McAxisParameter enumeration

The parameters that are available to use in the application.

Assembly: IntervalZero.KINGSTAR.Base (in IntervalZero.KINGSTAR.Base.dll) Version: 4.4.0.0

Syntax

C#VB

public enum McAxisParameter

Public Enum McAxisParameter

Members

PLCopen standard

Software limit values are in KINGSTAR. They prevent the interpolation from sending targets past these limits. There is no change to the servo drive itself but they affect how KINGSTAR Motion (not Fieldbus) controls servo drives.
Software limit is always valid in master interpolation modes and direct control modes. Users can select if it is disabled in slave control modes such as slave homing and during homing process. Software limit is never used in the manual mode (equivalent to Fieldbus Package).

Name	Value	Data type	R/W	Meaning
mcCommandedPosition	1	double	R	Commanded position.
mcSoftLimitPositive	2	double	R/W	Positive software limit switch position. If the commanded value is greater than this, the axis will move forwards and stops when it reaches the software limit switch.
mcSoftLimitNegative	3	double	R/W	Negative software limit switch position. If the commanded value is less than this, the axis will move backwards and stops when it reaches the software limit switch.
mcEnableLimitPositive	4	double	R/W	Enables positive software limit switch.
mcEnableLimitNegative	5	double	R/W	Enables negative software limit switch.
mcEnablePosLagMonitoring	6	double	R/W	Enables monitoring for the position lag (following error).
mcMaxPositionLag	7	double	R/W	Maximum position error (following error).
mcMaxVelocitySystem	8	double	R/W	Maximum velocity of the axis in the motion system.
mcMaxVelocityApplication	9	double	R/W	Maximum velocity of the axis in the application.
mcActualVelocity	10	double	R	Actual velocity.
mcCommandedVelocity	11	double	R	Commanded velocity.
mcMaxAccelerationSystem	12	double	R	Maximum acceleration of the axis in the motion system.
mcMaxAccelerationApplication	13	double	R/W	Maximum acceleration of the axis in the application.
mcMaxDecelerationSystem	14	double	R	Maximum deceleration of the axis in the motion system.
mcMaxDecelerationApplication	15	double	R/W	Maximum deceleration of the axis in the application.
mcMaxJerkSystem	16	double	R	Maximum jerk of the axis in the motion system.
mcMaxJerkApplication	17	double	R/W	Maximum jerk of the axis in the application.

Axis configuration

Name	Value	Data type	R/W	Meaning
mcAlias	1001	double	R/W	Alias of the axis.
mcInterpolationTime	1002	double	R/W	Sets the interpolation time for an axis. Unit: second.
mcAvailableControlModes	1003	double	double	The available control modes of an axis.
mcControlMode	1004	double	R/W	Changes the control mode of an axis at run time. The control mode must be compatible with the current access mode. Not all axes support control mode changes at run time.
mcHomeSwitchModuleType	1005	double	R/W	Configures the home sensor. Set to TRUE if the sensor is connected to an axis input; set to FALSE if it is connected to an I/O module.
mcHomeSwitchModuleIndex	1006	double	R/W	Configures the home sensor. It identifies which I/O module or axis contains the sensor. Aliases affect this parameter. When no sensor is assigned, the value is -1.
mcHomeSwitchOffset	1007	double	R/W	Configures the home sensor. It's the offset of the digital input in the I/O module input buffer.
mcHomeSwitchInvert	1008	double	R/W	Configures the home sensor. It determines whether to invert the sensor value.
mcPositiveLimitSwitchModuleType	1009	double	R/W	Configures the maximum limit sensor. Set to TRUE if the sensor is connected to an axis input; set to FALSE if it is connected to an I/O module.
mcPositiveLimitSwitchModuleIndex	1010	double	R/W	Configures the maximum limit sensor. It identifies which I/O module or axis contains the sensor. Aliases affect this parameter.
mcPositiveLimitSwitchOffset	1011	double	R/W	Configures the maximum limit sensor. It's the offset of the digital input in the I/O module input buffer.
mcPositiveLimitSwitchInvert	1012	double	R/W	Configures the maximum limit sensor and inverts the sensor value.
mcNegativeLimitSwitchModuleType	1013	double	R/W	Configures the minimum limit sensor. Set to TRUE if the sensor is connected to an axis input; set to FALSE if it is connected to an I/O module.
mcNegativeLimitSwitchModuleIndex	1014	double	R/W	Configures the minimum limit sensor. It identifies which I/O module or axis contains the sensor. Aliases affect this parameter.
mcNegativeLimitSwitchOffset	1015	double	R/W	Configures the minimum limit sensor. It's the offset of the digital input in the I/O module input buffer.
mcNegativeLimitSwitchInvert	1016	double	R/W	Configures the minimum limit sensor. It determines whether to invert the sensor value.
mcSoftwareLimitPositive	1017	double	R/W	Positive software limit of the axis.
mcSoftwareLimitNegative	1018	double	R/W	Negative software limit of the axis.
mcEnablePositiveLimitSwitch	1019	double	R/W	Enables or disables the maximum limit sensor.
mcEnableNegativeLimitSwitch	1020	double	R/W	Enables or disables the minimum limit sensor.
mcEnableSoftwareLimitPositive	1021	double	R/W	Enables or disables the positive software limit switch.
mcEnableSoftwareLimitNegative	1022	double	R/W	Enables or disables the negative software limit switch.
mcEnableFollowingErrorMonitoring	1023	double	R/W	Enables or disables monitoring for the following error.
mcCountPerUnitNumerator	1024	double	R/W	Sets the conversion ratio of user-defined position unit to the pulse unit used by the axis. Used to convert the drive unit to the user unit. For example, if the device is an encoder, typically the numerator is the resolution of the encoder.
mcCountPerUnitDenominator	1025	double	R/W	Sets the conversion ratio of user-defined position unit to the pulse unit used by the axis. Used to convert the drive unit to the user unit. For example, if you're using degree, the value will be 360 since there are 360 degrees in one revolution.
mcCountPerUnitReverse	1026	double	R/W	Reverses the direction the servo motor rotates.
mcSecondaryCountPerUnitNumerator	1027	double	R/W	Sets the conversion ratio of user-defined position unit to the pulse unit used by the axis. Used to convert the drive unit to the user unit. For example, if the device is an encoder, typically the numerator is the resolution of the encoder.
mcSecondaryCountPerUnitDenominator	1028	double	R/W	Sets the conversion ratio of user-defined position unit to the pulse unit used by the axis. Used to convert the drive unit to the user unit. For example, if you're using degree, the value will be 360 since there are 360 degrees in one revolution.
mcSecondaryCountPerUnitReverse	1029	double	R/W	Reverses the direction the servo motor rotates.
mcPosToVelRatio	1030	double	R/W	Converts the velocity from count per second to the unit a servo drive uses.
mcTorquePolarityReverse	1031	double	R/W	Reverses the direction of an axis' torque.
mcRealUnitConversion	1032	double	R/W	Sets the axis to use a real-world unit or pulse unit.
mcActualFollowingError	1033	double	R/W	Current following error.
mcEnablePositiveDirection	1034	double	R/W	Enables the positive direction.
mcEnableNegativeDirection	1035	double	R/W	Enables the negative direction.
mcModuloAxisValue	1085	double	R/W	Sets the modulo axis value, e.g., 360°, for a rotary axis. The default value is UINT_MAX. If the function succeeds, it returns errNoError. If the function fails, it returns one of the following errors: errWrongParamger: The modulo axis value is less than or equal to 0. errWrongAxisState: The axis is not in a Standstill state when setting the modulo axis value.
mcEnableModuloAxis	1086	double	R/W	Enables or disables the modulo axis. After enabling this parameter, set the modulo axis value. Otherwise, the default value (UINT_MAX) will be applied. If the function succeeds, it returns errNoError. If the function fails, it returns one of the following errors: errWrongAxisState: The axis is not in a Standstill state when setting the modulo axis value. errWrongEnvironment: The modulo axis is enabled after adding the axis to a group.

Motion and PID

mcJolt is not available in the current KINGSTAR version.

Name	Value	Data type	R/W	Meaning
mcMotionProfileType	1036	double	R/W	Sets the unit of acceleration and jerk parameters for an axis.
mcMinimumFollowingError	1037	double	R/W	Minimum following error. If the distance between the target position and actual position is less than this value, the axis is considered at the target position and the motion will be stopped.
mcMaximumFollowingError	1038	double	R/W	Maximum following error.
mcMaximumVelocity	1039	double	R/W	Maximum velocity to be used by the interpolation.
mcAcceleration	1040	double	R/W	Maximum acceleration for the interpolation.
mcDeceleration	1041	double	R/W	Maximum deceleration for the interpolation.
mcJerk	1042	double	R/W	Maximum jerk for the interpolation.
mcJolt	1043	double	R/W	Maximum jolt for the interpolation.
mcFeedbackDelay	1044	double	R/W	Feedback delay is the time between KINGSTAR sends a command and receives the result from the servo drive. To make sure the axis reaches the target position (or velocity, torque), KINGSTAR compares the actual position with the commanded position sent from a few cycles before. FeedBackDelay is the number of the cycles that KINGSTAR backtracks. Usually it's 3 cycles.
mcVelocityKP	1045	double	R/W	Proportional gain in the velocity mode.
mcVelocityKI	1046	double	R/W	Integral gain in the velocity mode.
mcVelocityKILimitPercent	1047	double	R/W	The maximum integral error in percent of the maximum output. For example, if the maximum velocity is 50, KILimitPercent is 10, the maximum intergral error of velocity is 5.
mcVelocityKD	1048	double	R/W	Derivative gain in the velocity mode.
mcVelocityKV	1049	double	R/W	Velocity feedforward gain in the velocity mode.
mcVelocityKAA	1050	double	R/W	Acceleration feedforward gain in the velocity mode.
mcVelocityKAD	1051	double	R/W	Deceleration feedforward gain in the velocity mode.
mcVelocityKJ	1052	double	R/W	Jerk feedforward gain in the velocity mode.
mcVelocityReducedGainsDelay	1053	double	R/W	Determines when the axis starts using `mcVelocityRgFactor` after finishing the move. Unit: Second.
mcVelocityRgFactor	1054	double	R/W	KP, KI, and KD multiplied by this factor after `mcVelocityReducedGainsDelay`.
mcVelocityKIStoppedOnly	1055	double	R/W	Uses KI on the steady-state error in the velocity mode.
mcVelocityKDUseSecondEncoder	1056	double	R/W	Uses the internal position encoder for KD in the velocity mode.
mcVelocityMinimumOutput	1057	double	R/W	Minimum output of the PID. Minimum velocity.
mcVelocityMaximumOutput	1058	double	R/W	Maximum output of the PID. Maximum velocity.
mcTorqueKP	1059	double	R/W	Proportional gain in the torque mode.
mcTorqueKI	1060	double	R/W	Integral gain in the torque mode.
mcTorqueKILimitPercent	1061	double	R/W	The maximum integral error in percent of the maximum output. For example, if the maximum torque is 50%, KILimitPercent is 10%, the maximum intergral error is 5% of the torque.
mcTorqueKD	1062	double	R/W	Derivative gain in the torque mode.
mcTorqueKV	1063	double	R/W	Velocity feedforward gain in the torque mode.
mcTorqueKAA	1064	double	R/W	Acceleration feedforward gain in the torque mode.
mcTorqueKAD	1065	double	R/W	Deceleration feedforward gain in the torque mode.
mcTorqueKJ	1066	double	R/W	Jerk feedforward gain in the torque mode.
mcTorqueReducedGainsDelay	1067	double	R/W	Determines when an axis starts using `mcTorqueRgFactor` after finishing the move. Unit: Second.
mcTorqueRgFactor	1068	double	R/W	KP, KI, and KD multiplied by this factor after `mcTorqueReducedGainsDelay`.
mcTorqueKIStoppedOnly	1069	double	R/W	Uses KI on the steady-state error in the torque mode.
mcTorqueKDUseSecondEncoder	1070	double	R/W	Uses the internal position encoder for KD in the torque mode.
mcTorqueMinimumOutput	1071	double	R/W	Minimum output of the PID. Minimum torque in %.
mcTorqueMaximumOutput	1072	double	R/W	Maximum output of the PID. Maximum torque in %.
mcMotionStatusFilterDepth	1083	double	R/W	Configures the filter depth value, in cycle counts, that the actual position must stay within the target range. When motion interpolation is finished and the condition is met, the motion command state will be set to Done. Graphical Example: At this moment, the interpolation is finished, the axis's actual position is within the target range, and the motion status filter starts counting. Once the filter depth value is reached, the motion command state will be set to Done.
mcFollowActPosDuringPowerOn	1084	double	R/W	Configures whether the target position should follow the actual position during the axis power-on process. Set to TRUE for the target position to follow the actual position during the axis power-on process; set to FALSE (default) to fix the target position during the axis power-on process.

Homing

Name	Value	Data type	R/W	Meaning
mcSlaveHomeOffset	1073	double	R/W	The offset between the home position and home sensor.
mcSlaveHomingMode	1074	double	R/W	Selects one of the homing modes offered by a servo drive.
mcSlaveControlLimit	1075	double	R/W	Determines whether to use the limit (such as software and sensor limit) when Slave Interpolation (modeSlaveInt) control mode and homingSlave mode are used.
mcCancelHome	1076	double	R W	Read – returns the IsHomed signal (flag). Write – TRUE: cancels the IsHomed signal. FALSE: do nothing.

Backlash compensation

Backlash is caused by the space between gears and ball screws. It is a position error that occurs when switching directions due to small gaps between gears.

Name Value Data type R/W Meaning

mcBacklashMode

1077

double

R/W

Name	Value	Data type	R/W	Meaning
mcBacklashMode	1077	double	R/W	0: No backlash compensation. 1: Single error backlash compensation: the backlash error is the same when going from forward-to-reverse and from reverse-to-forward. The error is measured and provided in the `mcBacklashError` parameter. It will be used for the compensation. 2: Dual error backlash compensation: the backlash error is different when going from forward-to-reverse and from reverse-to-forward. The error to compensate for reverse-to-forward is given to `mcBacklashError` and the error to compnesate for forward-to-reverse is given to `mcBacklashReverseError`.
mcBacklashError	1078	double	R/W	In user units. Mode 1: it contains an error to compensate for either forward-to-reverse or reverse-to-forward. Mode 2: it contains an error to compensate for reverse-to-forward.
mcBacklashReverseError	1079	double	R/W	In user units. It contains an error to compensate for forward-to-reverse.

0: No backlash compensation.

1: Single error backlash compensation: the backlash error is the same when going from forward-to-reverse and from reverse-to-forward. The error is measured and provided in the mcBacklashError parameter. It will be used for the compensation.

2: Dual error backlash compensation: the backlash error is different when going from forward-to-reverse and from reverse-to-forward. The error to compensate for reverse-to-forward is given to mcBacklashError and the error to compnesate for forward-to-reverse is given to mcBacklashReverseError.

mcBacklashError

1078

double

R/W

In user units.

Mode 1: it contains an error to compensate for either forward-to-reverse or reverse-to-forward.

Mode 2: it contains an error to compensate for reverse-to-forward.

mcBacklashReverseError 1079 double R/W In user units. It contains an error to compensate for forward-to-reverse.

Illustration

Override factors

Name	Value	Data type	R/W	Meaning
mcVelocityFactor	1080	double	R/W	The new override factor for velocity.
mcAccelerationFactor	1081	double	R/W	The new override factor for acceleration or deceleration.
mcJerkFactor	1082	double	R/W	The new override factor for jerk.