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
* 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
  • 0 = fast stop
  • 1 = fast shutdown
  • 2 = hard shutdown
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
  • 0 - 126 = not yet configured
  • 127 = invalid consumed axis data due to incompatible revisions between produced and consumer
  • 128 = configured
  • 3 = waiting on reply
  • 4 = configured
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.
  • 0 = shutdown the axis
  • 1 = disable the drive
  • 2 = stop the commanded motion
  • 3 = change the status bit only
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.
  • 0 = shutdown the axis
  • 1 = disable the drive
  • 2 = stop the commanded motion
  • 3 = change the status bit only
*FeedbackNoiseFaultAction
SINT
GSV
SSV
The operation performed when an encoder noise fault occurs.
  • 0 = shutdown the axis
  • 1 = disable the drive
  • 2 = stop the commanded motion
  • 3 = change the status bit only
*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
  • 0 = shutdown
  • 1= disable the drive
  • 2 = stop motion
  • 3 = status only
HomeConfigurationBits
DINT
GSV
SSV
The motion configuration bits for your axis.
  • 0 = home direction
  • 1 = home switch normally closes
  • 2 = home marker edge negative
HomeMode
SINT
GSV
SSV
The homing mode for your axis.
  • 0 = passive homing
  • 1 = active homing (default)
  • 2 = absolute
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.
  • 0 = immediate homing
  • 1 = switch homing
  • 2 = marker homing
  • 3 = switch-marker homing (default)
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:
  • InterpolatedActualPosition
  • InterpolatedCommandPosition
To supply a value for InterpolationTime, you can use any event that produces a CST timestamp, such as:
  • RegistrationTime attribute
  • timestamp of a digital output
The InterpolationTime attribute uses only the lower 32 bits of a CST timestamp.
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:
  • the RegistrationTime attribute contains the lower 32 bits of the CST timestamp of an axis registration event
  • The CST timestamp is measured in microseconds
  • To interpolate a position based on an axis registration event:
    • Use a GSV instruction to get the value of the RegistrationTime attribute.
    • Use an SSV instruction to set the InterpolationTime attribute to the value of the RegistrationTime attribute.
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:
  • AbsoluteMasterOffset
  • IncrementalMasterOffset
Specified in position units of the master axis.
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.
  • 0 = tune process successful
  • 1 = tuning in progress
  • 2 = tune process aborted by the user
  • 3 = tune exceeded 2-second timeout
  • 4 = tune process failed due to servo fault
  • 5 = axis reached tuning travel limit • 6 = axis polarity set incorrectly • 7 = tune speed is too small to make measurements
TuningConfigurationBits
DINT
GSV
SSV
The tuning configuration bits for your axis.
  • 0 = turning direction (0=forward, 1=reverse)
  • 1 = tune position error integrator
  • 2 = tune velocity error integrator
  • 3 = tune velocity feedforward bit
  • 4 = acceleration feedforward
  • 5 = tune velocity low-pass filter
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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