.. _BeckhoffMC2Base: =============== BeckhoffMC2Base =============== Commands ++++++++ +---------------------+--------------------------+--------------------------------------------------+----------------+-------------+---------------------------------------------------+ |Key |Displayed Name |Description |Alias |Access Level |Allowed States | +=====================+==========================+==================================================+================+=============+===================================================+ |calibrate |Calibrate | | Calibrate actual position to calibrated | |USER |ON, OFF, INTERLOCKED, INTERLOCK_BROKEN | | | | | position. | | | | +---------------------+--------------------------+--------------------------------------------------+----------------+-------------+---------------------------------------------------+ |calibrateToEncoder |Calibrate To Encoder | | Calibrate actual position to encoder position. | |USER |ON, OFF, INTERLOCKED, INTERLOCK_BROKEN | +---------------------+--------------------------+--------------------------------------------------+----------------+-------------+---------------------------------------------------+ |emergencyStop |Emergency Stop | | CStop |CStop |USER | | +---------------------+--------------------------+--------------------------------------------------+----------------+-------------+---------------------------------------------------+ |home |Home | | CHoming |CHoming |USER |ON, INTERLOCK_BROKEN | +---------------------+--------------------------+--------------------------------------------------+----------------+-------------+---------------------------------------------------+ |mc2.csetActualPos |CSetActualPos | | |CSetActualPos |USER |ON, ACTIVE, INTERLOCKED, INTERLOCK_BROKEN | +---------------------+--------------------------+--------------------------------------------------+----------------+-------------+---------------------------------------------------+ |move |Move | | CMoveAbsolute |CMoveAbsolute |USER |ON, ACTIVE, INTERLOCKED, INTERLOCK_BROKEN | +---------------------+--------------------------+--------------------------------------------------+----------------+-------------+---------------------------------------------------+ |moveRelative |Move Relative | | CMoveRelative |CMoveRelative |USER |ON, ACTIVE, INTERLOCKED, INTERLOCK_BROKEN | +---------------------+--------------------------+--------------------------------------------------+----------------+-------------+---------------------------------------------------+ |off |Off | | CDisableAxis |CDisableAxis |USER | | +---------------------+--------------------------+--------------------------------------------------+----------------+-------------+---------------------------------------------------+ |on |On | | CEnableAxis |CEnableAxis |USER |OFF, INTERLOCK_BROKEN | +---------------------+--------------------------+--------------------------------------------------+----------------+-------------+---------------------------------------------------+ |resetAxis |Reset Axis | | CResetAxis |CResetAxis |USER |STOPPED, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +---------------------+--------------------------+--------------------------------------------------+----------------+-------------+---------------------------------------------------+ |stop |Stop | | CHalt |CHalt |USER | | +---------------------+--------------------------+--------------------------------------------------+----------------+-------------+---------------------------------------------------+ |coupling.couple |Couple Axis | | Configure the axis as a slave of the axis |CCouplingAxis |EXPERT |ON, INTERLOCKED, INTERLOCK_BROKEN | | | | | indicated in the Master Motor property | | | | +---------------------+--------------------------+--------------------------------------------------+----------------+-------------+---------------------------------------------------+ |coupling.decouple |Decouple Axis | | Decouple the axis from the axis indicated in |CUnCouplingAxis |EXPERT |DISABLED, INTERLOCKED, INTERLOCK_BROKEN | | | | | the Master Motor property | | | | +---------------------+--------------------------+--------------------------------------------------+----------------+-------------+---------------------------------------------------+ |moveConstantVelocity |Move at constant velocity | | set property amovevelocity |CMoveVelocity |EXPERT |ON, INTERLOCK_BROKEN | +---------------------+--------------------------+--------------------------------------------------+----------------+-------------+---------------------------------------------------+ |moveModulo |Move Modulo | | |CMoveModulo |EXPERT |ON, INTERLOCK_BROKEN | +---------------------+--------------------------+--------------------------------------------------+----------------+-------------+---------------------------------------------------+ Properties ++++++++++ +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |Key |Displayed Name |Description |Alias |Type |Access Level |Access Mode |Allowed States | +======================================+==================================+==================================================+==================================+=============+=============+===============+==============================================+ |actualPosition |Actual Position | | AActualPosition |AActualPosition |Double |OBSERVER |READONLY | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |coupling.isConfigurableAsSlave |Configurable as Slave | | The motor is configurable as slave in a | |Bool |OBSERVER |READONLY | | | | | | coordinated motion. | | | | | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |coupling.isMaster |is Master | | The motor is configured as master in a | |Bool |OBSERVER |READONLY | | | | | | coordinated motion. | | | | | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |coupling.isSlave |is Slave | | The motor is configured as slave in a | |Bool |OBSERVER |READONLY | | | | | | coordinated motion. | | | | | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |isCCWLimit |At CCW Limit | | Is at hardware end-switch low - CCW limit. | |Bool |OBSERVER |READONLY | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |isCWLimit |At CW Limit | | Is at hardware end-switch high - CW limit. | |Bool |OBSERVER |READONLY | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |isInterlockLimitHigh |At Interlock limit high | | Is at Interlock limit high. | |Bool |OBSERVER |READONLY | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |isInterlockLimitLow |At Interlock limit low | | Is at Interlock limit low. | |Bool |OBSERVER |READONLY | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |isOnTarget |isOnTarget | | Indicates whether the motor is on target or | |Bool |OBSERVER |READONLY | | | | | | not. | | | | | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |isSWLimitHigh |At S/W limit high | | Is at software limit high. | |Bool |OBSERVER |READONLY | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |isSWLimitLow |At S/W limit low | | Is at software limit low. | |Bool |OBSERVER |READONLY | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |calibrateTarget |Calibrate target | | The motor scale is set to this position when | |Double |USER |RECONFIGURABLE | | | | | | hitting calibrate | | | | | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |stepSize |Step Size | | AMoveDistance |AMoveDistance |Double |USER |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |swLimitLow |S/W limit low | | AAxisMinSoftPosLimit |AAxisMinSoftPosLimit |Double |USER |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |targetPosition |Target Position | | AAbsoluteTargetPosition |AAbsoluteTargetPosition |Double |USER |RECONFIGURABLE | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |targetVelocity |Target Velocity | | AMoveVelocity |AMoveVelocity |Double |USER |RECONFIGURABLE | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |axisBacklash |Axis Backlash | | AAxisBacklash |AAxisBacklash |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |coupling.denominator |Ratio Denominator | | This is the denominator of the coupling ratio. |ACouplingRatioDenominator |Int32 |EXPERT |RECONFIGURABLE | | | | | | It is valid only if this axis can be coupled. | | | | | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |coupling.masterDevice |Master Device | | Name of the master device. |AMasterDevice |String |EXPERT |READONLY | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |coupling.numerator |Ratio Numerator | | This is the numerator of the coupling ratio. It|ACouplingRatioNumerator |Int32 |EXPERT |RECONFIGURABLE | | | | | | is valid only if this axis can be coupled. | | | | | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |enableSWLimitHigh |Enable S/W limit high | | AAxisEnMaxSoftPosLimit |AAxisEnMaxSoftPosLimit |Bool |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |enableSWLimitLow |Enable S/W limit low | | AAxisEnMinSoftPosLimit |AAxisEnMinSoftPosLimit |Bool |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |encoderPosition |Encoder Position | | AActualEncPosition |AActualEncPosition |Double |EXPERT |READONLY | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |epsilonActualPosition |Epsilon for Actual Position | | AEpsilonActualPosition |AEpsilonActualPosition |Double |EXPERT |RECONFIGURABLE | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |epsilonActualVelocity |Epsilon for Actual Velocity | | AEpsilonActualVelocity |AEpsilonActualVelocity |Double |EXPERT |RECONFIGURABLE | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |interfaces |Abstract Interfaces | | Abstract interface for external proxies to be | |VectorString |EXPERT |READONLY | | | | | | considered when working with this device | | | | | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisacc |AAxisAcc | | AAxisAcc |AAxisAcc |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxiscalibrationvelocitybackward |AAxisCalibrationVelocityBackward | | AAxisCalibrationVelocityBackward |AAxisCalibrationVelocityBackward |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxiscalibrationvelocityforward |AAxisCalibrationVelocityForward | | AAxisCalibrationVelocityForward |AAxisCalibrationVelocityForward |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxiscycletime |AAxisCycleTime | | AAxisCycleTime |AAxisCycleTime |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisdec |AAxisDec | | AAxisDec |AAxisDec |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisdelaytimeveloposition |AAxisDelayTimeVeloPosition | | AAxisDelayTimeVeloPosition |AAxisDelayTimeVeloPosition |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisenableposcorrection |AAxisEnablePosCorrection | | AAxisEnablePosCorrection |AAxisEnablePosCorrection |Bool |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisenbacklashcompensation |AAxisEnBacklashCompensation | | AAxisEnBacklashCompensation |AAxisEnBacklashCompensation |Bool |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisencoderdirectioninverse |AAxisEncoderDirectionInverse | | AAxisEncoderDirectionInverse |AAxisEncoderDirectionInverse |Bool |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisencodermask |AAxisEncoderMask | | AAxisEncoderMask |AAxisEncoderMask |UInt32 |EXPERT |READONLY | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisencodermodulovalue |AAxisEncoderModuloValue | | AAxisEncoderModuloValue |AAxisEncoderModuloValue |Double |EXPERT |READONLY | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisencoderoffset |AAxisEncoderOffset | | AAxisEncoderOffset |AAxisEncoderOffset |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisencoderscalingfactor |AAxisEncoderScalingFactor | | AAxisEncoderScalingFactor |AAxisEncoderScalingFactor |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisendatapersistence |AAxisEnDataPersistence | | AAxisEnDataPersistence |AAxisEnDataPersistence |Bool |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisenintargettimeout |AAxisEnInTargetTimeout | | AAxisEnInTargetTimeout |AAxisEnInTargetTimeout |Bool |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisenloopingdistance |AAxisEnLoopingDistance | | AAxisEnLoopingDistance |AAxisEnLoopingDistance |Bool |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisenpositionlagmonitoring |AAxisEnPositionLagMonitoring | | AAxisEnPositionLagMonitoring |AAxisEnPositionLagMonitoring |Bool |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisenpositionrangemonitoring |AAxisEnPositionRangeMonitoring | | AAxisEnPositionRangeMonitoring |AAxisEnPositionRangeMonitoring |Bool |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisentargetpositionmonitoring |AAxisEnTargetPositionMonitoring | | AAxisEnTargetPositionMonitoring |AAxisEnTargetPositionMonitoring |Bool |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisfastacc |AAxisFastAcc | | AAxisFastAcc |AAxisFastAcc |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisfastjerk |AAxisFastJerk | | AAxisFastJerk |AAxisFastJerk |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisfaststopsignaltype |AAxisFastStopSignalType | | AAxisFastStopSignalType |AAxisFastStopSignalType |UInt32 |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisid |AAxisId | | AAxisId |AAxisId |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisintargettimeout |AAxisInTargetTimeout | | AAxisInTargetTimeout |AAxisInTargetTimeout |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisjerk |AAxisJerk | | AAxisJerk |AAxisJerk |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisjogincrementbackward |AAxisJogIncrementBackward | | AAxisJogIncrementBackward |AAxisJogIncrementBackward |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisjogincrementforward |AAxisJogIncrementForward | | AAxisJogIncrementForward |AAxisJogIncrementForward |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisloopingdistance |AAxisLoopingDistance | | AAxisLoopingDistance |AAxisLoopingDistance |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxismanualvelocityfast |AAxisManualVelocityFast | | AAxisManualVelocityFast |AAxisManualVelocityFast |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxismanualvelocityslow |AAxisManualVelocitySlow | | AAxisManualVelocitySlow |AAxisManualVelocitySlow |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxismaxposlagfiltertime |AAxisMaxPosLagFilterTime | | AAxisMaxPosLagFilterTime |AAxisMaxPosLagFilterTime |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxismaxposlagvalue |AAxisMaxPosLagValue | | AAxisMaxPosLagValue |AAxisMaxPosLagValue |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxismaxvelocity |AAxisMaxVelocity | | AAxisMaxVelocity |AAxisMaxVelocity |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxismodulotolerancewindow |AAxisModuloToleranceWindow | | AAxisModuloToleranceWindow |AAxisModuloToleranceWindow |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxismotionmonitoringtime |AAxisMotionMonitoringTime | | AAxisMotionMonitoringTime |AAxisMotionMonitoringTime |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxismotionmonitoringwindow |AAxisMotionMonitoringWindow | | AAxisMotionMonitoringWindow |AAxisMotionMonitoringWindow |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxismotordirectioninverse |AAxisMotorDirectionInverse | | AAxisMotorDirectionInverse |AAxisMotorDirectionInverse |Bool |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisoverridetype |AAxisOverrideType | | AAxisOverrideType |AAxisOverrideType |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisposcorrectionfiltertime |AAxisPosCorrectionFilterTime | | AAxisPosCorrectionFilterTime |AAxisPosCorrectionFilterTime |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxispositionrangewindow |AAxisPositionRangeWindow | | AAxisPositionRangeWindow |AAxisPositionRangeWindow |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisrapidtraversevelocity |AAxisRapidTraverseVelocity | | AAxisRapidTraverseVelocity |AAxisRapidTraverseVelocity |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisrefveloonrefoutput |AAxisRefVeloOnRefOutput | | AAxisRefVeloOnRefOutput |AAxisRefVeloOnRefOutput |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxistargetpositionmonitoringtime |AAxisTargetPositionMonitoringTime | | AAxisTargetPositionMonitoringTime |AAxisTargetPositionMonitoringTime |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxistargetpositionwindow |AAxisTargetPositionWindow | | AAxisTargetPositionWindow |AAxisTargetPositionWindow |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aaxisunitinterpretation |AAxisUnitInterpretation | | AAxisUnitInterpretation |AAxisUnitInterpretation |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.acommandedvelocity |ACommandedVelocity | | ACommandedVelocity |ACommandedVelocity |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aencoderaxisoffset |AEncoderAxisOffset | | AEncoderAxisOffset |AEncoderAxisOffset |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aencoderaxisscalingfactor |AEncoderAxisScalingFactor | | AEncoderAxisScalingFactor |AEncoderAxisScalingFactor |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.aencoderreferencemode |AEncoderReferenceMode | | AEncoderReferenceMode |AEncoderReferenceMode |Bool |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.ahomingvelocitoffplccam |AHomingVelocitOffPlcCam | | AHomingVelocitOffPlcCam |AHomingVelocitOffPlcCam |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.ahomingvelocittowardsplccam |AHomingVelocitTowardsPlcCam | | AHomingVelocitTowardsPlcCam |AHomingVelocitTowardsPlcCam |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.ainvertdircalibrationcamsearch |AInvertDirCalibrationCamSearch | | AInvertDirCalibrationCamSearch |AInvertDirCalibrationCamSearch |Bool |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.ainvertdirsyncpulssearch |AInvertDirSyncPulsSearch | | AInvertDirSyncPulsSearch |AInvertDirSyncPulsSearch |Bool |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.amodulotargetposition |AModuloTargetPosition | | AModuloTargetPosition |AModuloTargetPosition |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.amovedirection |Direction of Motion | | AMoveDirection |AMoveDirection |Int32 |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.ancsvbcycletime |ANcSvbCycleTime | | ANcSvbCycleTime |ANcSvbCycleTime |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.axisenmotionmonitoring |AAxisEnMotionMonitoring | | AAxisEnMotionMonitoring |AAxisEnMotionMonitoring |Bool |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.axisfastdec |AAxisFastDec | | AAxisFastDec |AAxisFastDec |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.extendedStateWord |Extended State Word | | AExtendedStateWord |AExtendedStateWord |UInt32 |EXPERT |READONLY | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2.ncsafcycletime |ANcSafCycleTime | | ANcSafCycleTime |ANcSafCycleTime |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2ContinuousMotion |MC2 Continuous Motion | | e.g. constant velocity | |Bool |EXPERT |READONLY | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2DiscreteMotion |mc2 Discrete Motion | | e.g. relative or absolute position movement | |Bool |EXPERT |READONLY | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |mc2ErrorStop |Stopped due to error | | | |Bool |EXPERT |READONLY | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |relativeDeadband |Software Deadband | | if target and actual positions have a relative | |Double |EXPERT |RECONFIGURABLE | | | | | | difference smaller than this property the | | | | | | | | | | 'move' command will not be sent to the PLC. | | | | | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |specificError |MC2 Error Code | | ASpecificError |ASpecificError |UInt32 |EXPERT |READONLY | | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+ |swLimitHigh |S/W limit high | | AAxisMaxSoftPosLimit |AAxisMaxSoftPosLimit |Double |EXPERT |RECONFIGURABLE |ON, ERROR, INTERLOCKED, OFF, INTERLOCK_BROKEN | +--------------------------------------+----------------------------------+--------------------------------------------------+----------------------------------+-------------+-------------+---------------+----------------------------------------------+