McAxisParameter
The parameters that are available to use in the application.
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).
PLCopen standard
| 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, an 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, an 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 an axis in the motion system. |
| mcMaxVelocityApplication | 9 | double | R/W | Maximum velocity of an axis in the application. |
| mcActualVelocity | 10 | double | R | Actual velocity. |
| mcCommandedVelocity | 11 | double | R | Commanded velocity. |
| mcMaxAccelerationSystem | 12 | double | R | Maximum acceleration of an axis in the motion system. |
| mcMaxAccelerationApplication | 13 | double | R/W | Maximum acceleration of an axis in the application. |
| mcMaxDecelerationSystem | 14 | double | R | Maximum deceleration of an axis in the motion system. |
| mcMaxDecelerationApplication | 15 | double | R/W | Maximum deceleration of an axis in the application. |
| mcMaxJerkSystem | 16 | double | R | Maximum jerk of an axis in the motion system. |
| mcMaxJerkApplication | 17 | double | R/W | Maximum jerk of an axis in the application. |
Axis configuration
| Name | Value | Data type | R/W | Meaning |
|---|---|---|---|---|
| mcAlias | 1001 | double | R/W | Alias of an 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 axis or I/O module 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 axis or I/O module 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 an axis. |
| mcSoftwareLimitNegative | 1018 | double | R/W | Negative software limit of an 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 an 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 an 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 an 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 an 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 an 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. |
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 an 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 an 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 %. |
Homing
| Name | Value | Data type | R/W | Meaning |
|---|---|---|---|---|
| mcSlaveHomeOffset | 1073 | double | R/W | The distance an axis moves after it finds the homing 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. |