COORDINATE_SYSTEM Structure
Listed below are attributes of a coordinate system.
How to Access Attributes
The following table describes how to access attributes. The Access column shows how to access the attribute. The Description column explains the access method that is used.
Example
Attribute | Axis Type | Data Type | Access | Description |
Actual Position Tolerance | GSV | Use a Get System Value (GSV) instruction to get the value. | ||
SSV | ||||
Config Fault | Tag | Use the tag for the axis to get the value. | ||
Coordinate Motion Status | Tag | Use the tag for the axis to get the value. |
Coordinate System Attributes
This table describes each attribute of an axis.
Attribute | Data Type | Access | Description | |
Accel Status | BOOL | Tag | Use the Accel Status bit to determine if the coordinated (vectored) motion is currently being commanded to accelerate. The acceleration bit is set when a coordinated move is in the accelerating phase due to the current coordinated move. It is cleared when the coordinated move has been stopped or the coordinated move is in the decelerating phase. | |
Active Tool Frame ID | DINT | GSV Tag | Active Tool identifier specified by the user in the MCTO instruction. | |
Active Tool Frame Offset | DINT | GSV | Value of the active tool offset being used in the MCTO instruction. First three entries are coordination units. Second three entries are degrees. | |
Actual Pos Tolerance | BOOL | Tag | Use the Actual Pos Tolerance Status bit to determine when a coordinate move is within the Actual Position Tolerance. The Actual Position Tolerance Status bit is set for AT term type only. The bit is set when interpolation is complete and the actual distance to programmed endpoint is less than the configured AT value. The bit remains set after an instruction completes. The bit is reset if either a new instruction is started or the axis moves such that the actual distance to programmed endpoint is greater than the configured AT value. | |
Actual Position | REAL[8] | Tag | Array of actual position of each axis associated to this motion coordinate system in Coordinate Units. | |
Actual Position Tolerance | REAL | GSV SSV | Coordination Units The Actual Position Tolerance attribute value is a distance unit used when instructions such as MCLM, MCCM and so on specify a Termination Type of Actual Position. | |
Actual Position Tolerance Status | BOOL | Tag | The Actual Position Tolerance Status bit attribute can be used to determine when a coordinate move is within the Actual Position Tolerance. | |
Axes Configuration Faulted | DINT | Tag | Shows which axes in this coordinate system have a configuration fault. | |
If this bit is on | Then this axis has a configuration fault | |||
0 | 0 | |||
1 | 1 | |||
2 | 2 | |||
Axes Inhibited Status | DINT | Tag | Shows which axes in this coordinate system are inhibited. | |
If this bit is on | Then this axis is inhibited | |||
0 | 0 | |||
1 | 1 | |||
2 | 2 | |||
Axes Servo On Status | DINT | Tag | Shows which axes in this coordinate system are on (via MSO). | |
If this bit is on | Then this axis is on | |||
0 | 0 | |||
1 | 1 | |||
2 | 2 | |||
Axes Shutdown Status | DINT | Tag | Shows which axes in this coordinate system are shutdown. | |
If this bit is on | Then this axis is shutdown | |||
0 | 0 | |||
1 | 1 | |||
2 | 2 | |||
Axis Fault | DINT | Tag | The Axis Fault Bits attribute is a roll-up of all of the axes associated to this motion coordinate system. A bit being set indicates that one of the associated axes has that fault. | |
Type | Bit | |||
Physical Axis Fault | 0 | |||
Module Fault | 1 | |||
Config Fault | 2 | |||
Group Fault | 3 | |||
Axis Inhibit Status | BOOL | Tag | If this bit is the following. ON - An axis in the coordinate system is inhibited. OFF - None of the axis in the coordinate system are inhibited. | |
Command Pos Tolerance Status | BOOL | Tag | Use the Command Position Tolerance Status bit to determine when a coordinate move is within the Command Position Tolerance. The Command Position Tolerance Status bit is set for all term types whenever the distance to programmed endpoint is less than the configured CT value. The bit remains set after an instruction completes. The bit is reset when a new instruction is started. | |
Command Position Tolerance | REAL | GSV SSV | Coordination Units The Command Position Tolerance attribute value is a distance unit used when instructions such as MCLM, MCCM and so on specify a Termination Type of Command Position. | |
Config Fault | BOOL | Tag | The Configuration Fault bit is set when an update operation targeting an axis configuration attribute of an associated motion module has failed. Specific information concerning the Configuration Fault may be found in the Attribute Error Code and Attribute Error ID attributes associated with the motion module. | |
CoordinateSystemLockStatus | BOOL | Tag | The CoordinateSystemLockStatus is set when linear (MCLM) or circular (MCCM) move is position locked whereby the master axis has moved past the lock position in the specified lock direction. | |
Coordinated Motion Status | DINT | Tag | Lets you access the motion status bits for the coordinate system in one 32-bit word. | |
Status | Bit | |||
Accel Status | 0 | |||
Decel Status | 1 | |||
Actual Pos Tolerance Status | 2 | |||
Command Pos Tolerance Status | 3 | |||
Stopping Status | 4 | |||
Reserved | 5 | |||
Move Status | 6 | |||
Move Transition Status | 7 | |||
Move Pending Status | 8 | |||
Move Pending Queue Full Status | 9 | |||
Reserved | 10 | |||
Reserved | 11 | |||
Tool Change Allowed Status | 12 | |||
Transform Source | 13 | |||
Transform Target | 14 | |||
CoordinateSystemLockStatus | 15 | |||
Coordinated System Auto Tag Update | SINT | GSV SSV | The Coordinate System Auto Tag Update attribute configures whether the Actual Position attribute is automatically updated each motion task scan. This is similar to, but separate from the Motion Group’s "Auto Tag Update" attribute. 0 - auto update disabled 1 - auto update enabled (default) | |
Coordinated System Status | DINT | Tag | Lets you access the status bits for the coordinate system in one 32-bit word. | |
Status | Bit | |||
Shutdown Status | 0 | |||
Ready Status | 1 | |||
Motion Status | 2 | |||
Axis Inhibit Status | 3 | |||
Decel Status | BOOL | Tag | Use the Decel Status bit to determine if the coordinated (vectored) motion is currently being commanded to decelerate. The deceleration bit is set when a coordinated move is in the decelerating phase due to the current coordinated move. It is cleared when the coordinated move has been stopped or the coordinated move is complete. | |
Dynamics Configuration Bits | 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 Coordinated Stop (MCS) instruction. It lets you use a higher deceleration jerk to stop an accelerating coordinate system 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 a coordinate system to momentarily reverse direction if you decreased the deceleration jerk while the coordinate system was decelerating. This typically happened if you tried to restart a move with a lower deceleration rate while the coordinate system was stopping. This change prevents the coordinate system from reversing in those situations. | 1 | |||
Reduced S-curve Velocity Overshoots You can cause a coordinate system to overshoot its programmed speed if you decrease the acceleration jerk while the coordinate. | 2 | |||
Group Fault | BOOL | Tag | The Group Fault bit attribute is set when one or more faults have occurred related to the motion group associated with the selected axis. The specific fault conditions can then be determined through access to the Group Fault attribute of the associated motion group. Usually, a group fault affects all axes associated with the motion group. A group fault generally results in the shutdown of all associated axes. Reconfiguration of the entire motion subsystem is required to recover from a group fault condition. | |
Maximum Acceleration | REAL | GSV SSV | Coordination Units / Sec2 The Maximum Acceleration attribute value is used by motion instructions such as MCLM, MCCM and so on, to determine the acceleration rate to apply to the coordinate system vector when the acceleration is specified as a percent of the Maximum. | |
Maximum Deceleration | REAL | GSV SSV | Coordination Units / Sec2 The Maximum Deceleration attribute value is used by motion instructions such as MCLM, MCCM and so on, to determine the deceleration rate to apply to the coordinate system vector when the deceleration is specified as a percent of the Maximum. | |
Maximum Pending Moves | DINT | GSV | The Maximum Pending Moves attribute is used to determine how many Move Pending queue slots should be created as part of the Coordinate System’s create service. Limited to a queue of one. | |
Maximum Speed | REAL | GSV SSV | Coordination Units / Sec The value of the Maximum Speed attribute is used by various motion instructions (for example, MCLM, MCCM and so on) to determine the steady-state speed of the coordinate system vector when the speed is specified as a percent of the Maximum. | |
Module Fault | BOOL | Tag | The Module Fault bit attribute is set when a serious fault has occurred with the motion module associated with the selected axis. Usually a module fault affects all axes associated with the motion module. A module fault generally results in the shutdown of all associated axes. Reconfiguration of the motion module is required to recover from a module fault condition. | |
Modules Faulted | DINT | Tag | Shows which axes in this coordinate system have a module fault. If this bit is on Then this axis has a module fault 0 0 1 1 2 2 | |
Motion Status | BOOL | Tag | The Motion Status bit attribute is set indicating that at least one Coordinate Motion instruction is active and the Coordinate System is connected to its associated axes. | |
Move Pending Queue Full Status | BOOL | Tag | The move pending queue full bit is set there is no room in the instruction queue for the next coordinated move instruction. Once there is room in the queue, the bit is cleared. | |
Move Pending Status | BOOL | Tag | The move pending bit is set once a coordinated motion instruction is queued. Once the instruction has begun executing, the bit will be cleared, provided no subsequent coordinated motion instructions have been queued in the mean time. In the case of a single coordinated motion instruction, the status bit may not be detected by the user in the Logix Designer application since the transition from queued to executing is faster than the coarse update. The real value of the bit comes in the case of multiple instructions. As long as an instruction is in the instruction queue, the pending bit will be set. This provides the Logix Designer application programmer a means of stream-lining the execution of multiple coordinated motion instructions. Ladder logic containing coordinated motion instructions can be made to execute faster when the programmer allows instructions to be queued while a preceding instruction is executing. When the MovePendingStatus bit is clear, the next coordinated motion instruction can be executed (that is, setup in the queue). | |
Move Status | BOOL | Tag | The move bit is set when coordinated motion is generating motion for any associated axes. Once coordinated motion is no longer being commanded, the move bit is cleared. | |
Move Transition Status | BOOL | Tag | The move transition bit is set once the blend point between two successive coordinated moves has been reach. The bit remains set while the blend of the two moves into one is in process. Once the blend is complete, the move transition bit is cleared. | |
Physical Axes Faulted | DINT | Tag | Shows which axes in this coordinate system have a servo axis fault. If this bit is on Then this axis has a servo axis fault 0 0 1 1 2 2 | |
Physical Axis Fault | BOOL | Tag | If the Physical Axis Fault bit is set, it indicates that there is one or more fault conditions have been reported by the physical axis. The specific fault conditions can then be determined through access to the fault attributes of the associated physical axis. | |
Ready Status | BOOL | Tag | The Ready bit is set when all associated axes are enabled. It is cleared after an MCSD, MGSD or a fault on any of the associated axes. | |
Robot Configuration | DWORD | GSV Tag | The robot configuration parameter will reflect the current pose of the Robot in space. It will be represented by one or more of these parameters depending on the geometry:
Bit Field: 0: Change(1) / Same(0) 1:Lefty(1) / Righty(0) 2:Above(1) / Below(0) 3: Flip(1) / No Flip(0) 4: Transforms Not Active(1) / Transforms Active(0) This attribute only applies to the Robot coordinate system. | |
Shutdown Status | BOOL | Tag | The Coordinate System bit will be set after an MCSD or MGSD is executed and all associated axes have stopped. A MCSR or a MGSR will reset the coordinate system and clear the bit. Coordinated moves cannot be initiated while this bit is set. | |
Stopping Status | BOOL | Tag | The stopping bit is set when a MCS instruction is executed. The bit will remain set until all coordinated motion is stopped. The bit is cleared when all coordinated motion has stopped. | |
Tool Change Allowed Status | BOOL | Tag | The Tool Change Allowed Status bit attribute is set to indicate when the user is allowed to change a tool via a transform instruction. | |
Transform Source Status | BOOL | Tag | If the bit is the following. ON - The coordinate system is the source of an active transform. OFF - The coordinate system isn’t the source of an active transform. | |
Transform Target Status | BOOL | Tag | If the bit is the following. ON - The coordinate system is the target of an active transform. OFF - The coordinate system isn’t the target of an active transform. | |
Turns Counters | INT[4] | GSV Tag | A counter indicating the number of times the 180 degree point has been crossed in the +/- direction for the axis when turned. Three integers specifying the turns counts for J1, J4 and J6 axis. Turns counters range is +/-127 value. Default 128 value is selected as initial values value when Transforms are not active on the coordinate system. 1 – Turns counters on J1 axis 2 – Turns counters on J4 axis 3 – Turns counters on J6 axis 4 – Reserved for future use | |
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