BeckhoffMC2Base¶
Commands¶
| Key | Displayed Name | Description | Alias | Access Level | Allowed States |
|---|---|---|---|---|---|
| calibrate | Calibrate | Calibrate actual position to calibrated
position.
|
USER | ON, OFF, INTERLOCKED, INTERLOCK_BROKEN | |
| 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
indicated in the Master Motor property
|
CCouplingAxis | EXPERT | ON, INTERLOCKED, INTERLOCK_BROKEN |
| coupling.decouple | Decouple Axis | Decouple the axis from the axis indicated in
the Master Motor property
|
CUnCouplingAxis | EXPERT | DISABLED, INTERLOCKED, INTERLOCK_BROKEN |
| 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
coordinated motion.
|
Bool | OBSERVER | READONLY | ||
| coupling.isMaster | is Master | The motor is configured as master in a
coordinated motion.
|
Bool | OBSERVER | READONLY | ||
| coupling.isSlave | is Slave | The motor is configured as slave in a
coordinated motion.
|
Bool | OBSERVER | READONLY | ||
| 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
not.
|
Bool | OBSERVER | READONLY | ||
| 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
hitting calibrate
|
Double | USER | RECONFIGURABLE | ||
| 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.
It is valid only if this axis can be coupled.
|
ACouplingRatioDenominator | Int32 | EXPERT | RECONFIGURABLE | |
| 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
is valid only if this axis can be coupled.
|
ACouplingRatioNumerator | Int32 | EXPERT | RECONFIGURABLE | |
| 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
considered when working with this device
|
VectorString | EXPERT | READONLY | ||
| 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
difference smaller than this property the
‘move’ command will not be sent to the PLC.
|
Double | EXPERT | RECONFIGURABLE | ||
| 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 |