Access the Axis object
The AXIS object provides status information about an axis. Specify the axis tag name to determine which AXIS object you want.
For more information about the AXIS object, see the
SERCOS and Analog Motion Configuration and Startup User Manual
, publication MOTION-UM001.When an attribute is marked with an asterisk (*), it means that the attribute is located in both the controller and in the motion module.When you use an SSV instruction to write one of these values, the controller automatically updates the copy in the module. However, this process is not immediate. The axis status tag, ConfigUpdateInProcess is provided to indicate when this process is complete.
For example, if you perform an SSV to the PositionLockTolerance, ConfigUpdateInProcess of the Axis tag is set until an update to the module is successful. Therefore, the logic following the SSV could wait on this bit resetting before continuing in the program.
Attribute | Data Type | Instruction | Description | ||||
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* AccelerationFeedForwardGain | REAL | GSV SSV | The torque command output % necessary to generate the commanded acceleration. | ||||
ACStopMode | SINT | GSV SSV | The type of stop to perform your axis
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ActualPosition | REAL | GSV | The actual position in position units of your axis. | ||||
ActualVelocity | REAL | GSV | The actual velocity of your axis in position units/second. | ||||
AnalogInput1 | REAL | GSV SSV | This attribute applies only to an axis associated Analog Input 2, a Kinetix7000 Drive. This attribute with an interger range of +/-16384, represents the analog value of an analog device connected to the Kinetix7000 drive's analog input(s). These inputs are useful for web/converting applications with load cell (measuring web force on a roller) or dancer (measuring web force/position directly), which can be directly connected to the drive controlling the web. | ||||
AverageVelocity | REAL | GSV | The average velocity of your axis in position units/second. | ||||
AverageVelocityTimebase | REAL | GSV SSV | The timebase in seconds of the average velocity of your axis. | ||||
AxisConfigurationState | SINT | GSV | The state of the axis configuration
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Bandwidth | REAL | GSV SSV | The unity gain bandwidth (Hz) that the controller uses to calculate the gains for a Motion Apply Axis Tuning (MAAT) instruction. | ||||
C2CConnectionInstance | DINT | GSV | The connection instance of the controller producing the axis data. | ||||
C2CMapTableInstance | DINT | GSV | The map instance of the controller producing the axis data. | ||||
CommandPosition | REAL | GSV | The command position of your axis in position units. | ||||
CommandVelocity | REAL | GSV | The command velocity of your axis in position units. | ||||
ConversionConstant | REAL | GSV SSV | The conversion factor used to convert from your units to feedback counts in counts/position unit. | ||||
DampingFactor | REAL | GSV SSV | The value used in calculating the maximum position servo bandwidth during the execution of the Motion Run Axis Tuning (MRAT) instruction. | ||||
*DriveFaultAction | SINT | GSV SSV | The operation performed when a drive fault occurs.
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DynamicsConfigurationBits | DINT | GSV SSV | Revision 16 improved how the controller handles changes to an S-curve profile. Do you want to return to revision 15 or earlier behavior for S-curves? NO — Leave these bits ON (default). YES — Turn OFF one or more of these bits: | ||||
To turn off this change | Turn off this bit | ||||||
Reduced S-curve Stop Delay This change applies to the Motion Axis Stop (MAS) instruction. It lets you use a higher deceleration jerk to stop an accelerating axis more quickly. The controller uses the deceleration jerk of the stopping instruction if it is more than the current acceleration jerk. | 0 | ||||||
Reduced S-curve Velocity Reversals Before revision 16, you could cause an axis to momentarily reverse direction if you decreased the deceleration jerk while the axis was decelerating. This typically happened if you tried to restart a jog or move with a lower deceleration rate while the axis was stopping. This change prevents the axis from reversing in those situations. | 1 | ||||||
Reduced S-curve Velocity Overshoots You can cause an axis to overshoot its programmed speed if you decrease the acceleration jerk while the axis is accelerating. This change keeps to overshoot to no more than 50% of the programmed speed. | 2 | ||||||
*FeedbackFaultAction | SINT | GSV SSV | The operation performed when an encoder loss fault occurs.
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*FeedbackNoiseFaultAction | SINT | GSV SSV | The operation performed when an encoder noise fault occurs.
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*FrictionCompensation | REAL | GSV SSV | The fixed output level in volts used to compensate for static friction. | ||||
GroupInstance | DINT | GSV SSV | The instance number of the motion group that contains your axis. | ||||
HardOvertravelFaultAction | SINT | GSV SSV |
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HomeConfigurationBits | DINT | GSV SSV | The motion configuration bits for your axis.
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HomeMode | SINT | GSV SSV | The homing mode for your axis.
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HomePosition | REAL | GSV SSV | The homing position of your axis in position units. | ||||
HomeReturnSpeed | REAL | GSV SSV | The homing return speed of your axis in position units/second. | ||||
HomeSequence | SINT | GSV SSV | The homing sequence type for your axis.
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HomeSpeed | REAL | GSV | The homing speed of your axis in position units/second. | ||||
Instance | DINT | GSV | The instance number of the axis. | ||||
InterpolatedActualPosition | REAL | GSV | For time-based position captures, this attribute provides the interpolated actual axis position. The position is specified in position units, and is based on the value of the InterpolationTime attribute. To interpolate an actual axis position, use an SSV instruction to set the InterpolationTime attribute. | ||||
InterpolatedCommandPosition | REAL | GSV | For time-based position captures, this attribute provides the interpolated command axis position. The position is specified in position units, and is based on the value of the InterpolationTime attribute. To interpolate a command axis position, use an SSV instruction to set the InterpolationTime attribute. | ||||
InterpolationTime | DINT | GSV SSV | Use this attribute to provide a reference for time-based position captures. To interpolate a position, use an SSV instruction to set the InterpolationTime attribute. The controller then updates the following attributes:
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MapTableInstance | DINT | GSV | The I/O map instance of the servo module. | ||||
MasterOffset | REAL | GSV | Position offset that is currently applied to the master of a position cam. Specified in position units of the master axis. | ||||
MaximumAcceleration | REAL | GSV SSV | The maximum acceleration of your axis in position units/second 2 . | ||||
MaximumDeceleration | REAL | GSV SSV | The maximum deceleration of your axis in position units/second 2 . | ||||
*MaximumNegativeTravel | REAL | GSV SSV | The maximum negative travel limit in position units. | ||||
*MaximumPositiveTravel | REAL | GSV SSV | The maximum positive travel limit in position units. | ||||
MaximumSpeed | REAL | GSV SSV | The maximum speed of your axis in position units/second. | ||||
ModuleChannel | SINT | GSV | The channel of your servo module. | ||||
MotionStatusBits | DINT | GSV | The motion status bits for your axis. (In the AXIS structure, this is the MotionStatus member. | ||||
Bit | Bit name | Meaning | |||||
0 | AccelStatus | acceleration | |||||
1 | DecelStatus | deceleration | |||||
2 | MoveStatus | move | |||||
3 | JogStatus | jog | |||||
4 | GearingStatus | gear | |||||
5 | HomingStatus | home | |||||
6 | StoppingStatus | stop | |||||
7 | AxisHomedStatus | homed status | |||||
8 | PositionCamStatus | position cam | |||||
9 | TimeCamStatus | time cam | |||||
10 | PositionCamPendingStatus | position cam pending | |||||
11 | TimeCamPendingStatus | time cam pending | |||||
12 | GearingLockStatus | gearing lock | |||||
13 | PositionCamLockStatus | position cam lock | |||||
14 | MasterOffsetMoveStatus | master offset move | |||||
15 | CoordinatedMotionStatus | coordinate motion | |||||
16 | TransformStateStatus | transform state | |||||
17 | ControlledByTransformSta tus | control by transform | |||||
*OutputLPFilterBandwidth | REAL | GSV SSV | The bandwidth (Hz) of the servo low-pass digital output filter. | ||||
*OutputLimit | REAL | GSV SSV | The value in volts of the maximum servo output voltage of your axis. | ||||
*OutputOffset | REAL | GSV SSV | The value in volts used to offset the effects of the cumulative offsets of the servo module DAC output and the servo drive input. | ||||
PositionError | REAL | GSV | The difference between the actual and command position of an axis. | ||||
*PositionErrorTolerance | REAL | GSV SSV | The amount of position error in position units that the servo tolerates before issuing a position error fault. | ||||
PositionIntegratorError | REAL | GSV | The sum of the position error for an axis in position units. | ||||
*PositionIntegralGain | REAL | GSV SSV | The value (1/msec 2 ) used to achieve accurate axis positioning despite disturbances such as static friction and gravity. | ||||
*PositionLockTolerance | REAL | GSV SSV | The amount of position error in position units that the servo module tolerates when giving a true position locked status indication. | ||||
*PositionProportionalGain | REAL | GSV SSV | The value (1/msec) the controller multiples with the position error to correct for the position error. | ||||
PositionServoBandwidth | REAL | GSV SSV | The unity gain bandwidth that the controller uses to calculate the gains for a Motion Apply Axis Tuning (MAAT) instruction. | ||||
*PositionUnwind | DINT | GSV SSV | The value used to perform the automatic unwind of the rotary axis in counts/revolution. | ||||
ProcessStatus | INT | GSV | The status of the last Motion Run Hookup Diagnostic (MRHD) instruction. | ||||
Value | Meaning | ||||||
0 | test process successful | ||||||
1 | test in progress | ||||||
2 | test process aborted by the user | ||||||
3 | test exceeded 2-second timeout | ||||||
4 | test process failed due to servo fault | ||||||
5 | insufficient test increment | ||||||
ProgrammedStopMode | SINT | GSV SSV | The type of stop to perform on your axis. | ||||
Value | Meaning | ||||||
0 | fast stop | ||||||
1 | fast shutdown | ||||||
2 | hard shutdown | ||||||
Registration1Position | REAL | GSV | The registration position for your axis in position units. | ||||
RegistrationTime | DINT | GSV | You can use this attribute to supply a timestamp for time-based position captures:
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RotaryAxis | SINT | GSV Tag | 0 = Linear 1 = Rotary When the Rotary Axis attribute is set true (1), it lets the axis unwind. This gives infinite position range by unwinding the axis position whenever the axis moves through a complete physical revolution. The number of encoder counts per physical revolution of the axis is specified by the Position Unwind attribute. For Linear operation, the counts don’t roll over. They are limited to +/- 2 billion. | ||||
ServoFaultBits | DINT | GSV | The servo fault bits for your servo loop. (In the AXIS structure, this is the AxisEvent member.) | ||||
Bit | Bit name | Meaning | |||||
0 | PosSoftOvertravelFault | positive overtravel fault | |||||
1 | NegSoftOvertravelFault | negative overtravel fault | |||||
2 | NegSoftOvertravelFault | position error fault | |||||
3 | FeedbackFault | encoder channel A loss fault | |||||
4 | FeedbackFault | encoder channel B loss fault | |||||
5 | FeedbackFault | encoder channel Z loss fault | |||||
6 | FeedbackNoiseFault | encoder noise fault | |||||
7 | DriveFault | drive fault | |||||
8 | ModuleSyncFault | synchronous connection fault | |||||
9 | ModuleHardwareFault | servo hardware fault | |||||
ServoOutputLevel | REAL | GSV | The output voltage level in volts for your axis servo loop. | ||||
ServoStatusBits | DINT | GSV | The status bits for your servo loop. (In the AXIS structure, this is the ServoStatus member.) | ||||
Bit | Bit name | Meaning | |||||
0 | ServoActionStatus | servo action | |||||
1 | DriveEnableStatus | drive enable | |||||
2 | OutputLimitStatus | output limit | |||||
3 | PositionLockStatus | position lock | |||||
13 | TuneStatus | tuning process | |||||
14 | ProcessStatus | test diagnostic | |||||
15 | ShutdownStatus | axis shutdown | |||||
*SoftOvertravelFaultAction | SINT | GSV SSV | The operation performed when a soft overtravel fault occurs. 0 = shutdown the axis 1 = disable the drive 2 = stop the commanded motion 3 = change the status bit only | ||||
StartActualPosition | REAL | GSV | The actual position in position units of your axis when new commanded motion starts for the axis. | ||||
StartCommandPosition | REAL | GSV | The command position in position units of your axis when new commanded motion starts for the axis. | ||||
StartMasterOffset | REAL | GSV | The master offset when the last Motion Axis Move (MAM) instruction executed either of these types of moves:
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StrobeActualPosition | REAL | GSV | The actual position in position units of an axis when the Motion Group Strobe Position (MGSP) instruction executes. | ||||
StrobeCommandPosition | REAL | GSV | The command position in position units of an axis when the Motion Group Strobe Position (MGSP) instruction executes. | ||||
StrobeMasterOffset | REAL | GSV | The master offset when the Motion Group Strobe Position (MGSP) instruction executes. Specified in position units of the master axis. | ||||
TestDirectionForward | SINT | GSV | The direction of axis travel during the Motion Run Hookup Diagnostic (MRHD) instruction as seen by the servo module. 0 = negative (reverse) direction 1 = positive (forward) direction | ||||
TuneAcceleration | REAL | GSV | The acceleration value in position units/sec 2 measured during the last Motion Run Axis Tuning (MRAT) instruction. | ||||
TuneAccelerationTime | REAL | GSV | The acceleration time in seconds measured during the last Motion Run Axis Tuning (MRAT) instruction. | ||||
TuneDeceleration | REAL | GSV | The deceleration value in position units/sec measured during the last Motion Run Axis Tuning (MRAT) instruction. | ||||
TuneDecelerationTime | REAL | GSV | The deceleration time in seconds measured during the last Motion Run Axis Tuning (MRAT) instruction. | ||||
TuneInertia | REAL | GSV | The inertia value in mV/Kcounts/second for the axis as calculated from the measurements the controller made during the last Motion Run Axis Tuning (MRAT) instruction. | ||||
TuneRiseTime | REAL | GSV | The axis rise time in seconds measured during the last Motion Run Axis Tuning (MRAT) instruction. | ||||
TuneSpeedScaling | REAL | GSV | The axis drive scaling factor in mV/Kcounts/sec measured during the last Motion Run Axis Tuning (MRAT) instruction. | ||||
TuneStatus | INT | GSV | The status of the last Motion Run Axis Tuning (MRAT) instruction.
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TuningConfigurationBits | DINT | GSV SSV | The tuning configuration bits for your axis.
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TuningSpeed | REAL | GSV SSV | The maximum speed in position units/second initiated by the Motion Run Axis Tuning (MRAT) instruction. | ||||
TuningTravelLimit | REAL | GSV SSV | The travel limit used by the Motion Run Axis Tuning (MRAT) instruction to limit the action during tuning. | ||||
VelocityCommand | REAL | GSV | The current velocity reference in position units/second to the velocity servo loop for an axis. | ||||
VelocityError | REAL | GSV | The difference in position units/second between the commanded and actual velocity of a servo axis. | ||||
VelocityFeedback | REAL | GSV | The actual velocity in position units/second of your axis as estimated by the servo module. | ||||
*VelocityFeedforwardGain | REAL | GSV SSV | The velocity command output % necessary to generate the commanded velocity. | ||||
*VelocityIntegralGain | REAL | GSV SSV | The value (1/msec) that the controller multiplies with the VelocityIError value to correct the velocity error. | ||||
VelocityIntegratorError | REAL | GSV | The sum of the velocity error for a specified axis. | ||||
*VelocityProportionalGain | REAL | GSV SSV | The value (1/msec) that the controller multiplies with the VelocityError to correct the velocity error. | ||||
*VelocityScaling | REAL | GSV SSV | The value used to convert the output of the servo loop into the equivalent voltage to the drive. | ||||
VelocityServoBandwidth | REAL | GSV SSV | The bandwidth (Hz) of the drive as calculated from the measurements made during the last Motion Run Axis Tuning (MRAT) instruction. | ||||
WatchPosition | REAL | GSV | The watch position in position units of your axis. |
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