аЯрЁБс>ўџ ўџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџ§џџџўџџџўџџџ   !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefihўџџџўџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџRoot EntryџџџџџџџџаюЪЁ­Ыg@TcSysManagerџџџџ№щУЁ­ЫаюЪЁ­ЫWSMџџџџџџџџџџџџ ХЩSummaryInformation(џџџџџџџџџџџџўџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџ UserHandle Status @ActReactTimeIn `ActReactTimeOut € ActProductId   ActProductNoРLowWSGDistanceС WastePartGLINESTRUCT_WSGOUT UserHandle LastPartLen @ LastGapLen ` LastProductId € LastProductNo  ActualPartCount РActualPartInLineрMaxPartsReachedF€LINESTRUCT_ENCOUT6` EncOutStruct ` UserHandle%@€nCouter @Р fPosition @ fVelocityBH INTERNAL_PLCTONC_CHANNELSTRUCT_2A A INTERNAL_PLCTONC_CHANNELSTRUCT_1nGranted@` INTERNAL_NCTOPLC_CHANNELSTRUCT_3> C`NCDRIVESTRUCT_STEPPER$  nOutData1$  nOutData2@bPhaseAA bPhaseAInvBbPhaseBC bPhaseBInvD reserved1E reserved2F bBreakInvGbBreakH bFrequencyIbDirectionPlusJ reserved3K reserved4L reserved5M reserved6N reserved7O reserved8ENCAXLESTRUCT_TOPLC3 nStateDWord nErrorCode @ nAxisState ` nAxisModeCon €nCalibrationState   nCoupleState Р nSvbEntries р nSafEntries nAxisId  nOpModeDWord@nActiveCtrlLoopIndexPnCtrlLoopIndex @`fPosIst @  fModuloPosIst р nModuloTurns @fVeloIst @@fPosDiff @€fPosSoll @Р fVeloSoll @fAccSoll @@ fPosTarget @€fModuloPosSoll РnModuloTurnsSollрnCmdNo№ nCmdStateDNCAXLESTRUCT_TOPLC2 nStateDWord nErrorCode @ nAxisState ` nAxisModeCon €nCalibrationState   nCoupleState Р nSvbEntries р nSafEntries nAxisId  nOpModeDWord @nCtrlLoopIndex @`fPosIst @  fModuloPosIst р nModuloTurns @fVeloIst @@fPosDiff @€fPosSoll @Р fVeloSoll @fAccSoll\`VARTYPE_EL6752_CANCOUNTERcanTxcanAck canRx0canErr@canLostP canOverrun_€VARTYPE_EXTCANTXQUEUEtransactionNumberlength cobIdY@@txData^`VARTYPE_CANTXQUEUEtransactionNumbercobIdY@ txDataPpVARTYPE_EXTCANQUEUEмk @DOUBLE double %sLREAL FLOATfloat %sREAL @UINT64unsigned __int64 %sULINT@INT64 __int64 %sLINT UINT32unsigned long %sUDINT INT32long %sDINTUINT16unsigned short %sUINTINT16short %sINTUINT8unsigned char %sUSINTINT8char %sSINTBITunsigned char %s : 1BOOL0ARRAY [0..5] OF BYTE)unsigned char %s[6]ARRAY [0..5] OF BYTEBITARR4unsigned char %s : 4BIT7unsigned char %s : 7BIT6unsigned char %s : 6BIT5unsigned char %s : 5BIT3unsigned char %s : 3BIT2unsigned char %s : 2BIT4unsigned char %s : 4BIT8unsigned char %sBOOLUINT24unsigned char[3] %sINT24 char[3] %s(€ UINT16ARR8unsigned short %s[8]ARRAY [0..7] OF UINT/0 UINT8ARR6unsigned char %s[6]ARRAY [0..5] OF USINT.( UINT8ARR5unsigned char %s[5]ARRAY [0..4] OF USINT' UINT8ARR4unsigned char %s[4]ARRAY [0..3] OF USINT- UINT8ARR3unsigned char %s[3]ARRAY [0..2] OF USINT& UINT8ARR2unsigned char %s[2]ARRAY [0..1] OF USINT%@ UINT32ARR2unsigned long %s[2]ARRAY [0..1] OF UDINT$ UINT16ARR2unsigned short %s[2]ARRAY [0..1] OF UINT# BITARR32unsigned long %sDWORD"BITARR16unsigned short %sWORD BITARR8unsigned char %sBYTE! HIDDEN_BYTEunsigned char %sBYTE+ DWORDunsigned long %sDWORD*WORDunsigned short %sWORD)BYTEunsigned char %sBYTE=АNCCHANNELSTRUCT_FROMPLC mSkipLine mItpOpModeBH  sHandShakeh nReseverd pmChnAxisOverirde mChnSpindelOverride<АNCCHANNELSTRUCT_TOPLC mJobNr?  mDWORD@`Р sHandShake mProgNr@ mItpOpModeP mItpOpState ` mErrorCode?  INTERNAL_NCTOPLC_CHANNELSTRUCT_2>` INTERNAL_NCTOPLC_CHANNELSTRUCT_1nFunc nRequested nReseverd nHFuncValue@ nSpindelRPMPnTool;`NCDRIVESTRUCT_TWOSPEED$  nOutData1$  nOutData2@ bMinusHighA bMinusLowBbPlusLowC bPlusHighD reserved1E reserved2F bBreakInvGbBreakHbDirectionMinusIbDirectionPlusJbVeloLowK bVeloHighL reserved3M reserved4N bBreakInv2ObBreak2:`NCDRIVESTRUCT_OUT$  nOutData1$  nOutData2@nCtrl1HnCtrl2PnCtrl3XnCtrl49`NCDRIVESTRUCT_IN$ nInData1$ nInData2@nStatus1HnStatus2PnStatus3XnStatus46`NCENCSTUCT_OUT$  nOutData1$  nOutData2@nCtrl1HnCtrl2PnCtrl3XnCtrl45` NCENCSTUCT_IN$ nInData1$ nInData2@nStatus1HnStatus2PnStatus3XnStatus43NCAXLESTRUCT_FROMPLC  nDeCtrlDWord nOverride @ nAxisModeReq `nAxisModeDWord @€fAxisModeLReal @РfActPosCorrection @ fExtSetPos @@ fExtSetVelo @€ fExtSetAcc РnExtSetDirection р nReserved @fExtCtrlOutput2NCAXLESTRUCT_TOPLC nStateDWord nErrorCode @ nAxisState ` nAxisModeCon €nCalibrationState   nCoupleState Р nSvbEntries р nSafEntries nAxisId  nOpModeDWord @nReserved2_HIDDEN @`fPosIst @  fModuloPosIst р nModuloTurns @fVeloIst @@fPosDiff @€fPosSoll @Р fVeloSollL€LINESTRUCT_SERCENCOUT SignalCtrlMLINESTRUCT_SERCENCIN ActPos ActVelo @ProbePos `ProbeNeg€ DriveState SignalStateActPhase CycleCntK LINESTRUCT_WZHSOUTTimeCtrlJ`LINESTRUCT_OVENCOUT @ fPosition @ UserHandleHLINESTRUCT_WZOUT length cobIdY@0dataXPVARTYPE_CANQUEUEcobIdY@dataY@VARTYPE_CANMESSAGEunsigned char %s[6]ARRAY [0..7] OF USINTW VARTYPE_BX_KBUS_STATEfaultArg faultPlaceU@VARTYPE_FCXXXX_GLOBALSTATEunsigned short %s[8]]€VARTYPE_EL6731_CDLINFObusErrorCounter cycleCounter error( actionCounter0actualCycleTime@ repeatCounterP equiErrorX actualModulo` equiCycleTimep Status Bit 1q Status Bit 2r Status Bit 3s Status Bit 4t Status Bit 5u Status Bit 6v Status Bit 7w Status Bit 8x Status Bit 9y Status Bit 10z Status Bit 11{ Status Bit 12| Device Diag} Sync Error~ Cycle Toggle Cycle ErrorV€VARTYPE_FC310X_CDLINFO  cdlStartednReserved_HIDDEN cycleCounter error( actionCounter0actualCycleTime@ repeatCounterP equiErrorX actualModulo` equiCycleTimepequiRepeatCounterT@VARTYPE_FCXXXX_CDLINFO cdlStartednReserved_HIDDEN cycleCounter error( actionCounter0actualCycleTimeSVARTYPE_FCXXXX_CDL_ARRAYRunsigned short %s[8]R@VARTYPE_FCXXXX_CDL& cdlStartednReserved2_HIDDEN& error&0 actionCounterQ€VARTYPE_FCXXXX_DEBUGunsigned short %s[8]ZENUMunsigned short %snPVARTYPE_ECAT_HEADcmdidx$ addr0len@irqb`VARTYPE_CANTXFASTQUEUEcobIdtransactionNumberY@ txDatagVARTYPE_FC310X_PARA_RESserviceinvokeIdi€parai€"VARTYPE_FC310X_PARA_DESC_RES_ARRAYhunsigned short %s[8]h@VARTYPE_FC310X_PARA_DESC_RESstatussize datadVARTYPE_FC310X_PARA_INDserviceinvokeIdf€paraf€"VARTYPE_FC310X_PARA_DESC_IND_ARRAYeunsigned short %s[8]e@VARTYPE_FC310X_PARA_DESC_IND paraNumbersubindexsize data`@VARTYPE_EL6751_CDLINFO Status Bit 1 Status Bit 2 Status Bit 3 Status Bit 4 Status Bit 5 Status Bit 6 Status Bit 7 Status Bit 8 Status Bit 9  Status Bit 10  Status Bit 11  Status Bit 12  Device Diag  Sync Error Cycle Toggle Cycle Error cycleCounter error( actionCounter0actualCycleTimex@ AMSADDRESS/0netId0portŽАNCCHANNELSTRUCT_TOPLC2 mJobNr?  mDWORD>`Р sHandShake’  nChnState€€nParamsfParams‘`РnReserved1_HIDDEN mProgNr@ mItpOpModeP mItpOpState ` mErrorCode€nChnIdnGrpId  nItfVersion€ INTERNAL_NCTOPLC_CHANNELSTRUCT_4NCAXLESTRUCT_FROMPLC2—  ControlDWord Override @AxisModeRequest ` AxisModeDWord @€ AxisModeLReal @РPositionCorrection @ ExtSetPos @@ ExtSetVelo @€ ExtSetAcc РExtSetDirection рReserved @ExtControllerOutput @@ GearRatio1 @€ GearRatio2 @Р GearRatio3 @ GearRatio4ŒNCAXLESTRUCT_TOPLC4–  StateDWord ErrorCode @ AxisState `AxisModeConfirmation € HomingState   CoupleState Р SvbEntries р SafEntries AxisId˜  OpModeDWord@ActiveControlLoopIndexPControlLoopIndex @`ActPos @  ModuloActPos рModuloActTurns @ActVelo @@PosDiff @€SetPos @РSetVelo @SetAcc @@ TargetPos @€ ModuloSetPos РModuloSetTurnsрCmdNo№CmdState0MASTER_MESSAGEMASTER_MESSAGE )Control_HiddenOutput 1_Hidden Output 2_Hidden Output 3_Hidden Output 4_Hidden Output 5_Hidden Output 6_HiddenOutput 7_HiddenOutput 8_Hidden)F_Control_Hidden)Host_Seq_No_Hidden) Slave_Crc2_Lo_Hidden)(Slave_Crc2_Hi_Hidden0 SLAVE_MESSAGE SLAVE_MESSAGE ) Status_HiddenInput 1_Hidden Input 2_Hidden Input 3_Hidden Input 4_Hidden Input 5_Hidden Input 6_HiddenInput 7_HiddenInput 8_Hidden)F_Status_Hidden)Slave_Seq_No_Hidden) Slave_Crc2_Lo_Hidden)(Slave_Crc2_Hi_Hidden— PLCTONC_AXLESTRUCT_CTRL EnableFeedEnablePlusFeedEnableMinusBit3Bit4 HomingSensorBit6Bit7AcceptBlockedDrive BlockedDriveDetected Bit10 Bit11 Bit12 Bit13Bit14Bit15Bit16SteppingConditionBit18Bit19Bit20Bit21Bit22Bit23Bit24Bit25Bit26Bit27Bit28Bit29 PlcDebugFlag NcDebugFlag˜ NCTOPLC_AXLESTRUCT_OPMODE OpModePosAreaMonitoringOpModeTargetPosMonitoring OpModeLoopOpModeMotionMonitoringOpModePEHTimeMonitoringOpModeBacklashCompensationOpModeDelayedErrorReaction OpModeModuloBit8 Bit9 Bit10 Bit11 Bit12 Bit13Bit14Bit15OpModePosLagMonitoringOpModeVeloLagMonitoringOpModeSoftLimitMinMonitoringOpModeSoftLimitMaxMonitoringOpModePosCorrectionOpModeAllowSlaveCommandsBit22Bit23Bit24Bit25Bit26Bit27Bit28Bit29Bit30Bit31– NCTOPLC_AXLESTRUCT_STATE  OperationalHomed NotMovingInPositionAreaInTargetPosition ProtectedErrorPropagationDelayedHasBeenStoppedHasJob PositiveDirection NegativeDirection HomingBusy ConstantVelocity CompensatingExtSetPointGenEnabledBusyExternalLatchValid NewTargetPosNotInTargetPosContinuousMotionControlLoopClosedCamTableQueued CamDataQueuedCamScalingPending CmdBufferedPTPmodeSoftLimitMinExceededSoftLimitMaxExceededDriveDeviceErrorMotionCommandsLocked IoDataInvalidError›АNCCHANNELSTRUCT_FROMPLC2 mSkipLine mItpOpModeBH  sHandShakeh nReseverd pmChnAxisOverirde mChnSpindelOverride•АNCCHANNELSTRUCT_TOPLC3 mJobNr?  mDWORD>`Р sHandShake’  nChnState€€nParamsfParams‘`РnReserved1_HIDDEN mProgNr@ mItpOpModeP mItpOpState ` mErrorCode€nChnIdnGrpId  nItfVersion’ INTERNAL_NCTOPLC_CHANNELSTRUCT_7 bBit0bBit1bBit2bBit3bBit4bBit5bBit6bBit7bIsEStopRequested bBit9 bIsFeedFromBackupList bBit11 bBit12 bBit13bBit14bBit15bBit16bBit17bBit18bBit19bBit20bBit21bBit22bBit23bBit24bBit25bBit26bBit27bBit28bBit29bBit30bBit31‘` INTERNAL_NCTOPLC_CHANNELSTRUCT_6  INTERNAL_NCTOPLC_CHANNELSTRUCT_5 ”@NCDRIVESTRUCT_OUT2$  nOutData1$  nOutData2@nCtrl1HnCtrl2PnCtrl3XnCtrl4$ ` nOutData3$ € nOutData4$   nOutData5$ Р nOutData6рnCtrl5шnCtrl6№nCtrl7јnCtrl8“@NCDRIVESTRUCT_IN2$ nInData1$ nInData2@nStatus1HnStatus2PnStatus3XnStatus4$ `nInData3$ €nInData4$  nInData5$ РnInData6рnStatus5шnStatus6№nStatus7јnStatus8  nDcOutputTimeš@NCENCSTUCT_OUT2$  nOutData1$  nOutData2@nCtrl1HnCtrl2PnCtrl3XnCtrl4$ ` nOutData3$ € nOutData4$   nOutData5$ Р nOutData6рnCtrl5шnCtrl6№nCtrl7јnCtrl8™@NCENCSTUCT_IN2$ nInData1$ nInData2@nStatus1HnStatus2PnStatus3XnStatus4$ `nInData3$ €nInData4$  nInData5$ РnInData6рnStatus5шnStatus6№nStatus7јnStatus8  nDcInputTimeœNCAXLESTRUCT_FROMPLC3—  ControlDWord Override @AxisModeRequest ` AxisModeDWord @€ AxisModeLReal @РPositionCorrection @ ExtSetPos @@ ExtSetVelo @€ ExtSetAcc РExtSetDirection рReserved @ExtControllerOutput @@ GearRatio1 @€ GearRatio2 @Р GearRatio3 @ GearRatio4@MapStateЩ€ISGSTRUCT_AXISIN6` EncOutStruct ` UserHandle%@€nCouter @Р fPosition @ fVelocityЪ€ISGSTRUCT_AXISOUT6` EncOutStruct ` UserHandle%@€nCouter @Р fPosition @ fVelocity)BYTE•џџџџџџџџџџџџџџџџ%uUSINT•SINT•BIT8•BOOL•0USINT•џџџџџџџџџџџџџџџџ%uBYTE•SINT•BIT8•BOOL•0SINT•џџџџџџџџџџџџџџџџ%dBYTE•USINT•BIT8•BOOL•0*WORD•џџџџџџџџџџџџџџџџ%uUINT•џџџџџџџџџџџџџџџџ%uINT•џџџџџџџџџџџџџџџџ%d +DWORD•џџџџџџџџџџџџџџџџ%u UDINT•џџџџџџџџџџџџџџџџ%u DINT• џџџџџџџџџџџџџџџџ%d@,LWORD• џџџџџџџџџџџџџџџџ%I64d@ ULINT• џџџџџџџџџџџџџџџџ%I64d@LINT• џџџџџџџџџџџџџџџџ%I64d  REAL• џџџџџџџџџџџџџџџџ%f@ LREAL•џџџџџџџџџџџџџџџџ%.15lg џџџџOTCID•џџџџџџџџџџџџџџџџOTCID%08xBIT•џџџџџџџџџџџџџџџџBOOL•0BIT2•џџџџџџџџџџџџџџџџBIT3•џџџџџџџџџџџџџџџџBIT4•џџџџџџџџџџџџџџџџBIT5•џџџџџџџџџџџџџџџџBIT6•џџџџџџџџџџџџџџџџBIT7•џџџџџџџџџџџџџџџџBIT8•џџџџџџџџџџџџџџџџBYTE•USINT•SINT•BOOL•0€џџџџData1 DWORD•Data2 WORD•Data30WORD•Data4@@BYTE•GUID•! ){%08X-%04X-%04X-%02X%02X%02X%02X%02X%02X}.Data1.Data2.Data3 .Data4[0] .Data4[1] .Data4[2] .Data4[3] .Data4[4] .Data4[5] .Data4[6] .Data4[7]BOOL•0BYTE•FALSETRUEBYTE•USINT•SINT•BIT8•BIT•џџџџAMPEL•1UDINT•ROTGELBGRмN0џџџџAMSNETID•ABYTE•%d.%d.%d.%d.%d.%d[0][1][2][3][4][5]@џџџџnetId0AMSNETID•Aport0WORD•AMSADDR•B%d.%d.%d.%d.%d.%d:%d .netId[0] .netId[1] .netId[2] .netId[3] .netId[4] .netId[5].portџџџџadiSrc UDINT•adiDst UDINT• bitOffsSrc @UDINT• bitOffsDst `UDINT•bitSize €UDINT•ADMSYNC_COPYINFO•Q! I/O - Configuration LM_DEMO_01џџџџŽ I/O DevicesŽoDevice 1 (EtherCAT)ЙŽKo, o'\DEVICE\{E9376891-6446-4C47-916F-3F5075E6C6F3}yўЉџџџ! чspDevice 1 (EtherCAT)Љўy6Inputs Ž Frm0Stateџ0x0001 = 1. EtherCAT command not sent (NOP requested) 0x0002 = 2. EtherCAT command not sent (NOP requested) 0x0004 = 3. EtherCAT command not sent (NOP requested) ... 0x4000 = 15. EtherCAT command not sent (NOP requested) 0x8000 = complete frame not sent Ž№ Frm0WcStateџ'0x0001 = wrong working counter of 1. EtherCAT command received 0x0002 = wrong working counter of 2. EtherCAT command received 0x0004 = wrong working counter of 3. EtherCAT command received ... 0x4000 = wrong working counter of 15. EtherCAT command received 0x8000 = complete frame missing Žђ SlaveCount(Actual count of EtherCAT slaves received ŽњDevStateџ#0x0001 = Link error 0x0002 = I/O locked after link error (I/O reset required) 0x0004 = Link error (redundancy adapter) 0x0008 = Missing one frame (redundancy mode) 0x0010 = Out of send resources (I/O reset required) 0x0020 = Watchdog triggered 0x0040 = Ethernet driver (miniport) not found 0x0080 = I/O reset active 0x0100 = At least one device in 'INIT' state 0x0200 = At least one device in 'PRE-OP' state 0x0400 = At least one device in 'SAFE-OP' state 0x0800 = At least one device indicates an error state 0x1000 = DC not in sync ŽўOutputs ŽFrm0Ctrlџ80x0001 = prevent 1. EtherCAT command from sending (request NOP) 0x0002 = prevent 2. EtherCAT command from sending (request NOP) 0x0004 = prevent 3. EtherCAT command from sending (request NOP) ... 0x4000 = prevent 15. EtherCAT command from sending (request NOP) 0x8000 = prevent complete frame from sending Ž№ Frm0WcCtrlџ0x0001 = copy data with wrong working counter of 1. EtherCAT command 0x0002 = copy data with wrong working counter of 2. EtherCAT command 0x0004 = copy data with wrong working counter of 3. EtherCAT command ... 0x4000 = copy data with wrong working counter of 15. EtherCAT command ŽђDevCtrlŽўInfoData Ž ChangeCountInfo data change counter ŽDevIdDeviceId of EtherCAT device ŽAmsNetIdAmsNetId of EtherCAT deviceŽ/0 AmsNetId[0]AmsNetId of EtherCAT device Ž  AmsNetId[1]AmsNetId of EtherCAT device Ž   AmsNetId[2]AmsNetId of EtherCAT device Ž   AmsNetId[3]AmsNetId of EtherCAT device Ž   AmsNetId[4]AmsNetId of EtherCAT device Ž   AmsNetId[5]AmsNetId of EtherCAT device Ž    CfgSlaveCount#Count of configured EtherCAT slaves Ž Device 1-ImageџџџџŽ  Device 1-Image-InfoџџџџŽ  џџџ‹#Box 1 (E1250-EC-UC)&"ŽT‹#РDefault Inputs Ž,StateVarŽ1 StatusWordŽ2WarnWordŽ3DemandPositionŽ 4 ActualPositionŽ $5  DemandCurrentŽ (6 Default Outputs Ž2 Control WordŽ?Motion Command HeaderŽ@Motion Command Par 1Ž C Motion Command Par 2Ž "D Motion Command Par 3Ž &E Motion Command Par 4Ž *F Motion Command Par 5Ž .G WcState Ž0WcState"0 = Data valid 1 = Data invalid ŽђInfoData ŽStateџ80x___1 = Slave in 'INIT' state 0x___2 = Slave in 'PREOP' state 0x___3 = Slave in 'BOOT' state 0x___4 = Slave in 'SAFEOP' state 0x___8 = Slave in 'OP' state 0x001_ = Slave signals error 0x002_ = Invalid vendorId, productCode... read 0x004_ = Initialization error occurred 0x008_ = Slave disabled 0x010_ = Slave not present 0x020_ = Slave signals link error 0x040_ = Slave signals missing link 0x080_ = Slave signals unexpected link 0x100_ = Communication port A 0x200_ = Communication port B 0x400_ = Communication port C 0x800_ = Communication port D Ž  AdsAddr2Complete ADS address to access the slave (mailbox)Žx@!netId2Complete ADS address to access the slave (mailbox)Ž/0 "netId[0]2Complete ADS address to access the slave (mailbox) Ž #netId[1]2Complete ADS address to access the slave (mailbox) Ž $netId[2]2Complete ADS address to access the slave (mailbox) Ž %netId[3]2Complete ADS address to access the slave (mailbox) Ž &netId[4]2Complete ADS address to access the slave (mailbox) Ž 'netId[5]2Complete ADS address to access the slave (mailbox) Ž (port2Complete ADS address to access the slave (mailbox) Ž )AoeNetId,Slave contains an ADS router with this NetIdŽ/0* AoeNetId[0],Slave contains an ADS router with this NetId Ž + AoeNetId[1],Slave contains an ADS router with this NetId Ž , AoeNetId[2],Slave contains an ADS router with this NetId Ž - AoeNetId[3],Slave contains an ADS router with this NetId Ž . AoeNetId[4],Slave contains an ADS router with this NetId Ž / AoeNetId[5],Slave contains an ADS router with this NetId Ž ‹€& €&€" €"$$  щЉўy6щџџџƒh2ITNLк–DrivesDcOffDC unusedDcSyncDC for synchronization1  ``ўOp mode4  Т`Cycle time3  Т`§Cycle expDefault InputsbStateVarQ StatusWordŽWarnWordŠDemandPositionActualPosition“ DemandCurrentџџџџ Config Module Config Status Word Config Index In Config Value Inџџџџ Input DemVel‹DemandVelocityџџџџ Input ActVelŽActualVelocityDefault OutputsR Control WordАMotion Command Header@Motion Command Par 1AMotion Command Par 2BMotion Command Par 3CMotion Command Par 4DMotion Command Par 5џџџџ Config Module Config Control Word Config Index Out Config Value Outˆ E1250-EC-UCE1250 ECТ шшИ 'ˆШdш„‚Съ@B…XLocal Area Connection 3 (Intel(R) PRO/100 S Desktop Adapter - Packet Scheduler Miniport)Mappings Ž+LM_DEMO_01 (Standard) - Device 1 (EtherCAT) Ž, 2PаРPа0 `NC - Configuration€ˆe6XШCam - Configuration”ˆ,Line Motion Configurationžpe6XPLC - ConfigurationŽe6X  LM_DEMO_01(Ž!6B:\4rx\SW_TC\Intf_EtherCat\TwinCAT_Demo\LM_DEMO_01.tpy‡!4L0LM_DEMO_01-ImageџџџџŽ! ."Standard$Task of IEC1131 project "LM_DEMO_01"џџџџŽ"'яшInputs Ž.>LM_1_NodeState_Variable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*LinMot 1 Node state*) Ž1LM_1_StateVarWordZVariable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*State Var Word*)Ž* 2LM_1_StatusWordWVariable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*Status Word*)Ž* 3 LM_1_WarnWordUVariable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*Warn Word*)Ž*4 LM_1_DemPosiVariable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*LM demand position monitoring*)Ž  5 LM_1_ActPosiVariable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*LM actual position monitoring*)Ž  6 LM_1_DemCurrhVariable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*LM demand current monitoring*)Ž  7LM_1_AoENetIdArrUVariable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*AoE NetID*)Ž0(8LM_1_AoENetIdArr[0]UVariable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*AoE NetID*) Ž)( 9LM_1_AoENetIdArr[1]UVariable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*AoE NetID*) Ž)) :LM_1_AoENetIdArr[2]UVariable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*AoE NetID*) Ž)* ;LM_1_AoENetIdArr[3]UVariable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*AoE NetID*) Ž)+ <LM_1_AoENetIdArr[4]UVariable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*AoE NetID*) Ž), =LM_1_AoENetIdArr[5]UVariable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*AoE NetID*) Ž)- Outputs Ž" ? LM_1_CtrlWordXVariable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*Control Word*)Ž* @ LM_MC_HeaderaVariable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*Motion Command Header*)Ž* ALM_MC_HeaderLowjVariable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*Motion Command Header low byte*)Ž) BLM_MC_HeaderHighkVariable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*Motion Command Header high byte*)Ž) C LM_1_MC_Par_1fVariable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*Motion Command parameter 1*)Ž  D LM_1_MC_Par_2fVariable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*Motion Command parameter 1*)Ž  E LM_1_MC_Par_3fVariable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*Motion Command parameter 1*)Ž  F LM_1_MC_Par_4fVariable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*Motion Command parameter 1*)Ž  G LM_1_MC_Par_5fVariable of IEC1131 project "LM_DEMO_01". Updated with Task "Standard" (*Motion Command parameter 1*)Ž  SYSTEM - Configuration.џџџџŽe6XReal-Time Settings/џџџџŽ'P Additional TasksŽ I/O Idle Taskўџр…ŸђљOhЋ‘+'Гй0д `€hpŒЌ др(4 „АLicenceyour title mittelholzer / >see: menu 'File/Properties...'FSysMan v2.11 b1553 (TwinCAT b1545)@`VrюžЫ:VC NTI XXXX-87FE-1EFC-XXXXмk @DOUBLE double %sLREAL FLOATfloat %sREAL @UINT64unsigned __int64 %sULINT@INT64 __int64 %sLINT UINT32unsigned long %sUDINTŽ T'Inputs ŽOutputs ŽEџџџџI/O Idle Task-ImageџџџџŽT 9ЃW