ERR BOOL R Command parameters MWr m c 1 1 exchange fault 1 failure ADJ_ERR BOOL R Adjustment 9eMWr m c 1 2 parameters exchange fault 1 failure RECONF ERR BOOL R Fault during channel MWr m c 1 15 reconfiguration 1 failure 65 Fault channel words Symbol Type Access Meaning Address EXT_FLTO BOOL R External fault 0 MWr m c 2 0 drive fault EXT_FLT1 BOOL R External fault 1 MWr m c 2 1 communication fault with the axis EXT_FLT2 BOOL R External fault 2 MWr m c 2 3 INT_FLT BOOL R Internal fault MWr m c 2 4 CONF_FLT BOOL R Configuration f
56. r if the drive becomes disabled as a move command is starting MF SURV FAULT 1 Two monitored axes have a position displacement greater than the fault trigger value MF MEMBER FAULT 2 Fault on a member of validated set MF SERCOS RATE 3 Too many channels are configured relative to TOO FAST chosen cycle time MF CONTROL 10 Conflicting control with configuration drive tool CONFLICT MF DRIVE FAULT 13 A drive fault has occurred Use the GetlDN S and GetIDN_P function with the SERCOS Standard IDN S 0 0011 parameter to determine the cause MF REQUESTED 15 The MotionControl ALLOW NOT FAULT bit is FAULT not set The axis remains faulty until the ALLOW NOT FAULT bit is set and a ClearFault function is issued MF COMM FAULT 16 The SERCOS communication fiber optic loop lost communication to the drive MF_AXIS_MANUAL_ 19 Axis is in Manual mode Impossible to enable a MODE group with an axis in Manual mode MF AXIS LIMIT FAULT 21 The axis reached a positive or negative software position limit MF PHASE3 CONFIG 23 Configuration problem phase 3 PROBLEM MF PHASEO SERCOS 24 Phase 0 error ERROR MF PHASE1 SERCOS 25 Phase 1 error 36 TSX CSY 84 85 164 Module using PL7 HALT Name Bit Description MF PHASE2 SERCOS 26 Phase 2 error ERROR MF PHASE83 SERCOS 27 Phase 3 error ERROR MF PHASE4 SERCOS 28 Phase 4 error ERROR MF MOVE WHILE 29 A move command has reached t
57. ro master position reached in negative threshold direction bit 9 set to one and bits 8 and 10 set to zero master position reached in positive threshold direction bits 8 and 9 set to one and bit 10 set to zero master position gt threshold bits 8 and 9 set to zero and bit 10 set to one master position lt threshold MWr m c 77 FOLL_WHERE_6 BOOL 0 controller MWr m c 77 0 FOLL_TYPE_6 BOOL 0 Ratio Mode 1 Cam Mode MWr m c 77 1 FOLL_POSITION_6 BOOL 0 Following the actual position 1 Following the commanded position MWr m c 77 2 78 TSX CSY 84 164 Module using Unity Pro Symbol Type Access Meaning Address FOLL FOL ON HALT 6 BOOL R 1 stop the follower MWr m c 77 3 axis if master slave link is removed FOLL_HALT_MASTER_6 BOOL R 1 stop the master MWr m c 77 6 in the event of a following error FOLL_BIAS_REMAIN_6 BOOL R 1 dynamic offset 9eMWr m c 77 7 on position of master NUMERATOR 6 REAL RW Numerator for slave MFr m c 78 axis 6 DENOMINATOR_6 REAL RW Denominator for MFr m c 80 slave axis 6 TRIGGER_POSITION_6 REAL RW Value of trigger for 9eMFr m c 82 slave axis 6 79 T_CSY_COORD type ODDT implicit exchange objects List of implicit exchange input objects a class 2 diagno
58. s the codes for errors that occur following a TRF RECIPE instruction Bit Meaning 9501 Foratype 1 2 or 10 interpolation one of the parameters ParF1 or ParF2 equals zero 9502 The maximum number of points for a trajectory has been reached The TSX CSY 85 permits a maximum of 10 000 points 9503 More axes have been defined than are permitted 9504 Two consecutive identical points have been found in the table for interpolation types other than 12 9505 The number of points defined for at least one cam is insufficient in relation to the number of points on the trajectory 9506 Use of circular type interpolation although more than two axes have been defined types 10 11 and 12 9507 Acam corresponding to one of the axes has not been configured 9508 Circular link with angle of 180 type 10 9509 Circular link with angle of 0 type 10 9510 A trajectory has been defined with a number of points greater than the maximum number permitted 60 by default 9511 The radius is less than half the distance between points Pn 1 and Pn 28 TSX CSY 84 85 164 Module using PL7 Bit Meaning 9512 Circle impossible If the type is 11 the start point is the same as the end point If the type is 12 the start point is the same as the end point and the same as the center of the circle 9513 Ra
59. scribed below which have variable names and three unnamed bits which act on the start conditions bits 8 9 and 10 set to zero immediate start bit 8 set to one and bits 9 and 10 set to zero master position reached in negative threshold direction bit 9 set to one and bits 8 and 10 set to zero master position reached in positive threshold direction bits 8 and 9 set to one and bit 10 set to zero master position threshold bits 8 and 9 set to zero and bit 10 set to one master position threshold 9eMWr m c 37 FOLL WHERE 1 BOOL 0 controller 9e MWr m c 37 0 68 TSX CSY 84 164 Module using Unity Pro Symbol Type Access Meaning Address FOLL_TYPE_1 BOOL R 0 Ratio Mode MWr m c 37 1 1 Cam Mode FOLL_POSITION_1 BOOL R 0 Following the MWr m c 37 2 actual position 1 Following the commanded position FOLL_FOL_ON_HALT_1 BOOL R 1 stop the follower MWr m c 37 3 axis if master slave link is removed FOLL_HALT_MASTER_1 BOOL R 1 stop the master MWr m c 37 6 in the event of a following error FOLL_BIAS_REMAIN_1 BOOL R 1 dynamic offset MWr m c 37 7 on position of master NUMERATOR_1 REAL RW Numerator for slave MFr m c 38 axis 1 DENOMINATOR_1 REAL RW Denominator for 9eMFr m c 40 slave axis 1 TRIGGER POSITION 1 REAL RW Value of trigger for 9eMFr m c 42 slave axis 1 SLAVE CHANNEL 2
60. stic Symbol Type Access Meaning Address CH ERROR EBOOL R Channel default bit Solr m c ERR RAMPING EBOOL R Indicates whether the lr m c 0 axis is accelerating or decelerating STEADY EBOOL The speed is steady lr m c 1 STOPPING EBOOL The movement is lr m c 2 decelerating to a stop PROFILE_END EBOOL R The last profile lr m c 3 command has been sent to the module IN_POSITION EBOOL R The axis is within the in lr m c 4 position band AXIS HOMING EBOOL R The axis is homing For lr m c 5 an imaginary axis this bit is inactive AXIS HOMED EBOOL R The axis position lr m c 6 reading is referenced off the home position AXIS_NOT_FOLLOWING EBOOL R The drive is not lr m c 7 recognizing module commands HOLDING EBOOL R The axis is holding in lr m c 8 wait position RESUMING EBOOL R The axis is moving after lr m c 9 a hold DRIVE_ENABLED EBOOL The drive is enabled Solr m c 10 DRIVE DIAG EBOOL The drive is performing lr m c 11 a class 3 diagnostic DRIVE_WARNING EBOOL R The drive is performing lr m c 12 80 TSX CSY 84 164 Module using Unity Pro Symbol Type Access Meaning Address DRIVE_FLT EBOOL R The drive is performing lr m c 13 a class 1 diagnostic DRIVE_DISABLED EBOOL The drive is disabled lr m c 14 AXIS_SUMMARY_FLT EBOOL Drive fault lr m c 15 AXIS_COM_OK EBOOL Communication lr m c 16 between the drive and the modu
61. tedSet or FollowerSet could not DISALLOWED acquire control of its members because one or more of the motion axis members is already a member of a CoordinatedSet or FollowerSet MW AXIS POS LIMIT 21 Motion abandoned whose target is greater than the maximum position MW AXIS NEG LIMIT 22 Motion abandoned whose target is less than the maximum position MW SIMULTANEOUS M 24 Several manual commands arrived ANUAL CMDS simulteanoulsy MW AXIS MANUAL 25 Axis is in Manual mode MODE MW STOP TO 26 Axis has stopped to switch to Manual mode MANUAL MODE MW NOT ALLOWED 31 Not enough conditions Mode Value 38 TSX CSY 84 85 164 Module using PL7 User Notes 39 40 TSX CSY 84 164 Module using Unity Pro T_CSY_CMD type ODDT implicit exchange objects List of implicit exchange input objects r rack no m module position on the rack c channel no Symbol Type Access Meaning Address CH_ERROR EBOOL R Channel default bit 9elr m c ERR PROFILE END EBOOL R The last profile 9elr m c 3 command has been sent to the module IN POSITION EBOOL R The axis is within the lr m c 4 in position band AXIS HOMED EBOOL R The axis position Solr m c 6 reading is referenced off the home position HOLDING EBOOL R The axis is holding in lr m c 8 wait position RESUMING EBOOL R The axis is moving lr m c 9 aft
62. tion GetRolloverLimit 1539 Feedback 2 Position Parameter 1 direction GetSpeedLimit 1066 Feedback 2 Speed None GetSpeedOverride 1513 Feedback 2 None Percentage GetUnrolled 547 Feedback 2 Position None CommandedPosition GetUnrolledPosition 546 Feedback 2 Position None Length 534 Feedback 1 Table None length LookUpFollower 537 Feedback 2 Slave Parameter 3 Master Position position position SetAcce 2041 None Parameter 3 Acceleration SetAccelMax 2116 None Parameter 3 Acceleration SetDece 2042 None Parameter 3 Deceleration SetDecelMax 2117 None Parameter 3 Deceleration SetDefaultSpeed 2065 None Parameter 1 speed SetEnableMode 2524 None Parameter 1 mode SetEnablePositionBand 2538 None Parameter 3 position 21 Function Code Feedback Parameters SetFollowerRatio 2114 None Parameter 1 Axis identifier Parameter 3 numerator Parameter 4 denominator SetInPositionBand 2035 None Parameter 3 position SetMasterOffset 2532 None Parameter 1 Axis identifier Parameter 3 position SetMasterTrigger 2531 None Parameter 1 Axis Position identifier Parameter 3 position SetOpticalPower 2547 None Parameter 3 percentage SetPosition 2053 None Parameter 3 position SetPositionLimit 2505 None Parameter 1 direction Parameter 3 position SetRolloverLimit 2539 None Parameter 1 direction Param
63. unction MWr m c 1 3 RECONF_ERR BOOL R F TRF REC F ault during channel reconfiguration failure MWr m c 1 15 47 Fault channel words Symbol Type Access Meaning Address EXT FLTO BOOL R External fault 0 MWr m c 2 0 drive fault EXT_FLT1 BOOL R External fault 1 MWr m c 2 1 communication fault with the axis EXT_FLT2 BOOL External fault 2 MWr m c 2 3 INT_FLT BOOL Internal fault MWr m c 2 4 CONF_FLT BOOL Configuration fault MWr m c 2 5 hardware and software configuration different COM_FLT BOOL Communication fault MWr m c 2 6 APPLI FLT BOOL Application fault MWr m c 2 7 configuration adjustment or command fault FAN_STOPPED BOOL R Fan fault MWr m c 2 8 channel 0 only OVER_TEMP BOOL R Overtemperature MWr m c 2 9 channel 0 only SENSOR_FLT BOOL R Temperature sensor MWr m c 2 10 fault channel 0 only PROCESS_CONF BOOL R Creation of move MWr m c 2 11 object in progress PROCESS_CONF_FAILED BOOL R Configuration fault MWr m c 2 12 except for channel 0 48 TSX CSY 84 164 Module using Unity Pro VVRITE CMD interface words Symbol Type Access Meaning Address ERROR_CMD INT RW Error during WRITE_CMD MWr m c 19 RETURN_CMD_1 DINT RW Return 1 of the function MDr m c 20 RETURN_CMD_2 REA
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