аЯрЁБс>ўџ ўџџџ{џџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџ§џџџўџџџўџџџ   !"#$%&'()*+,-./0123456789:;<=>?@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz|§џџџ}~€Root Entryџџџџџџџџр§q$ЪЛЬА@TcSysManagerџџџџы^$ЪЛЬр§q$ЪЛЬWSMџџџџџџџџџџџџ ЏWSummaryInformation(џџџџџџџџџџџџўџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџhD reserved1E reserved2F bBreakInvGbBreakHbDirectionMinusIbDirectionPlusJbVeloLowK bVeloHighL reserved3M reserved4N bBreakInv2ObBreak2:`NCDRIVESTRUCT_OUT$  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 UserHandle Status @ActReactTimeIn `ActReactTimeOut € ActProductId   ActProductNoРLowWSGDistanceС WastePartGLINESTRUCT_WSGOUT UserHandle LastPartLen @ LastGapLen ` LastProductId € LastProductNo  ActualPartCount РActualPartInLineрMaxPartsReachedF€LINESTRUCT_ENCOUT6` EncOutStruct ` UserHandleм y @DOUBLE double %sLREAL FLOATfloat %sREAL @UINT64 __int64 %sULINT@INT64 __int64 %sLINT UINT32unsigned long %sUDINT INT32long %sDINTUINT16unsigned short %sUINTINT16short %sINTUINT8unsigned char %sUSINTINT8char %sSINTBITunsigned char %s : 1BOOL 0ARRAY [0..5] OF BYTE)unsigned char %s[6]ARRAY [0..5] OF BYTEARRAY [32..127] OF BYTE)unsigned char %s[96]ARRAY [32..127] OF BYTE +ARRAY [1..1] OF NCTOPLC_AXLESTRUCT#2001998CNCTOPLC_AXLESTRUCTNCTOPLC_AXLESTRUCT+  nStateDWord+  nErrorCode+ @ nAxisState+ ` nAxisModeCon+ €nCalibrationState+   nCoupleState+ Р nSvbEntries+ р nSafEntries+ nAxisId+  nOpModeDWord+ @nCtrlLoopIndex @`fPosIst @  fModuloPosIst р nModuloTurns @fVeloIst @@fPosDiff @€fPosSoll @Р fVeloSoll @fAccSoll @@fReserve2_HIDDEN @€fReserve3_HIDDEN @РfReserve4_HIDDEN+ARRAY [1..1] OF PLCTONC_AXLESTRUCT#20016A74PLCTONC_AXLESTRUCTPLCTONC_AXLESTRUCT+  nDeCtrlDWord+  nOverride+ @ nAxisModeReq+ `nAxisModeDWord @€fAxisModeLReal @РfActPosCorrectionnReserved_HIDDEN ARRAY [32..127] OF BYTE#200101E4  ЈARRAY [107..127] OF BYTE)unsigned char %s[21]ARRAY [107..127] OF BYTEk PLCTONC_AXIS_REFPLCTONC_AXIS_REF+  ControlDWord+ Override+ @AxisModeRequest+ ` AxisModeDWord @€ AxisModeLReal @РPositionCorrection @ ExtSetPos @@ ExtSetVelo @€ ExtSetAcc РExtSetDirection+ р Reserved1 @ExtControllerOutput @@ GearRatio1 @€ GearRatio2 @Р GearRatio3 @ GearRatio4)@MapState)HPlcCycleControl)P PlcCycleCount ЈXReserved_HIDDEN NCTOPLC_AXIS_REFNCTOPLC_AXIS_REF+  StateDWord+  ErrorCode+ @ AxisState+ `AxisModeConfirmation+ € HomingState+   CoupleState+ Р SvbEntries+ р SafEntries+ AxisId+  OpModeDWord*@ActiveControlLoopIndex*PControlLoopIndex @`ActPos @  ModuloActPos рModuloActTurns @ActVelo @@PosDiff @€SetPos @РSetVelo @SetAcc @@ TargetPos @€ ModuloSetPos РModuloSetTurns*рCmdNo*№CmdStateBITARR4unsigned 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]UDINT- UINT8ARR3unsigned char %s[3]ARRAY [0..2] OF USINT& UINT8ARR2unsigned char %s[2]UINT%@ 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 bPlusHig%@€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_EXTCANQUEUElength cobIdY@0rxDataXPVARTYPE_CANQUEUEcobIdY@rxDataY@VARTYPE_CANMESSAGEunsigned char %s[6]ARRAY [0..7] OF USINTW VARTYPE_BX_KBUS_STATEfaultArg faultPlaceU@VARTYPE_FCXXXX_GLOBALSTATEunsigned short %s[8]UDINT]€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 cycleCountererror actionCounteractualCycleTime repeatCounter equiError actualModulo equiCycleTimeequiRepeatCounterT@VARTYPE_FCXXXX_CDLINFO cdlStartednReserved_HIDDEN cycleCountererror actionCounteractualCycleTimeSVARTYPE_FCXXXX_CDL_ARRAYRunsigned short %s[8]UDINTR@VARTYPE_FCXXXX_CDL& cdlStartednReserved2_HIDDEN&error& actionCounterQ€VARTYPE_FCXXXX_DEBUGunsigned short %s[8]UDINTZENUMunsigned short %snPVARTYPE_ECAT_HEADcmdidx$ addr0len@irqb`VARTYPE_CANTXFASTQUEUEcobIdtransactionNumberY@ txDatagVARTYPE_FC310X_PARA_RESserviceinvokeIdi€parai€"VARTYPE_FC310X_PARA_DESC_RES_ARRAYhunsigned short %s[8]UDINTh@VARTYPE_FC310X_PARA_DESC_RESstatussize datadVARTYPE_FC310X_PARA_INDserviceinvokeIdf€paraf€"VARTYPE_FC310X_PARA_DESC_IND_ARRAYeunsigned short %s[8]UDINTe@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( actionCounter0actualCycleTimecPVARTYPE_DPV2TIMESTAMP TimeStampDivSec TimeStampModSecj@StatusjVARTYPE_DPV2TIMESTAMPSTATUSNotSync Status Bit 1 Status Bit 2 Accurancy Status Bit 5SWTANHCounterx@ AMSADDRESS/0netId0portpBYTE_ARRAY_0_2 char %s[2]ARRAY[0..2] OF USINTŽАNCCHANNELSTRUCT_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 )ControlOutput 1 Output 2 Output 3 Output 4 Output 5 Output 6Output 7Output 8) F_Control) Host_Seq_No)  Slave_Crc2_Lo)( Slave_Crc2_Hi0 SLAVE_MESSAGE SLAVE_MESSAGE )StatusInput 1 Input 2 Input 3 Input 4 Input 5 Input 6Input 7Input 8)F_Status) Slave_Seq_No)  Slave_Crc2_Lo)( Slave_Crc2_Hi— PLCTONC_AXLESTRUCT_CTRL EnableFeedEnablePlusFeedEnableMinusBit3Bit4 HomingSensorBit6Bit7AcceptBlockedDrive BlockedDriveDetected Bit10 Bit11 Bit12 Bit13Bit14Bit15Bit16SteppingConditionBit18Bit19Bit20Bit21Bit22Bit23Bit24Bit25Bit26Bit27Bit28Bit29 PlcDebugFlag NcDebugFlag˜ NCTOPLC_AXLESTRUCT_OPMODE OpModePosAreaMonitoringOpModeTargetPosMonitoring OpModeLoopOpModeMotionMonitoringOpModePEHTimeMonitoringOpModeBacklashCompensationOpModeDelayedErrorReaction OpModeModuloBit8 Bit9 Bit10 Bit11 Bit12 Bit13Bit14Bit15OpModePosLagMonitoringOpModeVeloLagMonitoringOpModeSoftLimitMinMonitoringOpModeSoftLimitMaxMonitoringOpModePosCorrectionOpModeAllowSlaveCommandsBit22ApplicationRequestBit24Bit25Bit26Bit27Bit28Bit29Bit30Bit31– 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@MapState@p WORD_STRING_0_1 @p WORD_STRING_0_9 Щ€ISGSTRUCT_AXISIN6` EncOutStruct UserHandle%@nCouter @ fPosition @ fVelocityЪ€ISGSTRUCT_AXISOUT6` EncOutStruct UserHandle%@nCouter @ 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 LmSoeDemo_10џџџџŽ I/O DevicesŽoDevice 1 (EtherCAT)ЙŽKo, o'\DEVICE\{AB78F554-C842-43E2-8666-EAB338280AD6}ўдўЉџџ!oАpDevice 1 (EtherCAT)ЉўдўInputs 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‹#Drive 1 (E1250-EC-SoE V1.0)&"ŽT‹#00 AT 1 ŽDrive status wordŽѓєPosition feedback value 1Ž Ж MDT 1 ŽMaster control wordŽPosition command valueŽ   WcState Ž(WcState"0 = Data valid 1 = Data invalid ŽђіInfoData 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 :0port2Complete 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 'Chn0Slave has a drive channel Ž‹€&€€€&€"€€€"$$""щЉўдўщџџџƒX2ITNLj–DcOffDC unusedDcSyncDC for synchronization@ @шTncyc - NC cycle timeB @шTscyc - Comm cycle time9 @ Operation modeAT 1‡Drive status word3Position feedback value 1MDT 1†Master control word/Position command valueˆE1250-EC-SoE V1.0E1250 SoE V1.0Т шшˆЈaˆєdш„‚Съ@B…QLAN-Verbindung 7 (Intel(R) PRO/1000 PT Desktop Adapter #2 - Paketplaner-Miniport)Mappings Ž%SoeDemo_10 (Standard) - NC-Task 1 SAFŽ, 2  #NC-Task 1 SAF - Device 1 (EtherCAT) Ž, 2€и@р €иˆар ˜/2SoeDemo_10 (Standard) - Device 1 (EtherCAT) - Info Ž, ` p0NC - Configuration€ˆ‹= NC-Task 1 SAFˆѕ'xInputs ŽOutputs ŽEЉўдў WINDING_01NC-Task 1-ImageџџџџŽѕ ааМ(Tablesˆ ˆМ)Master 1‰ ˆМY@YР№?№?ќЉёвMbP?№?*Slave 1Š ˆМ0Ё@0ЁРр?ќЉёвMbP?0‘РYР dРNР dРNРЈЦK7‰Б3Р•C‹l']РЈЦK7‰Б3Р•C‹l']Р)Р9Р)Р9Р№?9@9@€ыiЭx@9@9@€ыiЭx@ЈЦK7‰БC@•C‹l']@|иЎBЙяШПЉЈЦK7‰БC@•C‹l']@|иЎBЙяШП t@N@чаИ[ч•?Т t@N@чаИ[ч•?0Ё@Y@чаИ[ч•?Axesˆ>AxesAxis 1‚ˆ„Axis 1š™™™™™Й?№?$@РR@№?{ЎGсz„?ш№?{ЎGсz„?Axis 1ƒˆНAxis 1џџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџ€џџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџ€mm@@>@>@Y@Р‚@@Ÿ@@Ÿ@@š™™™™™Й?р?Y@@{ЎGсz”?@p—@p—@”Ё@№?№?I@I@@@№?№?š™™™™™Й?9@№? @  Axis 1_Enc…ˆAxis 1_Enc€€-Cыт6?€v@џџџџ{ЎGсz„?š™™™™™Й?Inputs ŽЕ Axis 1_Enc_InŽ™@€ЖnInData1Ž$ € З nInData1[0] Ž€ И nInData1[1] Ž‚  ЙnInData2Ž$ „ К nInData2[0] Ž„ Л nInData2[1] Ž† МnStatus1 Žˆ$НnStatus2 Ž‰$ОnStatus3 ŽŠ$ПnStatus4 Ž‹$РnInData3Ž$ Œ С nInData3[0] ŽŒ Т nInData3[1] ŽŽ УnInData4Ž$  Ф nInData4[0] Ž Х nInData4[1] Ž’ ЦnInData5Ž$ ” Ч nInData5[0] Ž” Ш nInData5[1] Ž– ЩnInData6Ž$ ˜ Ъ nInData6[0] Ž˜ Ы nInData6[1] Žš ЬnStatus5 Žœ$ЭnStatus6 Ž$ЮnStatus7 Žž$ЯnStatus8 ŽŸ$а nDcInputTime Ž  $Outputs ŽбAxis 1_Enc_OutŽš@€в nOutData1Ž$ € г nOutData1[0]Ž€ д nOutData1[1]Ž‚ е nOutData2Ž$ „ ж nOutData2[0]Ž„ з nOutData2[1]Ž† иnCtrl1Žˆ$йnCtrl2Ž‰$кnCtrl3ŽŠ$лnCtrl4Ž‹$м nOutData3Ž$ Œ н nOutData3[0]ŽŒ о nOutData3[1]ŽŽ п nOutData4Ž$  р nOutData4[0]Ž с nOutData4[1]Ž’ т nOutData5Ž$ ” у nOutData5[0]Ž” ф nOutData5[1]Ž– х nOutData6Ž$ ˜ ц nOutData6[0]Ž˜ ч nOutData6[1]Žš шnCtrl5Žœ$щnCtrl6Ž$ъnCtrl7Žž$ыnCtrl8ŽŸ$ Axis 1_Drive†ˆ! Axis 1_DriveЈЈ№П№?џџџџ0Ё@№?№?№?№? …@№?№?Inputs ŽьAxis 1_Drive_InŽ“@ЈэnInData1Ž$ Ј ю nInData1[0] ŽЈ я nInData1[1] ŽЊ №nInData2Ž$ Ќ ё nInData2[0] ŽЌ ђ nInData2[1] ŽЎ ѓnStatus1ŽА$єnStatus2ŽБ$ѕnStatus3 ŽВ$іnStatus4ŽГ$(їnInData3Ž$ Д ј nInData3[0] ŽД љ nInData3[1] ŽЖ њnInData4Ž$ И ћ nInData4[0] ŽИ ќ nInData4[1] ŽК §nInData5Ž$ М ў nInData5[0] ŽМ џ nInData5[1] ŽО nInData6Ž$ Р  nInData6[0] ŽР  nInData6[1] ŽТ nStatus5 ŽФ$nStatus6 ŽХ$nStatus7 ŽЦ$nStatus8 ŽЧ$ nDcOutputTime Ž Ш$Outputs ŽAxis 1_Drive_OutŽ”@Ј  nOutData1Ž$ Ј   nOutData1[0]ŽЈ   nOutData1[1]ŽЊ    nOutData2Ž$ Ќ   nOutData2[0]ŽЌ  nOutData2[1]ŽЎ nCtrl1ŽА$nCtrl2ŽБ$nCtrl3ŽВ$nCtrl4ŽГ$‚ƒ„…†‡ˆ‰Š‹ŒŽ‘’“”•–—˜™š›œžŸ ЁЂЃЄЅІЇЈЉЊЋЌ­ЎЏўџџџБўџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџџ nOutData3Ž$ Д  nOutData3[0]ŽД  nOutData3[1]ŽЖ  nOutData4Ž$ И  nOutData4[0]ŽИ  nOutData4[1]ŽК  nOutData5Ž$ М  nOutData5[0]ŽМ  nOutData5[1]ŽО  nOutData6Ž$ Р  nOutData6[0]ŽР  nOutData6[1]ŽТ nCtrl5ŽФ$ nCtrl6ŽХ$!nCtrl7ŽЦ$"nCtrl8ŽЧ$ Axis 1_Ctrl„ˆAxis 1_Ctrl№?@{ЎGсz”?№?š™™™™™Й?р?š™™™™™Й?№?{ЎGсz„?š™™™™™Й?š™™™™™Й?š™™™™™Й?š™™™™™Й?Y@Y@@@Y@Inputs Ž€)Axis 1_FromPlcŽœ* ControlDWordŽ— +Enable Ž$,FeedEnablePlus Ž$-FeedEnableMinus Ž$.Bit3 Ž,/Bit4 Ž,0 HomingSensor Ž$1Bit6 Ž,2Bit7 Ž,3AcceptBlockedDrive Ž$4BlockedDriveDetected Ž,5Bit10 Ž,6Bit11 Ž,7Bit12 Ž,8Bit13 Ž,9Bit14 Ž,:Bit15 Ž,;Bit16 Ž,<SteppingCondition Ž,=Bit18 Ž,>Bit19 Ž,?Bit20 Ž,@Bit21 Ž,ABit22 Ž,BBit23 Ž,CBit24 Ž,DBit25 Ž,EBit26 Ž,FBit27 Ž,GBit28 Ž,HBit29 Ž,I PlcDebugFlag Ž$J NcDebugFlag Ž$KOverride Ž $LAxisModeRequest Ž $M AxisModeDWord Ž $N AxisModeLReal Ž @$OPositionCorrection Ž @$P ExtSetPos Ž @ $Q ExtSetVelo Ž @($R ExtSetAcc Ž @0$SExtSetDirection Ž 8$TReserved Ž <,UExtControllerOutput Ž @@$V GearRatio1 Ž @H$W GearRatio2 Ž @P$X GearRatio3 Ž @X$Y GearRatio4 Ž @`$ZMapState Žh$*Outputs Ž€[ Axis 1_ToPlcŽŒ\ StateDWordŽ–  ] OperationalŽ$^HomedŽ$_ NotMovingŽ$`InPositionAreaŽ$aInTargetPositionŽ$b ProtectedŽ$cErrorPropagationDelayedŽ$dHasBeenStoppedŽ$eHasJobŽ$fPositiveDirectionŽ$gNegativeDirectionŽ$h HomingBusyŽ$iConstantVelocityŽ$j CompensatingŽ$kExtSetPointGenEnabledŽ$lBusyŽ,mExternalLatchValidŽ$n NewTargetPosŽ$oNotInTargetPosŽ,pContinuousMotionŽ$qControlLoopClosedŽ$rCamTableQueuedŽ$s CamDataQueuedŽ$tCamScalingPendingŽ$u CmdBufferedŽ$vPTPmodeŽ$wSoftLimitMinExceededŽ$xSoftLimitMaxExceededŽ$yDriveDeviceErrorŽ$zMotionCommandsLockedŽ${ IoDataInvalidŽ$|ErrorŽ$} ErrorCodeŽ $~ AxisStateџPresent State Of The Axis Movement (continuous axis): 0 = INACTIVE: axis has no job 1 = RUNNING: axis is executing a motion job 2 = OVERRIDE_ZERO: axis is executing a job but override is zero 3 = PHASE_VELOCONST: axis is moving at constant velocity 4 = PHASE_ACCPOS: axis is accelerating 5 = PHASE_ACCNEG: axis is decelerating Slaves only: 11 = PREPHASE: slave axis is in a motion pre-phase 12 = SYNCHRONIZING: slave axis is synchronizing 13 = SYNCHRONOUS: slave axis is moving synchronously Ž $AxisModeConfirmationŽ $€ HomingStateГAxis Homing Status: 0: idle 1: start homing 2: searching home switch 3: stopping on home switch 4: moving off home switch 5: searching sync pulse 6: stopping after homing Ž $ CoupleStateAxis Coupling Status: 0: axis is a single axis (not coupled) 1: axis is a master axis 2: axis is master and slave 3: axis is a slave axis Ž $‚ SvbEntriesŽ $ƒ SafEntriesŽ $„AxisIdŽ $… OpModeDWordŽ˜ $ †OpModePosAreaMonitoringŽ$$‡OpModeTargetPosMonitoringŽ$$ˆ OpModeLoopŽ$$‰OpModeMotionMonitoringŽ$$ŠOpModePEHTimeMonitoringŽ$$‹OpModeBacklashCompensationŽ$$ŒOpModeDelayedErrorReactionŽ$$ OpModeModuloŽ$$ŽBit8Ž%,Bit9Ž%,Bit10Ž%,‘Bit11Ž%,’Bit12Ž%,“Bit13Ž%,”Bit14Ž%,•Bit15Ž%,–OpModePosLagMonitoringŽ&$—OpModeVeloLagMonitoringŽ&$˜OpModeSoftLimitMinMonitoringŽ&$™OpModeSoftLimitMaxMonitoringŽ&$šOpModePosCorrectionŽ&$›OpModeAllowSlaveCommandsŽ&$œBit22Ž&,ApplicationRequestŽ&$žBit24Ž',ŸBit25Ž', Bit26Ž',ЁBit27Ž',ЂBit28Ž',ЃBit29Ž',ЄBit30Ž',ЅBit31Ž',ІActiveControlLoopIndexŽ($ЇControlLoopIndexŽ*$ЈActPosŽ @,$Љ ModuloActPosŽ @4$ЊModuloActTurnsŽ <$ЋActVeloŽ @@$ЌPosDiffŽ @H$­SetPosŽ @P$ЎSetVeloŽ @X$ЏSetAccŽ @`$А TargetPosŽ @h$Б ModuloSetPosŽ @p$ВModuloSetTurnsŽ x$ГCmdNoŽ|$ДCmdStateŽ~$[NC1џџџџŽџ'јInputs ŽOutputs ŽШCam - Configuration”ˆ,Line Motion Configurationžpсs=PLC - ConfigurationŽсs=  SoeDemo_10(ŽЉўдў!'C:\TC_Project\Soe\Homing\SoeDemo_10.tpy­инN0Disable Enable Test-ImageџџџџŽ! Д€Standard$Task of IEC1131 project "SoeDemo_10"џџџџŽ"'яшInputs ŽД: AmsNetId_ArrFVariable of IEC1131 project "SoeDemo_10". Updated with Task "Standard"Ž 0,;AmsNetId_Arr[0]FVariable of IEC1131 project "SoeDemo_10". Updated with Task "Standard" Ž), <AmsNetId_Arr[1]FVariable of IEC1131 project "SoeDemo_10". Updated with Task "Standard" Ž)- =AmsNetId_Arr[2]FVariable of IEC1131 project "SoeDemo_10". Updated with Task "Standard" Ž). >AmsNetId_Arr[3]FVariable of IEC1131 project "SoeDemo_10". Updated with Task "Standard" Ž)/ ?AmsNetId_Arr[4]FVariable of IEC1131 project "SoeDemo_10". Updated with Task "Standard" Ž)0 @AmsNetId_Arr[5]FVariable of IEC1131 project "SoeDemo_10". Updated with Task "Standard" Ž)1 0[.Axis1.NcToPlcŽ 4€\ StateDWord Ž+ 4 ] ErrorCode Ž+ 8 ^ AxisState Ž+ < _AxisModeConfirmation Ž+ @ ` HomingState Ž+ D a CoupleState Ž+ H b SvbEntries Ž+ L c SafEntries Ž+ P dAxisId Ž+ T e OpModeDWord Ž+ X fActiveControlLoopIndex Ž*\ gControlLoopIndex Ž*^ hActPos Ž @` i ModuloActPos Ž @h jModuloActTurns Ž p kActVelo Ž @t lPosDiff Ž @| œSetPos Ž @„ SetVelo Ž @Œ žSetAcc Ž @” Ÿ TargetPos Ž @œ   ModuloSetPos Ž @Є ЁModuloSetTurns Ž Ќ ЂCmdNo Ž*А ЃCmdState Ž*В [Outputs Ž€*.Axis1.PlcToNcŽ €+ ControlDWordŽ+  ,OverrideŽ+  -AxisModeRequestŽ+  . AxisModeDWordŽ+  / AxisModeLRealŽ @ 0PositionCorrectionŽ @ 1 ExtSetPosŽ @  2 ExtSetVeloŽ @( 3 ExtSetAccŽ @0 4ExtSetDirectionŽ 8 5 Reserved1Ž+ < 6ExtControllerOutputŽ @@ 7 GearRatio1Ž @H 8 GearRatio2Ž @P 9 GearRatio3Ž @X A GearRatio4Ž @` BMapStateŽ)h CPlcCycleControlŽ)i D PlcCycleCountŽ)j EReserved_HIDDENŽ Јk(FReserved_HIDDEN[107]Ž)k GReserved_HIDDEN[108]Ž)l HReserved_HIDDEN[109]Ž)m IReserved_HIDDEN[110]Ž)n JReserved_HIDDEN[111]Ž)o KReserved_HIDDEN[112]Ž)p LReserved_HIDDEN[113]Ž)q MReserved_HIDDEN[114]Ž)r NReserved_HIDDEN[115]Ž)s OReserved_HIDDEN[116]Ž)t PReserved_HIDDEN[117]Ž)u QReserved_HIDDEN[118]Ž)v RReserved_HIDDEN[119]Ž)w SReserved_HIDDEN[120]Ž)x TReserved_HIDDEN[121]Ž)y UReserved_HIDDEN[122]Ž)z VReserved_HIDDEN[123]Ž){ WReserved_HIDDEN[124]Ž)| XReserved_HIDDEN[125]Ž)} YReserved_HIDDEN[126]Ž)~ ZReserved_HIDDEN[127]Ž) )SYSTEM - Configuration.џџџџŽсs=Real-Time Settings/џџџџŽ'Pш Additional TasksŽ I/O Idle TaskŽ T'Inputs ŽOutputs ŽEЉўдў WINDING_01I/O Idle Task-ImageџџџџŽT ƒ;р<ўџр…ŸђљOhЋ‘+'Гй0р `€hpŒЌ др(4 „АLicenceyour title Hymmen / Hymmen>see: menu 'File/Properties...'FSysMan v2.11 b1572 (TwinCAT b1553)@А5fтп}ЬFwilli nti ag XXXX-CED1-9F3E-XXXX