Manual

TF5100 TwinCAT 3 NC I

TwinCAT 3

Version: 1.2
Date: 2018-04-22
 Table of contents

Table of contents
1 Introduction................................................................................................................................................ 7

2 User interface in the TwinCAT 3 Engineering environment .................................................................. 8

2.1 Outline ............................................................................................................................................ 8
2.2 Interpolation Channel...................................................................................................................... 9
2.3 Interpreter element ....................................................................................................................... 11
2.3.1 Interpreter online window ................................................................................................. 12
2.3.2 "Interpreter" tab ................................................................................................................ 14
2.3.3 "M-Functions" tab............................................................................................................. 15
2.3.4 "R parameters" tab........................................................................................................... 16
2.3.5 "Zero point" tab ................................................................................................................ 17
2.3.6 "Tools" tab........................................................................................................................ 18
2.3.7 "Editor" tab ....................................................................................................................... 19
2.3.8 "MDI" tab .......................................................................................................................... 20
2.4 Group element .............................................................................................................................. 20
2.4.1 "General" tab.................................................................................................................... 21
2.4.2 "DXD" tab ......................................................................................................................... 22
2.4.3 “Settings” tab.................................................................................................................... 26
2.4.4 "Online" tab ...................................................................................................................... 27
2.4.5 "3D-Online" tab ................................................................................................................ 28

3 GST Reference Manual ........................................................................................................................... 29

3.1 General Notes............................................................................................................................... 29
3.2 Preprocessor ................................................................................................................................ 29
3.3 Combining G-Code and ST .......................................................................................................... 31
3.4 G-Code (DIN 66025)..................................................................................................................... 33
3.4.1 Comments........................................................................................................................ 33
3.4.2 Codes............................................................................................................................... 34
3.4.3 Execution Order ............................................................................................................... 46
3.4.4 Mutual Exclusive G-Codes............................................................................................... 47
3.5 ST - Structured Text (IEC 61131-3).............................................................................................. 47
3.5.1 Comments........................................................................................................................ 47
3.5.2 Literals.............................................................................................................................. 48
3.5.3 Native Data Types............................................................................................................ 51
3.5.4 Userdefined Types ........................................................................................................... 52
3.5.5 Control Structures ............................................................................................................ 53
3.5.6 Userdefined Functions ..................................................................................................... 54
3.5.7 Standard Functions .......................................................................................................... 55
3.6 CNC Functions ............................................................................................................................. 62
3.6.1 Strings and Messages ..................................................................................................... 62
3.6.2 Transformations ............................................................................................................... 63
3.6.3 Movement ........................................................................................................................ 68
3.6.4 Centerpoint Correction ..................................................................................................... 69
3.6.5 Tools ................................................................................................................................ 69
3.6.6 Synchronization ............................................................................................................... 71
3.6.7 Query of Axes .................................................................................................................. 72
3.6.8 Current Point .................................................................................................................... 73
3.6.9 Tool Radius Compensation.............................................................................................. 73
3.6.10 Suppression of G-Code Blocks ........................................................................................ 74
3.6.11 Zero Offset Shift ............................................................................................................... 75
3.6.12 Units ................................................................................................................................. 76
3.6.13 Trigonometric (Unit Aware) .............................................................................................. 77

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3.6.14 Feed Mode ....................................................................................................................... 78

3.6.15 Feed Interpolation ............................................................................................................ 79
3.6.16 Streaming of Large G-Code Files .................................................................................... 79
3.6.17 Vertex Smoothing ............................................................................................................ 79
3.6.18 Dynamic Override ............................................................................................................ 80
3.6.19 Center Point Reference of Circles ................................................................................... 80
3.7 Transformations............................................................................................................................ 80
3.7.1 Modification of the Effective Transformation T and its Effect ........................................... 81
3.7.2 Components of the Effective Transformation T ............................................................... 82
3.7.3 Applying Transformations ................................................................................................ 82
3.7.4 Revoking Transformations ............................................................................................... 82
3.7.5 Restoration of Stack......................................................................................................... 83
3.8 Error Reporting ............................................................................................................................. 83
3.8.1 Error Messages................................................................................................................ 84
3.8.2 Compile-Time Errors and Runtime Errors........................................................................ 84
3.8.3 Errors in G-Code .............................................................................................................. 85
3.8.4 Preprocessing .................................................................................................................. 86
3.9 General Command Overview ....................................................................................................... 87
3.10 Comparative Command Overview................................................................................................ 95

4 Interpreter (DIN 66025/G-Code) ............................................................................................................ 107

4.1 Basic Principles of NC Programming.......................................................................................... 107
4.1.1 Structure of an NC Program........................................................................................... 107
4.1.2 Block Skipping................................................................................................................ 108
4.1.3 Look-Ahead.................................................................................................................... 108
4.1.4 Smoothing of Segment Transitions ................................................................................ 110
4.1.5 Co-ordinate System ....................................................................................................... 110
4.1.6 Dimensional Notation ..................................................................................................... 111
4.1.7 Working Plane and Feed Direction ................................................................................ 111
4.1.8 Inch/metric dimensions .................................................................................................. 113
4.1.9 Single Block Operation .................................................................................................. 114
4.1.10 Arithmetic Parameters.................................................................................................... 115
4.2 Programming Movement Statements ......................................................................................... 117
4.2.1 Referencing.................................................................................................................... 117
4.2.2 Rapid Traverse............................................................................................................... 118
4.2.3 Linear Interpolation ........................................................................................................ 119
4.2.4 Circular Interpolation ...................................................................................................... 119
4.2.5 Helix ............................................................................................................................... 121
4.2.6 Dwell Time ..................................................................................................................... 122
4.2.7 Accurate Stop................................................................................................................. 123
4.2.8 Feed interpolation .......................................................................................................... 123
4.2.9 Zero Offset Shifts ........................................................................................................... 124
4.2.10 Target Position Monitoring ............................................................................................. 126
4.2.11 Contour definitions ......................................................................................................... 128
4.2.12 Rotation.......................................................................................................................... 129
4.2.13 Mirror.............................................................................................................................. 132
4.2.14 Smoothing of segment transitions.................................................................................. 133
4.2.15 Circular Smoothing......................................................................................................... 138
4.2.16 Automatic Accurate Stop ............................................................................................... 139
4.2.17 Delete Distance to Go .................................................................................................... 140
4.2.18 Modulo Movements........................................................................................................ 140
4.2.19 Auxiliary axes ................................................................................................................. 141
4.3 Supplementary Functions ........................................................................................................... 145
4.3.1 M-Functions ................................................................................................................... 145
4.3.2 H, T and S Parameters .................................................................................................. 149

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4.3.3 Decoder stop.................................................................................................................. 150

4.3.4 Jumps............................................................................................................................. 151
4.3.5 Loops ............................................................................................................................. 153
4.3.6 Subroutine techniques ................................................................................................... 154
4.3.7 Dynamic Override .......................................................................................................... 156
4.3.8 Altering the Motion Dynamics ........................................................................................ 156
4.3.9 Change of the Reduction Parameters............................................................................ 158
4.3.10 Change of the Minimum Velocity ................................................................................... 159
4.3.11 Read Actual Axis Value ................................................................................................. 160
4.3.12 Skip virtual movements .................................................................................................. 161
4.3.13 Messages from NC program .......................................................................................... 161
4.4 Tool Compensation..................................................................................................................... 162
4.4.1 Tool Data........................................................................................................................ 162
4.4.2 Selecting and Deselecting the Length Compensation ................................................... 164
4.4.3 Cartesian Tool Translation ............................................................................................. 164
4.4.4 Cutter Radius Compensation ......................................................................................... 167
4.4.5 Orthogonal Contour Approach/Departure ...................................................................... 172
4.4.6 Path Velocity in Arcs ...................................................................................................... 172
4.4.7 Bottle Neck Detection .................................................................................................... 173
4.5 Command overview .................................................................................................................... 175
4.5.1 General command overview .......................................................................................... 175
4.5.2 @-Command Overview.................................................................................................. 178

5 PLC NCI Libraries .................................................................................................................................. 181

5.1 PLC Library: Tc2_NCI................................................................................................................. 181
5.1.1 Configuration.................................................................................................................. 181
5.1.2 NCI POUs ...................................................................................................................... 188
5.1.3 Parts program generator ................................................................................................ 243
5.1.4 Blocks for compatibility with existing programs.............................................................. 250
5.1.5 Obsolete......................................................................................................................... 274
5.2 PLC Library: Tc2_PlcInterpolation .............................................................................................. 276
5.2.1 FB_NciFeedTablePreparation ....................................................................................... 278
5.2.2 FB_NciFeedTable .......................................................................................................... 279
5.2.3 Types and Enums .......................................................................................................... 280

6 Samples.................................................................................................................................................. 293

7 Appendix ................................................................................................................................................ 294

7.1 Display of the parts program....................................................................................................... 294
7.2 Display of technology data.......................................................................................................... 296
7.3 Displaying the remaining path length.......................................................................................... 301
7.4 Parameterisation......................................................................................................................... 301
7.4.1 Path override (interpreter override types) ...................................................................... 304
7.5 Cyclical Channel Interface .......................................................................................................... 306
7.6 ADS Return Codes ..................................................................................................................... 308
7.7 Overview of NC errors ................................................................................................................ 313
7.7.1 General NC Errors ......................................................................................................... 314
7.7.2 Channel Errors ............................................................................................................... 317
7.7.3 Group Errors .................................................................................................................. 321
7.7.4 Axis Errors...................................................................................................................... 340
7.7.5 Encoder Errors ............................................................................................................... 347
7.7.6 Controller Errors............................................................................................................. 353
7.7.7 Drive Errors .................................................................................................................... 357
7.7.8 Table Errors ................................................................................................................... 362
7.7.9 NC-PLC Errors ............................................................................................................... 366

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7.7.10 Kinematic transformation ............................................................................................... 372

7.7.11 Bode Return Codes ....................................................................................................... 372
7.7.12 Further Error Codes ....................................................................................................... 375
7.8 Specification "Index group" for NC ( ID [0x01...0xFF] ) .............................................................. 377
7.8.1 Specification Ring-0-Manager........................................................................................ 380
7.8.2 Specification Channels .................................................................................................. 382
7.8.3 Specification Groups ...................................................................................................... 391
7.8.4 Specification Axes.......................................................................................................... 407
7.8.5 Specification Encoder .................................................................................................... 452
7.8.6 Specification Controller .................................................................................................. 467
7.8.7 Specification Drive ......................................................................................................... 475
7.8.8 Specification Tables ....................................................................................................... 482
7.8.9 Appendix ........................................................................................................................ 487

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 Introduction

1 Introduction
The TwinCAT NCI stands for 'numerical control interpolation' and is the NC system for interpolated path
movements.
TwinCAT NCI offers 3D interpolation (interpreter, setpoint generation, position controller), an integrated PLC
with an NC interface and an I/O connection for axes via the fieldbus.

NCI can be used to drive 3 path axes and up to 5 auxiliary axes per channel. In addition, master/slave
couplings can be formed. In combination with TwinCAT Kinematic Transformation (TS 511x), complex
kinematic systems can be controlled via NCI.

Programming is done with a dedicated NC program, based on DIN 66025, with its own language extensions
(cf. Interpreter (DIN 66025/G-Code) [} 107]) or directly from the PLC with the PLC Library:
Tc2_PlcInterpolation [} 276].

Installation preconditions

TwinCAT NCI is integrated in the TwinCAT 3 installation.

Overview

Chapter Contents
XAE user interface [} 8] Description of the parameters and functionalities for
the interpreter in the TwinCAT 3 Engineering
environment (XAE)
Interpreter [} 107] Interpreter programming instructions.
PLC NCI Libraries [} 181] Description of the special NCI libraries
Samples [} 293] Samples for using TwinCAT NCI with PLC and parts
program, and for direct motion control from the PLC
with the Tc2_PlcInterpolation library
Appendix [} 301] Parameterization, cyclic channel interface

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2 User interface in the TwinCAT 3 Engineering

environment

2.1 Outline
In order to be able to use the interpolation, add an interpolation channel in the XAE . This applies to the
interpreter and the PLC Library: Tc2_PlcInterpolation [} 276].
1. Create an NC channel.

2. In the selection box select the NC channel for the interpolation.

3. Assign PTP axes to it from the PLC via a function block.

ð The created channel consists of the following elements:

Interpolation Channel [} 9] Description of the properties pages embedded in the

'interpolation' element.
Interpreter Element [} 11] Description of the properties pages embedded in the
'Interpreter' element
Group element [} 20] Description of the properties pages embedded in the
'group' element

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NOTE! Axis-specific parameters for NCI can be found in the axis parameterization under subitem
'NCI parameters'.

2.2 Interpolation Channel

Click on the interpolation channel to display the following dialogs:

”Online" tab

All the axes in the current Interpolation Group [} 20] will be listed. Currently shown:
• Actual positions
• Set positions
• Following errors
• Set velocities and
• Error Codes

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"Override" tab

The channel override for the axes can be read and set on the 'Override' page. If PLC is running and the
cyclical channel interface [} 306] is being written, the override set here will be overwritten by the PLC.

Further information on the override principle can be found under Path override (interpreter override types)
[} 304].

The spindle override is described by the cyclic channel interface, although it is currently not supported.

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2.3 Interpreter element

Click on “Interpreter” to show the following property pages and the online window:

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2.3.1 Interpreter online window

Axes

As on the "Online" properties page in the interpolation channel, this window lists all axes currently included in
the interpolation group. Values for the following parameters are displayed:
• actual positions
• set positions
• following errors
• set velocities and
• current error codes

Actual Program Line

The Actual Program Line shows the current NC block to be processed in the block execution. The last row in
the window is the current block.

As for nearly all the parameters, the program display can be read off via ADS. This can be used to display
the current NC blocks in a Visual Basic application, for example (see ADS device documentation - ADS
Interface NC [} 308]).

Program name

Displays the name of the currently loaded program. This does not necessarily have to be the program
displayed in Editor.

Interpreter status

The interpreter status indicates the current status of the interpreter state machine. The complete list is given
below. As PLC evaluation does not require all status information, only the most important parameters are
explained.

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Status Description
ITP_STATE_IDLE The interpreter is in idle state when there is no NC
program loaded as yet or when a group reset is being
executed. The interpreter also goes into idle state
when a current program is stopped. In the case a
group reset must be executed in order to prevent
error 0x42C5. It is therefore recommended to
execute a group reset after stopping via the PLC.
ITP_STATE_READY After successful loading of an NC program, the
interpreter is in ready state. After a program has been
successfully processed and exited, the interpreter
goes into ready state. In the meantime, however,
other states are accepted.
ITP_STATE_ABORTED If a runtime error occurs during the processing of an
NC program, the interpreter goes into aborted state.
The actual error code is given in the channel status
ITP_STATE_SINGLESTOP This status is only accepted in Single Block Mode
[} 114]. As soon as the entry has been sent from the
interpreter to the NC core, the interpreter goes into
this mode.

Querying the interpreter status during program execution

Since the interpreter status may change between different states during program execution,
we recommend querying it with a negative logic. During program execution the interpreter
Note state is not necessarily ITP_STATE_RUNNING. If the program was executed successfully,
the interpreter is subsequently always in Ready state (see also Samples [} 293]).

Interpreter status return values

0 ITP_STATE_INITFAILED
1 ITP_STATE_IDLE
2 ITP_STATE_READY
3 ITP_STATE_STARTED
4 ITP_STATE_SCANNING
5 ITP_STATE_RUNNING
6 ITP_STATE_STAY_RUNNING
7 ITP_STATE_WRITETABLE
8 ITP_STATE_SEARCHLINE
9 ITP_STATE_END
10 ITP_STATE_SINGLESTOP
11 ITP_STATE_ABORTING
12 ITP_STATE_ABORTED
13 ITP_STATE_FAULT
14 ITP_STATE_RESET
15 ITP_STATE_STOP
16 ITP_STATE_WAITFUNC
17 ITP_STATE_FLUSHBUFFERS

Channel status

The channel status indicates the current error state of the channel. If an error occurs during NC program
loading or runtime, the corresponding error code [} 313] is displayed here. If, for example, an axis following
error occurs during processing, the NC program is stopped and the channel status will have a value unequal
0. The channel status should therefore always be checked in the PLC, in order to be able to respond to
errors. The channel status is always 0 during normal operation.

Loading buffer

The current size of the loading buffer for the interpreter is displayed here. Select the "Interpreter" tab to
change the value.

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2.3.2 "Interpreter" tab

Type

The interpreter type can be selected in the Type selection box. Available are
• the GST-interpreter. GST combines native DIN 66025 based G-code with programming extensions of
Structured Text as a higher level language.
• The DIN 66025 based NC-interpreter [} 107] with @-command register function extensions.
• The selection of none if the PlcInterpolation [} 276] library is used.

As default setting the GST-interpreter is set. To employ the NC-interpreter with register function extensions
you have to select it explicitly.

Loading Buffer Size

The loading buffer for the interpreter can be edited here. Note that the memory required in the interpreter is
substantially greater than the size of the NC-file. The maximum permitted loading buffer size is limited to
64 MB.

Changing the Loading Buffer Size

If the size of the loading buffer is changed, it is absolutely necessary to execute a TwinCAT
restart.
Note

G70/G71 Factor

If a switch from G71 [} 113] (millimeters - default) to G70 takes place in the parts program, the conversion
factor is stored here. This conversion factor only has to be edited if the base reference system is not
millimeters.

If for example the machine was calibrated based on inches and G70 is activated in the parts program, the
G70 factor should be set to 1 and the G71 factor should be set to 1/25.4.

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Save/Restore

At runtime the Save function can be used to save a “snapshot” of the current parameters. The checkboxes
can be used to specify the parameters to be saved. The Save function generates the file ‘SnapShot.bin’ in
the TwinCAT\CNC directory.

The Restore function loads the file saved with the Save function. This function is solely intended for
debugging purposes.

2.3.3 "M-Functions" tab

Use only with interpreter

This tab is irrelevant for operation with the library Tc2_PlcInterpolation.

Note

Shows the currently parameterized M-functions. On this page new M-functions can be added, or existing
ones modified.

A more detailed description of the available parameters can be found in the interpreter description under M-
functions [} 145].

Parameterization of M-functions
If M-functions are re-parameterized, subsequent activation of the configuration and a Twin-
CAT restart is required.
Note

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2.3.4 "R parameters" tab

The currently applicable R parameters are displayed on the 'R parameters' properties page. During the test
phase it is possible to, for example, initialize or change R parameters here. R parameters are generally
edited, however, from the NC program or if necessary, from the PLC.

You can find further information about R parameters in the interpreter description under R Parameters
[} 115].

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2.3.5 "Zero point" tab

The current zero shift values for the axes within the interpolation group are displayed here. The parameters
P54..P59 represent for the corresponding G code. As for the R parameters, the zero shift values can be
edited from here.

NOTE! Columns F & G (e.g. P54 F & P54 G) exist for historical reasons and are added for each
parameter.

You can find further details of the effects in the interpreter description under zero shifts [} 124].

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2.3.6 "Tools" tab

You can edit the data for the tool compensation on the "Tools" property page.

More detailed parameter descriptions can be found in the interpreter description under tool compensations
[} 162].

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2.3.7 "Editor" tab

The editor is used to display and edit the NC programs.

• Browse...
Opens a dialog with which existing NC programs can be selected and displayed.
• F5
Starts the currently loaded NC program
NOTE! The NC program displayed in the editor need not be the currently loaded program
• F6
Stops the currently running NC program
• F7
Loads the NC program displayed in the editor
• F8
Executes a group reset
• F9
Saves the NC program currently displayed in the editor under the same name
• Editor...
Opens a larger window in which the NC program is displayed

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2.3.8 "MDI" tab

MDI stands for “Manual Data Interface”. It can be used to enter individual NC blocks directly from the
TwinCAT 3 Engineering environment (XAE). Processing is started and stopped via F5 and F6 respectively.

2.4 Group element

General [} 21]
DXD [} 22]
Settings [} 26]
Online [} 27]
3D-Online [} 28]

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2.4.1 "General" tab

group ID

The group ID is shown on the "General" page. This is required for group-specific ADS commands.

Create symbols

In order to be able to access path variables symbolically, select symbol generation for the group here.

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2.4.2 "DXD" tab

The NCI group parameters are written on the "DXD" properties page.

Curve velocity reduction method

The curve velocity reduction method is only effective for C0 transition (see Classification of Segment
Transitions [} 301])

Defines of the curve velocity reduction method

0 Coulomb
1 Cosinus
2 VeloJump
3 DeviationAngle (not yet released)

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Method Description
Coulomb The coulomb reduction method is a dynamic process analogous to the
Coulomb scattering.
The deflection angle φ in the transition point is the angle between the
tangents of the path at the end of the segment S1 and the tangent of the path
at the start of segment S2.
The velocity is set to the velocity at infinity, in analogy to Coulomb scattering,
Vk ∝ ( tan(0.5(π-φ)) )1/2
and then reduced via the C0 factor.
Vk ← C0 Vk.
In the case of a motion reversal (φ=180) the reduction is always Vk = C0. As
the reduction in the case of small deflection angles is drastic, there is an
angle φlow∈ [0,180] from which full reduction takes effect. To avoid reduction,
set φlow = 180. For full reduction (down to φ = 0), set C0 = 0.0 and φlow = 0.

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Method Description
Cosine The cosine reduction method is a purely geometrical process.
It involves:
• the C0 factor ∈ [0,1],
• an angle φlow ∈ [0,180],
• an angle φhigh ∈ [0,180] with φlow < φhigh

Reduction scheme:
• φ<φ low: no reduction: Vk←Vk,
• φhigh < φ: reduction by the C0 factor: Vk← C0 Vk

• φlow < φ <φhigh: partial reduction continuously interpolating between

cases 1 and 2, proportional to the cos function in the range [0,π/2].

For full reduction (down to φ = 0), set C0 = 0.0 and φlow = 0 and φhigh very
small but not equal to 0 (e.g. 1.0E-10)

VeloJump It is a geometrical procedure for determining the segment transition velocity at

a C0 transition. The procedure reduces the path velocity as required, so that
the step change in velocity does not exceed the specified limit value. It is
calculated based on the following formula: VeloJump factor * cycle time * min
(acceleration; deceleration) Further information: [} 301]

Velocity reduction factor C0 transition

Reduction factor for C0 transitions. The effect depends upon the reduction method.

C0 ∈ [0.0, 1]

Velocity reduction factor C1 transition

First, V_link is set to the lower of the two segment target velocities:
V_link = min(V_in,V_out).

The geometrically induced absolute step change in acceleration AccJump in the segment transition is
calculated depending on the geometry types G_in and G_out, and the plane selection G_in and G_out of the
segments to be connected, at velocity V_link.

If this is greater than C1 times the path acceleration/(absolute) deceleration AccPathReduced permissible for
the geometries and planes, the velocity V_link is reduced until the resulting step change in acceleration is
equal to AccPathReduced.

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If this value is less than V_min, then V_min takes priority.

NOTE! When changing the dynamic parameters, the permissible path acceleration for the
geometries and planes and thereby the reaction of the reduction changes automatically.

Reduction factor for C1 transitions: C1 ≥ 0.0

Critical angle, segment transition 'low'

Parameters for φlow (see curve velocity reduction method [} 22]).

Critical angle, segment transition 'high'

Parameters for φhigh (see curve velocity reduction method [} 22]).

Minimum velocity at segment transitions

Each NCI group has a minimum path velocity V_min ≥ 0.0. The actual velocity should always exceed this
value. User-specified exceptions are: programmed stop at segment transition, path end and override
requests which lead to a velocity below the minimum value. A systemic exception is a motion reversal.

With the reduction method DEVIATIONANGLE the deflection angle is φ ≥ φ_h, in which case the minimum
velocity is ignored. V_min must be less than the set value for the path velocity (F word) of each segment.

The minimum velocity can be set to a new value V_min ≥ 0.0 in the NC program at any time. The unit is mm/
sec.

Global soft position limits (for x,y,z-axes)

Parameters for enabling the software end positions of the path (see: Parameterization [} 304]).

Interpreter override type

Parameter for selecting the path override type (see Path override (interpreter override types) [} 304]).

SAF cycle time divisor

The cycle time reduction ensures that the set value in the SAF is not calculated with the SAF cycle time, but
with a time that is divided by the value specified here. For highly dynamic motions it may make sense to set
the parameter to a value greater than 1, in order to minimize discretization inaccuracies. Increasing the SAF
cycle time divisor results in the set value generator being called more frequently internally.

User-defined SAF table length

Parameter that defines the size of the SAF table and therefore the maximum number of cached SAF entries
(look-ahead). If an NC program involves sequential movement of many very short segments, increasing this
value can help to avoid an unintentional velocity reduction at the segment transitions.

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2.4.3 “Settings” tab

Under the "Settings" tab you can set the cycle time for the interpolation. The cycle time set here is a multiple
of the cycle time of the SAF task.

Using the cycle time in the "Settings" tab

The cycle time setting can be used if you have to select a cycle time for the interpolation
that differs from the SAF task. Generally, the cycle time of the SAF task should be adjusted
Note to set the cycle time.

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2.4.4 "Online" tab

Error code

The current error code for the channel is displayed here. The value is the same as the value displayed in the
online window of the interpreter under 'channel status [} 11]'

SVB status

SVB status displays the current block preparation status (SVB = Satzvorbereitung). Possible SVB states are:
ERROR
IDLE
READY
START
DRIVEOUT
CALIBRATE
MFUNC
SYNCREC
DELAY
MFUNCWAIT
SPINDLEWAIT

PLC evaluation of the SVB status is normally not necessary.

SAF status

SAF status displays the current block execution status (SAF = Satzausführung). Possible SAF states are:
ERROR
IDLE
CONTROL
RUN
RUN_DRIVEOUT
WAIT

PLC evaluation of the SAF status is normally not necessary.

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User interface in the TwinCAT 3 Engineering environment

SVB entries

Number of current SVB entries.

SAF entries

Number of current SAF entries.

2.4.5 "3D-Online" tab

Target assignment

At this point the interpolation group is formed. The movement of the PTP axes, which are assigned to the
path axes X, Y and Z, can then be based on interpolation.

Any PTP axes can be selected with the aid of the selection lists for the path axes X, Y and Z. Press the
'Apply' button to form the 3D group.

A comparably PLC function block is available in the PLC Library: Tc2_NCI [} 181]. (See CfgBuildExt3DGroup
[} 182])

Actual assignment

The current path axis configurations are displayed here. Use 'Delete' to remove individual axes from the 3D
group.

Delete whole configuration

Resolves the complete 3D group. Here, too, a corresponding PLC function block is available in the PLC
Library: Tc2_NCI [} 181]. (See CfgReconfigGroup [} 184])

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 GST Reference Manual

3 GST Reference Manual

Refer to
• TF5100 TC3 NC I

for the GST Documentation.

3.1 General Notes

All GST-examples in this documentation presuppose the following assumptions:
• Initially, the tool is located at X0, Y0, Z0.
• All state-variables of the interpreter are set to their default values, except that the velocity is set to a
nonzero value.

3.2 Preprocessor
Include Directive
#include "<path>"
#include < <path> >

The #include directive inserts the contents of another file. The included file is referenced by its path.
Typically, it is used to “import” commonly used code like e.g. libraries. Its behavior is similar to the C-
Preprocessor.

Example:

In the following example file a.gst includes file b.gst. On execution of a.gst the interpreter internally
replaces the include-line by the text of b.gst. Therefore, executing the program a.gst has the same effect
as executing the program c.gst.

FILE a.gst:
G01 X0 Y0
#include "b.gst"
G01 X0 Y100

FILE b.gst:
G01 Z-2
G01 X100
G01 Z2

FILE c.gst:
G01 X0 Y0
G01 Z-2
G01 X100
G01 Z2
G01 X0 Y100

• If path is absolute, it is directly used to locate the included file. An absolute path must be surrounded
by quotation marks.
• If path is relative and surrounded by quotation marks, it is appended to the directory of the including
file to form the path of the included file.
• If path is enclosed in angle brackets, it is regarded to be relative to the paths in the searchpath list.
The first entry in this list that leads to an existing file is used for inclusion. The searchpath list is
supplied by the interpreter environment of the interpreter.

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Example:

The following example assumes that the searchpath is set to the directories c:\jjj and c:\kkk. The file
aaa.gst consists of a sequence of #include-directives that are explained in the following.
• The file bbb.gst is included using an absolute path. Therefore, its location is independent of the
location of aaa.gst. Absolute referencing is useful for files that always reside at a fixed location on the
filesystem.
• The file ccc.gst is referenced relative. It must reside in the directory of aaa.gst (the including file),
which is c:\mmm\.
• The file ddd.gst is also referenced relative. It is expected to reside at c:\mmm\ooo\ddd.gst.
• The relative reference of eee.gst uses the sequence '..', which refers to the parent directory.
Therefore, the file eee.gst is expected in c:\ppp\qqq\eee.gst.
• The relative path of fff.gst is denoted in angle brackets. Therefore, the directories in the
searchpath are considered, rather than the directory of aaa.gst. The file is expected in c:\jjj
\fff.gst or c:\kkk\fff.gst. The first path that leads to an existing file is considered. If there is no
file fff.gst in any directory of the searchpath, an error is reported.
• Finally, the file ggg.gst is expected in c:\rrr\ggg.gst. Both entries in the searchpath lead to
this location.

FILE c:\mmm\aaa.gst:
#include "c:\nnn\bbb.gst"
#include "ccc.gst"
#include "ooo\ddd.gst"
#include "..\ppp\qqq\eee.gst"
#include <fff.gst>
#include <../rrr/ggg.gst>

• Each include-directive must be denoted on a dedicated line. Then, this entire line is replaced by the
contents of the included file. An additional ‘newline’ character is appended.
• The include-directive may be used multiple times at arbitrary locations of the including file.
• The same file may be included multiple times.

TIP:
It is typically bad practice to include a file multiple times. Especially, if this feature is mis-
used to factor out code. Instead, a function should be preferred to define code that is
Note reused multiple times (See section Userdefined Functions [} 54].)

• If an included file does not exist, an error is reported.

• Include directives in included files are also subject to replacement.
• An infinite loop due to recursive inclusion (e.g. A includes B, B includes C and C includes A) is detected
and reported as an error.

Example:

In the following example file a.gst includes file b.gst twice. The second inclusion is always expanded,
independently of the enclosing condition by the IF-THEN expression. The included file b.gst itself includes
file c.gst.

FILE a.gst:
G01 X100
#include "b.gst"
G01 Y100
! IF stVariable=47 THEN
#include "b.gst"
! END_IF;

FILE b.gst:
#include "c.gst"
G01 X0 Y0

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FILE c.gst:
G01 Z0

Example:

File x.gst demonstrates a series of invalid include directives. The first three lines violate the rule that each
include directive must be denoted on a dedicated line. In lines 4 and 5 the filename is not properly enclosed
in quotation marks or angle brackets. In line 6 a nonexisting file is included. Line 7 includes the file y.gst,
which itself includes file x.gst. This loop is reported as an error.

FILE x.gst:
#include "a.gst" G01 X100
! #include "a.gst"
#include "a.gst" #include "b.gst"
#include a.gst
#include "a.gst>
#include "non_existing_file.gst"
#include y.gst

FILE y.gst:
#include "x.gst"

3.3 Combining G-Code and ST

A GST-Program
<g-code>
<g-code>
! <st-code>
<g-code>
<g-code>
{
<st-code>
<st-code>
! <g-code>
<st-code>
<st-code>
}
<g-code>
<g-code>

A GST-file consists of sequences of G-code and sequences of ST-code that can be interleaved as shown
above. Each program starts in G-code mode. The mode can be switched to ST for one line using an
exclamation mark (‘!’). The ST-mode ends at the end of line automatically.

As an alternative a block of ST-code can be defined using curly braces (‘{‘…’}’). This notation is more
practical to define a long sequence of ST-code in a GST-program. Within the ST-block the G-code mode can
be entered for one line using the exclamation mark. Thereby, the G-code mode ends at the end of line
automatically.

G-Code Block

<address><value> <address>=<G-Expression> <address>{<ST-Expression>}

A line of G-code is called a block. It consists of a sequence of words. A word is a combination of an

address (e.g. G or X) and a value. A value can be defined by a literal (e.g. 2.54), by a G-expression (e.g.
2*foo+1) or by an ST-expression (e.g. sin(foo**2)-1).

G-Code Expression

<address>=a+b-c*d/e

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The result of the expression is used as the value of the word. The four basic arithmetic operations (‘+’, ‘-’,
‘*’, ‘/’) can be used in a G-expression. They are evaluated as expected, i.e. all operations are left-associative
and ‘*’, ‘/’ have a higher precedence than ‘+’, ‘-’. Variables that have been declared in ST can also be used
in a G-expression (with respect to their scope).

All computations are performed using type LReal (64-bit floating point according to IEEE 754). The value of
an ST-variable is implicitly converted to type LReal according to the conversion rules of ST. If a type (e.g.
STRING) cannot be converted, an error is reported.

RESTRICTION:
ST-variables that contain a number in their name (e.g. x0) cannot be used in a G-expres-
sion to avoid confusion with a G-Code like X0. This limitation does not apply to ST-expres-
Note sions.

RESTRICTION:
Array variables, struct variables and objects cannot be used in a G-expression. This limita-
tion does not apply to ST-expressions.
Note

RESTRICTION:
Parentheses are not allowed in a G-expression as they are used to denote comments in G-
Code. For the same reason function calls are not available. These limitations do not apply
Note to ST-expressions.

Embedded ST-Expression

<address>{<ST-Expression>}

The result of the ST-expression is used as the value of the word. It must be convertible to LReal. Basically,
an ST-expression is ST-Code that could be placed on the right hand side of an assignment. Other ST-Code
(e.g. an ST-statement) is not allowed. However, extensive computations can be encapsulated in an ST-
function that is then called in the ST-expression.

TIP:
An ST-expression should not have side effects, since the evaluation order of ST-expres-
sions is generally undefined and may change in the future. Besides, this style of program-
Note ming employing side effects is a bad programming style. For instance, an ST-expression
should not call a function that contains G-Code.

Example:
• The following GST-program starts with a line of G-code that moves the tool rapidly to the origin.
• The line is followed by a line of ST-code that declares variable ‘i’. The ST-mode is entered by the
prefixed exclamation mark (‘!’). After this line G-code mode resumes.
• The G-code in line 3 moves the tool down.
• Lines 4 to 8 define a block of ST-code that contains a FOR-loop. The code in this block is interpreted as
ST-code, except for the G-code line in line 6. This line of G-code uses a G-expression to set the X-axis
to 10*i. The value of the Y-axis is defined using an ST-expression that is enclosed in curly braces.
This expression evaluates to 0 if ‘i’ is even and to 10 otherwise.
• The programmed path of the program is shown in Figure “ExampleExpressions”.
G00 X0 Y0 Z0
! VAR i : INT; END_VAR
G01 Z-1
{
FOR i := 1 TO 5 DO
!G01 X=i*10 Y{ (i MOD 2) *10 }
END_FOR;
}

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Y
20

10

-10 X
-10 0 10 20 30 40 50 60

Figure “ExampleExpressions”.

Suppression of G-Code Blocks

/<n> <G-Code block>

The execution of a G-Code block can be suppressed conditionally. If ‘/<n>’ is prefixed and the n-th bit in an
internal disable mask is set, the block is suppressed (not executed). The disable mask can be set by the
PLC and by the ST-function disableMaskSet. If n is omitted, it has 0 value by default. [See section
Suppression of G-Code Blocks [} 74].]

3.4 G-Code (DIN 66025)

3.4.1 Comments

DIN 66025 Comment

<g-code> ( <comment> ) <g-code>

Text that is enclosed in round parentheses is treated as comment in G-Code (according to DIN 66025). The
comment must not include further parentheses.

Example:

The following example demonstrates the notation of comments in G-Code.

N10 G01 (activate linear interpolation) X10 (set X-coordinate to
10)
(the next block results in a semicircle with center point
X10 Y10)
N20 G02 (activate clockwise interpolation) Y20 U10 (radius is 10)

Line Comment

<g-code> // <comment>

Text between ‘//’ and the end of line is treated as a comment in G-Code.

Example:

The following example demonstrates the notation of line comments in G-Code.

N10 G01 X10 // perform a linear movement to X10 Y0
// the next block results in a semicircle with center point X10 Y10
N20 G02 Y20 U10

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3.4.2 Codes

D<v>

Select tool v. The new tool applies to its own block and all succeeding blocks until a new tool is selected.
Tool 0 is special. Its selection deactivates any tool compensation. Tool 0 can be regarded as tool where all
tool parameters are set to zero. It is selected by default.

Example:

In the following example tool 1 is defined to have a Y-offset of 10 and tool 2 to have an Y-offset of 20. Block
N10 and block N50 use tool 0. Tool 1 applies to block N20 and to block N30. In block N40 tool 2 is active.
Figure “ExampleD” shows the resulting programmed path (dotted line) and the resulting tool center point
path (solid line).
!toolSet(index:=1, nr:=1, offsetY:=10);
!toolSet(index:=2, nr:=2, offsetY:=20);
N10 G01 X10 Y0 F6000
N20 G01 X20 Y0 D1
N30 G01 X30 Y0
N40 G01 X40 Y0 D2
N50 G01 X50 Y0 D0

Y
20

10

-10 X
-10 0 10 20 30 40 50 60

Figure “ExampleD”.

F<v>

Set velocity to v. Applies to the current block and all succeeding blocks until a new velocity is programmed.
The unit for velocity selected currently is used. (See section unitVelocitySet [} 77] for details.) The default
velocity is 0.

NOTE:
The velocity must be set to a nonzero value before a movement is programmed. Otherwise,
an error is issued.
Note

Example:

The first two segments N10 and N20 are processed with a velocity of 6000 mm/min, and the last segment
N30 is processed with a velocity of 3000 mm/min.
N10 G01 X100 F6000
N20 G01 X200
N30 G01 X300 F3000

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G00

Set the interpolation mode to “rapid, linear”. The interpolation mode applies to this block and all succeeding
blocks until it is reset by G01, G02 or G03. G00 is the default interpolation mode.

If G00 is active, programming of a point (see X) will result in a linear geometry segment that is processed
with maximum velocity. The programmed velocity is not considered. G00 is typically used to position the tool.
For machining G01 should be used, which considers the programmed velocity.

NOTE:
G01, G02, G03, G04, G58 and G59 are mutually exclusive. They must not be programmed
in a common block.
Note

Example:

The resulting path of the following example is shown in Figure “ExampleG00”. The first block N10 rapidly
moves the tool to position X20, Y10, Z30. The resulting geometry segment is a line in space. The orientation
remains unchanged. The second block N20 performs a rapid movement to X50, Y10, Z30. There is no need
to denote G00 in this line, since interpolation is modal.
N10 G00 X20 Y10 Z30
N20 X50

Y
20
Z=30 rapid Z=30
rapid
10
Z=0
0

-10 X
-10 0 10 20 30 40 50 60

Figure “ExampleG00”.

G01

Set the interpolation mode to “linear”. This interpolation mode is like G00, except that the path is machined
with the programmed velocity. (See F.) The interpolation mode applies to this block and all succeeding
blocks until it is reset by G00, G02 or G03.

G02

Set the interpolation mode to “circular/helical, clockwise”. The interpolation mode applies to this block and all
succeeding blocks until it is reset by G00, G01 or G03. If G02 is active, programming of a point will result in a
circular (or helical) arc that is machined with the current velocity. (See F [} 34].) In the following, a circular arc
is regarded. The helical arc is covered later.

A circular arc starts at the current point and ends at the programmed point. It rotates around the working-
plane normal (PCS, i.e. program coordinate system) in the center point. The center point can be defined
using Centerpoint Programming [} 35] or using Radius Programming [} 36].

Centerpoint Programming

For Centerpoint Programming the center is defined relative to the starting-point using the I,J,K parameters.
The center point is the sum of the starting-point and the vector [I,J,K]. The I,J,K parameters are
optional and have 0 value by default. If the starting-point and the endpoint are equal with respect to the
workingplane, a full circle will be emitted.

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CONSTRAINT:
The radius at the starting-point and at the endpoint must be equal. However, small devia-
tions are allowed and corrected automatically. (See centerpointCorrectionSet [} 69].)
Note

CONSTRAINT:
The center point must not be equal to the starting-point or endpoint.

Note

Radius Programming

For Radius Programming the center point is derived from the radius that is given by the U parameter.
Typically, there are two arcs of a given radius that lead from the starting-point to the endpoint. If the radius is
positive, the shorter one is used, otherwise the longer one is chosen. Apart from that, the absolute value of
the radius is regarded by the interpreter.

CONSTRAINT:
Radius Programming can by its nature not be used to program a full circle. This curvature
can be programmed by Centerpoint Programming.
Note

CONSTRAINT:
The radius must not be zero.

Note

CONSTRAINT:
The radius must not be smaller than half of the distance between starting-point and end-
point with respect to the workingplane.
Note

Helical

If the starting-point and endpoint do not lie in a plane that is parallel to the workingplane, a helical movement
is performed.

TIP: moveCircle3D
The ST-function moveCircle3D is a more powerful way to define a circle or helix. It covers
3D-arcs and multiturn circles.
Note

Example:

The following example results in the path that is shown in Figure “ExampleG00G02”. The block N10 uses
Radius Programming to define a clockwise arc from X0 Y0 to X10 Y10 with radius 10. Because the radius is
positive, the center point c1 of the shorter arc is chosen. In block N30 the center point c2 of the longer arc is
used because the radius is negative. The block N50 uses Centerpoint Programming, where the center
c3=[60,0,0] is the sum of the starting-point [50,0,0] and [I,J,K]=[10,0,0]. The block N70 defines
a full circle with center point C04 because the starting-point and endpoint are equal. The block N90 defines a
helical arc with center point C05 and height 30 (in Z-direction).
N10 G02 X10 Y10 U10
N20 G00 X30 Y0
N30 G02 X40 Y10 U-10
N40 G00 X50 Y0
N50 G02 X60 Y10 I10
N60 G00 X80 Y0
N70 G02 J10
N80 G00 X110 Y0
N90 G02 J10 X120 Y10 Z30

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Z=20
Y
20
Z=10
10
c2 c4 c5 Z=30
0
c1 c3 Z=0
-10 X
-10 0 10 20 30 40 50 60 70 80 90 100 110 120 130

Figure “ExampleG00G02”.

G03

Set the interpolation mode to “circular/ helical, counterclockwise”. This interpolation behaves similar to G02.
The interpolation mode applies to this block and all succeeding blocks until it is reset by G00, G01 or G02.

G04

Suspend machining for a given duration. The duration is defined by either X or F in the current time unit.
(See unit for details.)

Example:

The following example assumes that the current time unit is set to seconds. On one execution of the
program the machine moves to X10, waits for 1.5 seconds and then moves to X20.
N10 G01 X10
N20 G04 F1.5
N30 G01 X20

G09

Accurate Stop - Nonmodal.

G09 evokes an Accurate Stop.

G09 is nonmodal.

G17

Select XY-plane as workingplane, i.e. the workingplane normal is set to [0,0,1]. See workingplaneSet(…)
for details. This workingplane is the default workingplane.

G18

Select ZX-plane as workingplane, i.e. the workingplane normal is set to [0,1,0]. See workingplaneSet(…)
for details.

G19

Select YZ-plane as workingplane, i.e. the workingplane normal is set to [1,0,0]. See
GST_WorkingplaneSet for details.

G40

Deactivate Tool Radius Compensation (TRC). G40 is equivalent to an invocation of trcSet(…) where the
normal vector is set to the zero vector. See trcSet(…) for details.

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G41

Activate tool radius compensation (TRC). After activation the programmed path is shifted left by the radius of
the currently selected tool. (See D [} 34].)

More precisely, G41 is equivalent to an invocation of trcSet(…), where

• normal is set to the negated normal of the current working-plane, multiplied by the radius of the
currently selected tool,
• offset is set to the value defined by trcOffsetSet(…),
• radius and angle for approach and depart are set to the values defined by
trcApproachDepartSet(…),
• limit is set to the value defined by trcLimitSet(…).

See trcSet(…) for details.

NOTE:
On activation, a tool with a nonzero index must be selected.

Note

Example:

The following example demonstrates the activation and deactivation of tool radius compensation. The
programmed path (dotted line) and the compensated path (solid/ dashed line) are shown in
Figure “ExampleG40G41”.
• The first line of the GST program sets the offset parameter to 5 mm. Therefore, the adjacent
segments of a gap are extended by 5 mm. The remaining gap is closed by a circular arc.
• The second line defines the approach and depart behavior to use a circular arc with a radius of 5 mm
and an angle of 90 degree.
• The third line defines tool 1 to have a radius of 10.
• Block N10 describes a linear movement to [10,0,0].
• The next block N20 selects tool 1 and activates tool radius compensation, where D1 comes into effect
before G40 is processed and G40 is active before X20 is processed. Therefore, the end of segment
N20 is subject to TRC (tool radius compensation). The linear movement from the end of segment N10
to the end of segment N20 in the programmed path is substituted by an approach-segment (dotted
line) from the end of N10 to the end of N20' in the compensated path.
• In the next three lines a linear movement along N30, N40 and N50 is programmed. Since segment N40
would result in a collision, it is eliminated from the compensated path.
• In the next line a circular arc along N60 is programmed. The gap between the end of N50' and the
beginning of N60' is closed as described earlier.
• The line along N70 is the last segment that is subject to TRC (tool radius compensation), since its
deactivation becomes active before the end of N80. The line along N80 is replaced by the depart-
segment N80', similarly to the approach-segment.
!trcOffsetSet(offset:=5);
!trcApproachDepartSet(approachRadius:=5, approachAngle:=90, departRadius:=5, departAngle:=90);
!toolSet(index:=1, tooltype:=tooltypeMill, radius:=10);
N10 G01 X10
N20 X20 G41 D1
N30 X35
N40 X40
N50 Y20
N60 G02 X50 Y10 U10
N70 G01 X70
N80 X80 Y0 G40
N90 X90

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Y gap N50''
30
N60'
N80'
20
approach N70' depart
N50' N60
N70
10 N50
N20' N30'

0 N20 G40 N80

N10 N30 N40 N90
G41
-10 X
-10 0 10 20 30 40 50 60 70 80 90 100

Figure “ExampleG40G41”.

G42

This function is the same as G41, except that the path is shifted to the right. The invocation of trcSet(…) is
the same, except that the workingplane-normal is not negated. See G41 [} 38] and trcSet(…) for details.

G53

Deactivate any zero offset shift translation. This adjustment is the default. The deactivation becomes active
also for the current block. See sections Zero Offset Shift [} 75] and G58, G59 [} 39] for details.

G54..G57

Activates the translation that is associated with the given G-Code (TZ54…TZ57). Also activates the
translations of G58 and G59. The translations apply to the current block and all succeeding blocks until
changed. See section Zero Offset Shift [} 75] for details.

G58, G59

Set the translation that is associated with the given G-Code. The new translation value is given by the
parameters X,Y,Z, which are mandatory. By default, the associated translations are zero. See section Zero
Offset Shift [} 75] for details.

Example:

The resulting MCS (machine coordinate system) path and the applied translations of this example are shown
in Figure “ExampleG54G58G59”.
• The first line sets the translation that is associated with G54 to [0,5,0].
• The next line sets the programmed translation of G58 to [0,10,0]. Since zero-offset-shifts are still
disabled (default G53), the PCS (program coordinate system) and MCS (machine coordinate system)
match.
• Accordingly, the block N20 results in a linear movement from MCS (machine coordinate system)
coordinate [0,0,0] to [20,0,0].
• The next line activates G54 and programs a linear movement along N30, whereby G54 becomes active
before the movement. The programmed PCS (program coordinate system) coordinate [40,0,0] is
mapped to the MCS (machine coordinate system) coordinate [40,15,0].
• The next line sets the programmed transformation G59 to [0,5,0]. Thereby, the effective translation
changes from [0,15,0] to [0,20,0]. Since the current MCS (machine coordinate system)
coordinate must not be affected by this change, the current PCS (program coordinate system)
coordinate is set to [40,-5,0], implicitly.
• The succeeding ST-function frameGet stores these coordinates in [pcsX,pcsY,pcsZ].

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• The next line merely programs the X-coordinate of the end of segment N50. Therefore, the PCS
(program coordinate system) coordinate of the end of segment N50 is [60,-5,0], which is mapped to
the MCS (machine coordinate system) coordinate [60,15,0]. In other words: The translation G59 is
active, but does not become apparent due to the adaption of the current PCS (program coordinate
system) coordinate. (See section Applying Transformations [} 82] for details.)
• It becomes apparent by the last line, which sets the PCS (program coordinate system) coordinate of
the end of segment N60 to [80,0,0]. This coordinate is mapped to the MCS (machine coordinate
system) coordinate [80,20,0].
!zeroOffsetShiftSet(g:=54, x:=0, y:=5, z:=0);
N10 G58 X0 Y10 Z0
N20 G01 X20 Y0
N30 G54 X40 Y0
N40 G59 X0 Y5 Z0
!VAR pcsX, pcsY, pcsZ : LREAL; END_VAR
!frameGet(x=>pcsX, y=>pcsY, z=>pcsZ);
N50 X60
N60 X80 Y0

Y
30

20 N60
N50 G59
10 N30 G59
G58 G58
0 G54 G58 G54
N20 G54
-10 X
-10 0 10 20 30 40 50 60 70 80 90 100

Figure “ExampleG54G58G59”.

G60

Accurate Stop - Modal.

G60 evokes an Accurate Stop.

G60 is modal. G00 calls off G60.

G70

Set the unit for lengths to inch. The new unit also applies to the current block. G70 is equivalent to the call
unitLengthSet(unitLengthInch). The unit for velocity is not affected. See UnitLength [} 77] and G71
[} 40] for details.

G71

Set the unit for lengths to millimeter. The new unit also applies to the current block. G71 is equivalent to the
call unitLengthSet(unitLengthMillimeter). The unit for velocity is not affected. See UnitLength
[} 77] for details.

Example:

In Figure “ExampleG70G71” the path of the following example is shown, which uses the unit millimeter.
• The first line of the program sets the unit for lengths to inch. This unit is used in the same line to
interprete X2 in inch. Thus, the path N10 ends at position [50.8 mm, 0 mm, 0 mm].
• Accordingly, the next line moves the tool along N20 towards [50.8 mm, 25.4 mm, 0 mm].

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• The last line sets the unit to millimeter. Therefore, the path N30 ends at position [80 mm, 25.4 mm,
0 mm]. Accordingly, the segment N30 is a horizontal line.
N10 G01 X2 G70
N20 G01 Y1
N30 G01 X80 Y25.4 G71

Y [mm]
30
N30

20

N20
10

0
N10

-10 X [mm]
-10 0 10 20 30 40 50 60 70 80 90 100

Figure “ExampleG70G71”.

G90

Switches to absolute coordinates. X, Y, Z are interpreted as absolute PCS (program coordinate system)
coordinates. This adjustment is the default. The switch becomes active in its own block. See G91 [} 41] for
details.

G91

Switches to relative coordinates. X, Y, Z are interpreted to be relative to the current point, i.e. the next point is
computed as the sum of [X,Y,Z] and the current point. The switch has an effect for its own block.

Example:

The path of the following example is shown in Figure “ExampleG90G91”. The switch to G90/ G91 takes effect
immediately.
N10 G90 G01 X10 Y20
N20 X20 Y10
N30 G91 X10 Y10
N40 X10 Y-10
N50 G90 X50 Y20

Y
20

10
G91 G90
G90
0

-10 X
-10 0 10 20 30 40 50 60

Figure “ExampleG90G91”.

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G700

Like G70, but also applies to the interpretation of velocity. The new unit comes into effect in the current block.
G700 is equivalent to the calls unitLengthSet(unitLengthInch) and
unitVelocitySet(unitLengthInch,unitTimeMinute). See G710 [} 42] for an example.

G710

Like G71, but also applies to the interpretation of velocity. The new unit comes into effect in the current block.
G710 is equivalent to the calls unitLengthSet(unitLengthMillimeter) and
unitVelocitySet(unitLengthMillimeter,unitTimeMinute).

Example:

The path of the following example is shown in Figure “ExampleG700G710”.

• The first line defines a linear movement to [1 in, 1 in, 0 in] with a velocity of 100 in/min.
• The second line sets the length unit to mm, but does not affect the velocity unit. It defines a movement
to [30 mm, 10 mm, 0 mm] with a velocity of 50 in/min.
• The last line also sets the velocity unit to mm/min. Therefore, there is a movement to
[40 mm, 20 mm, 0 mm] with a velocity of 1000 mm/min.
N10 G700 G01 X1 Y1 F100
N20 G71 G01 X50 Y10 F50
N30 G710 G01 X80 Y20 F1000

Y [mm]
30
F=50 in/min
20
N10 N20 N30

10
F=100 in/min F=1000 mm/min
0

-10 X [mm]
-10 0 10 20 30 40 50 60 70 80 90 100

Figure “ExampleG700G710”.

IJK

I<vx> J<vy> K<vz>

Defines the center point for circular movements. See G02 [} 35], G03 [} 37] for details. The center point is
defined as currentPoint + [vx,vy,vz]. The current length unit is used for vx, vy, vz. The parameters
I, J, K are optional and have a 0 default value. The I parameter is also used by G4 to define a duration.

M<v>

Triggers the M-function v. The timing and behavior depends on the definition of v in the System Manager of
TwinCAT.

M2 and M30 are internally defined. Both functions trigger a synchronization with the NC-channel. (See wait
[} 71]-function.) Both functions stop the execution of the GST-program. Due to this order the interpreter
waits for the completion of the NC-channel before it stops.

In addition, M30 also resets all fast M-functions and H, S, T.

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NOTE:
There must not be more than one M-function of type handshake in a block.

Note

NOTE:
The M-functions M2 and M30 do not have to be defined by the user in the System Manager
of TwinCAT.
Note

Example:

This example assumes the following definitions of M-functions:

M10: Fast before move.

M11: Fast after move.

M12: Fast before move, auto-reset, reset M10, M11.

M20: Handshake before move.

M21: Handshake after move.

Figure “ExampleM10M11M12M20M21” visualizes the programmed path and the activation of M-functions.
The fast M-functions M10, M11 are reset by M12, which itself is reset automatically.
N10 X10 G01
N20 X30 M10 M20
N30 X50 M11 M21
N40 X70
N50 X90 M12

M10
M11
M12
M20
M21

Y 10

M10,M20 M11,M21 M12

-10 X
-10 0 10 20 30 40 50 60 70 80 90 100

Figure “ExampleM10M11M12M20M21”.

P<v>

Switch tool orientation. The value of v must be 1 or -1. If v is negative, the tool points in the direction of the
working plane normal. Otherwise, it points into the opposite direction.

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Example:

The resulting MCS-path (MCS: machine coordinate system) of the following example is shown in
Figure “ExampleP”. The first line of the program defines Tool 1 to have a length of 10. G18 activates the XZ-
workingplane.

N10: The end of segment N10 is not subject to any tool compensation as D0 is active.

N20: For segment N20 tool 1 is active with a positive tool orientation. To compensate the
tool length the translation [0,10,0] is applied. (See section Transformations [} 80]
for details.) Thereby, the PCS (program coordinate system) endpoint [20,10,0] of
N20 is mapped to the MCS (machine coordinate system) endpoint [20,20,0]. The
MCS (machine coordinate system) point and the applied transformation are shown in
Figure “ExampleP”.

N30: In block N30 the tool orientation is switched, which sets the translation to [0,-10,0].
This translation is applied to the PCS (program coordinate system) endpoint of N30
resulting in the MCS (machine coordinate system) endpoint [30,0,0].

N20..N90: The blocks N60..N90 are similar to N20..N50, except that the Y-coordinate is not
programmed. Therefore, the tool length compensation does not become apparent,
although it is active. That behavior happens because the current PCS (program
coordinate system) point is always adapted on a changed transformation. (See section
Applying Transformations [} 82] for details.)

!toolSet(index:=1, tooltype:=tooltypeDrill, length:=10);

G18
N10 X10 Y10 D0
N20 X20 Y10 D1
N30 X30 Y10 P-1
N40 X40 Y10 P1
N50 X50 Y10 D0
N60 X60 D1
N70 X70 P-1
N80 X80 P1
N90 X90 D0

Y
30

20
N20 N30 N50
10
N10 N60 N70 N80 N90
N40
0

-10 X
-10 0 10 20 30 40 50 60 70 80 90 100

Figure “ExampleP”.

Q<i>=<v>

Set the value of axis Q<i> to v where i must lie in the range 1 to 5. The Q-axes use linear interpolation.

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NOTE:
The address letters Q and R are handled in a special way for historical reasons.

Note

CONSTRAINT:
The address Q<i> has to be followed by a G-expression or by an ST-expression. The G-
word Q1100 is invalid. Use Q1=100, instead.
Note

Example:

The path of the following example is shown in Figure “ExampleQ”. The Q-axes are interpolated linear with the
interpolation of a movement. The last block (N40) results in a linear interpolation of a Q-axis without a
concurrent movement.
N10 G01 X30 Y0 Q1=100 F6000
N20 G02 X50 Y20 I20 Q2=200
N30 G01 X60 Q1=300 Q2=300
N40 Q1=0

Y
30
_Q1=100, _Q2=200 _Q1=300, _Q2=300
N30 N40
20
N20 _Q1=100, _Q2=100 _Q1=0, _Q2=300
10
_Q1=0, _Q2=0
_Q1=100, _Q2=0
N10
0
_Q1=50, _Q2=0
-10 X
-10 0 10 20 30 40 50 60 70 80 90 100

Figure “ExampleQ”.

N<v>

Set the block number to v. Typically, the block number is used to monitor the progress of the NC-program.

U<v>

In the context of G2 or G3 the radius is set to |v|. The current length unit is used for v. If v is positive, the
shorter arc is used to interpolate between the current and the next point. If v is negative, the longer one is
used. See G02 [} 35], G03 [} 37] for details.

X<v>

Sets the X-coordinate of the next point to v. The current length unit is used for v.

Y<v>

Sets the Y-coordinate of the next point to v. The current length unit is used for v.

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Z<v>

Sets the Z-coordinate of the next point to v. The current length unit is used for v.

A<v>

Sets the A-angle of the next orientation to v. The current angle unit is used for v.

B<v>

Sets the B-angle of the next orientation to v. For v the current angle unit is used.

C<v>

Sets the C-angle of the next orientation to v. For v the current angle unit is used.

3.4.3 Execution Order

A block (line of G-code) consists of a sequence of words. The programmed order of words is not considered
by the GST interpreter. Instead, the following execution order is obeyed that consists of 7 sequential and
dependent steps.

1. Reference System N* Set block number.

G17..G19 Selection of a workingplane.

G70, G71, G700, G710 Selection of a unit.

G90, G91 Selection of absolute/ incremental

programming.

D*, P* Selection of a tool and its orientation.

2. Configuration G40..G42 (De-)activation of Tool Radius

Compensation.

G53..G59 Selection and programming of zero offset

shift.

F* Set velocity.

3. M-Function Pre M* M-functions that are configured as “before”.

4. Parameter to PLC H*, S*, T*

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5. Movement Q*, G00..G03 Movement to a point.

G09, G60 Activation of accurate stop.

6. Wait G04 Wait for a given duration.

7. M-Function Post M* M-functions that are configured as “after”.

The first step sets up the reference system. The second step configures following movements. Note that the
second step may depend on the first one. E.g. the programmed velocity (F) considers a velocity unit (G700)
that is programmed in the same block. Step three and the following steps perform actions like a movement.

3.4.4 Mutual Exclusive G-Codes

Certain combinations of G-Codes must not be programmed in the same block (line of G-Code). Such
conflicting G-Codes typically set state variables to contradictory values (e.g. set length unit to mm and to
inch). There are also combinations that use the same parameters and therefore must not be programmed
in the same block (e.g. G58 and G59). Below is a list of groups of G-Codes. G-Codes that belong to the same
group are in conflict.
• G00, G01, G02, G03, G04, G58, G59
Interpolations and programmed zero-offset-shift.
• G70, G71, G700, G710
Set unit for length and speed.
• G90, G91
Set absolute/ relative programming.
• G53, G54, G55, G56, G57
Deactivate/ select zero-offset-shift.
• G40, G41, G42
Deactivate/ activate Tool Radius Compensation.
• G17, G18, G19
Select workingplane.

3.5 ST - Structured Text (IEC 61131-3)

3.5.1 Comments

Line Comment

<st-code> // <comment>

Text between ‘//’ and the end of line is treated as comment in ST-Code.

Example:
{
VAR
i : INT; // this variable is primarily used in FOR-loops for counting
END_VAR
}

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/* */ Comment
<st-code> /* <comment>
<comment> */ <st-code>

Text between ‘/*’ and ‘*/’ is treated as comment in ST. This type of comment may be nested up to a depth
of 3. The ‘/*…*/’-style comment may appear anywhere between literals, keywords, identifiers and special
symbols. It may also contain G-Code lines.

Example:

The following example demonstrates the notation of comments in ST-Code. The first comment is placed
within a variable declaration. The second comment encloses an entire ST-loop. The comment contains
further comments and a G-Code line, which itself contains a G-Code comment.
{
VAR i /* used for counting */ : INT; END_VAR

/* The following loop is commented out.

FOR i := 0 TO 10 DO
/* zigzag pattern */
! G01 (linear interpolation) X=i Y{i MOD 2}
// end of loop
END_FOR;
*/
}

(* *) Comment
<st-code> (* <comment>
<comment> *) <st-code>

Text between ‘(*’ and ‘*)’ is treated as comment in ST. This type of comment may be nested up to a depth
of 3. It is similar to the /*…*/-style comment.

3.5.2 Literals

Integer Literals

Decimal 18

Binary 2#10010

Octal 8#22

Hexadecimal 16#12

The same integer value in decimal, binary, octal and hexadecimal notation.

Real Literals

Notation of real values

1.0

1.602E-19

Boolean Literals

Notation of Boolean values

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TRUE

FALSE

Typed Literals

<typename>#<literal>

Typed literals where typename is a native type (e.g. Word or LReal) or an enumeration type (to avoid
ambiguities).

Typing of literals is typically not necessary in GST, since the interpreter implements a decent typesystem that
handles untyped literals properly. There are a few exceptions where the type of a literal is significant for
semantics, like in the following example.

Example:

The first assignment assigns the value 16#80 to w, whereas the second one assigns the value 16#8000 to
w.
{
VAR w: word; END_VAR
w := ror(BYTE#1,1);
w := ror(WORD#1,1);
}

String Literals

"abc"

'abc'

Notation of a 2-byte and a 1-byte string, respectively. Note that there is no implicit conversion between both
types. The following escape-sequences can be used within both types of literals:

$L line feed

$N newline

$P form feed

$R carriage return

$t tab

$' or $" quotes

$<2 or 4 hexadecimal digits> character of given code

Duration Literals

T#[+/-]<value><unit>[…]<value><unit>

TIME#[+/-] <value><unit>[…]<value><unit>

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LT#[+/-]<value><unit>[…]<value><unit>

LTIME#[+/-]<value><unit>[…]<value><unit>

Time literals of type TIME or LTIME. The literal consists of an optional sign (+/-) and a sequence of value/
unit pairs. Value must be an integer, except for the last one that may also be a floating point number.
Values must not be negative and may be arbitraryly large. Units must appear in the following order.

d day

h hour

m minute

s second

ms millisecond

us microsecond

ns nanosecond

An arbitrary subset of units may be used in a literal. For instance, the literal T#1d15ms1500.01us is valid.

Date Literals

DATE#<yyyy>-<mm>-<dd>

D#<yyyy>-<mm>-<dd>

LDATE#<yyyy>-<mm>-<dd>

LD#<yyyy>-<mm>-<dd>

Date literal of type DATE or LDATE. The literal is interpreted as UTC, i.e. timezone, daylight saving time and
leap seconds are not considered. The year must not be smaller than 1970. The values yyyy, mm and dd
have to be integer values, i.e. D#1980-20-10 is a valid date literal, for example.

Time-of-Day Literals

TIME_OF_DAY#<hh>:<mm>:<ss>

TOD#<hh>:<mm>:<ss>

LTIME_OF_DAY#<hh>:<mm>:<ss>

LTOD#<hh>:<mm>:<ss>

Time-of-day literal of type TOD or LTOD. The literal is interpreted as UTC, i.e. timezone, daylight saving time
and leap seconds are not considered. hh and mm must be integer values. ss may be an integer or a
floatingpoint number, i.e. TOD#7:30:3.1415 is a valid literal, for example.

Date-and-Time Literals

DATE_AND_TIME#<yyyy>-<mm>-<dd>-<hh>:<mm>:<ss>

DT#<yyyy>-<mm>-<dd>-<hh>:<mm>:<ss>

LDATE_AND_TIME#<yyyy>-<mm>-<dd>-<hh>:<mm>:<ss>

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LDT#<yyyy>-<mm>-<dd>-<hh>:<mm>:<ss>

Date-and-time literal of type DT or LDT. The literal is interpreted as UTC, i.e. timezone, daylight saving time
and leap seconds are not considered. This literal is a combination of the date literal and the time-of-day
literal. Analogously, the corresponding rules for these two parts apply.

3.5.3 Native Data Types

Bitstring Types

BOOL, BYTE, WORD, DWORD, LWORD

Bitstring types of 1, 8, 16, 32 and 64 bit. Implicit conversion from left to right using zero extension.

Unsigned Integer Types

USINT, UINT, UDINT, ULINT

Unsigned integer types of 8, 16, 32 and 64 bit. Implicit conversion from left to right preserving the value.

Signed Integer Types

SINT, INT, DINT, LINT

Signed integer types of 8, 16, 32 and 64 bit. Implicit conversion from left to right preserving the value. An
unsigned type of n bit is also implicitly converted to a signed type of m bit where the relation m > n must
hold. There is no implicit conversion between bitstring types and integer types.

String Types

string[<length>]

wstring[<length>]

1-byte and 2-byte strings of given length. If length is omitted, it has 255 as default value.

Character Types

char

wchar

Single 1-byte and 2-byte character of a string. It can be implicitly converted to a string.

Time-Related Types

TIME, LTIME

DATE, LDATE

TIME_OF_DAY, TOD, LTIME_OF_DAY, LTOD

DATE_AND_TIME, DT, LDATE_AND_TIME, LDT

Datatypes for duration, date and time. Internally, all values of these types are represented with a granularity
of 1 nanosecond. Values of date-related types represent the number of nanoseconds since 1.1.1970
(UTC). Leapseconds are ignored. Implicit conversion is allowed from a non-L type to an L type, e.g. from
TIME to LTIME.

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3.5.4 Userdefined Types

Derived Types

TYPE

<typeName>: <typeName> := <defaultValue>;

END_TYPE

Definition of a new type as an alias to an existing type. The default value is optional.

Enumeration Types

TYPE

<typeName> : (<enumValue>, …, <enumValue>) := <defaultValue>;

END_TYPE

Definition of an enumeration type. The default value is optional.

Enumeration Types with Defined Values

TYPE

<typeName> : (<enumValue>:=<integer value>, …,

<enumValue>:=<integer value>) := <defaultValue>;

END_TYPE

Definition of an enumeration type with user-defined values for each element. The default value is optional.

Array Types

TYPE

<typeName>: ARRAY [<from>..<to>,<from>..<to>] OF <typeName> :=

[<defaultValue>, <repetition>(<defaultValue>), …];

END_TYPE

Definition of an array type. The array may be multi-dimensional. The index range is defined for each
dimension. At runtime the boundaries of the array are checked. A boundary violation leads to a runtime-
error. The default values are defined in ascending order starting with the last dimension. A value can be
repeated by placing it into parentheses prefixed with the number of repetitions. If the number of defined
default values does not match the array size, initialization is truncated or padded with the default value of the
element type. In either cases a compile-time warning is issued.

Structure Types

TYPE

<typeName>: STRUCT

<memberName>: memberType;

END_STRUCT := (<memberName> := <defaultValue>, …);

END_TYPE

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Defines a structure type of the given members. Currently, the default value is placed after the type definition.
This positional style is a difference to the ST-standard.

Pointer Types

TYPE

<typeName>: REF_TO <basetypeName>;

END_TYPE

Defines a pointer type of the given base type.

3.5.5 Control Structures

IF-THEN-ELSIF-ELSE

IF <condition> THEN

<statements>

ELSIF <condition> THEN

<statements>

ELSE

<statements>

END_IF;

Conditional statement. The ELSIF-branch and ELSE-branch are optional. ELSIF can be repeated arbitrarily.

CASE OF

CASE <expression> OF

<value>, <value>, …, <value>: <statements>

ELSE

<statements>

END_CASE;

The case-list consists of a comma-separated sequence of values or ranges. Only the first matching case is
executed. The optional ELSE-branch is executed if no case matches.

FOR

FOR <variable> := <expression> TO <expression> BY <expression> DO

<statements>

END_FOR;

Iterates over the given variable in the defined range (including) using the supplied step-size. If the latter is
omitted, it has 1 as default value.

WHILE

WHILE <condition> DO

<statements>

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END_WHILE;

Pre-checked loop.

REPEAT

REPEAT

<statement>

UNTIL <condition>

END_REPEAT;

Post-checked loop. The break condition is evaluated after performing the <statements> the loop includes.

EXIT

EXIT;

EXIT can be used within loops to leave the loop. If loops are nested, only the innermost loop is left. If there
is no loop surrounding the EXIT keyword, a compile-time error is issued.

3.5.6 Userdefined Functions

Function Definition

FUNCTION <name> : <returntype>

VAR_INPUT

<variable declarations>

END_VAR

VAR_OUTPUT

<variable declarations>

END_VAR

VAR_IN_OUT

<variable declarations>

END_VAR

VAR

<variable declarations>

END_VAR

VAR_EXTERNAL

<variable declarations>

END_VAR

<statements>

END_FUNCTION

Declares a function. Thereafter, it is callable by its name. The declaration of the return type is optional. If it is
supplied, the function returns a value of the given type. The return value is defined within the function body
by an assignment to the function name.

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The function may have input, output and in-out parameters. The order of declaration is significant. It is used
for nonformal calls. Declared variables are only used within the function body. External variables are
imported from global scope. Variables and parameters are not persistent, i.e. they do not retain their value
between two calls. A function may call itself (recursion).

Nonformal Function Call

<functionname>(<expression>, …, <expression>)

Nonformal function call. The order of expressions must match the number and order of declared parameters.

Formal Function Call

<functionname>(

<inputParamName> := <expression>,

<outputParamName> => <variableName>,

<inputParamName> := <variableName>)

Formal function call. Parameters are identified by their name. If a declared parameter is not listed, it is
implicitly set to its default value.

3.5.7 Standard Functions

3.5.7.1 Type Conversion

Type Conversion (*_TO_*)

<nativeType>_to_<nativeType>(x)

to_<nativeType>(x)

Explicit conversion between the given native types. The second alternative is overloaded for any applicable
type.

For conversion from floatingpoint to integer x is rounded.

3.5.7.2 Arithmetic and Trigonometric

ABS

ABS(x)

Returns the absolute value of x.

The function is overloaded for any integer type and floatingpoint type. The type of x is used as return type.

SQRT

SQRT(x)

Returns the square root of x.

The function is overloaded for any floatingpoint type. The type of x is used as return type.

RESTRICTION:
Variable x must not be negative.

Note

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LN

LN(x)

Returns the natural logarithm of x, i.e. the logarithm to the base e.

The function is overloaded for any floatingpoint type. The type of x is used as return type.

RESTRICTION:
Variable x must be larger than 0.

Note

LOG

LOG(x)

Returns the logarithm of x to the base 10.

The function is overloaded for any floatingpoint type. The type of x is used as return type.

RESTRICTION:
Variable x must be larger than 0.

Note

EXP

EXP(x)

Returns e raised to the power of x.

The function is overloaded for any floatingpoint type. The type of x is used as return type.

SIN

SIN(x)

Returns the sine of x where x is expected to be in radians.

The function is overloaded for any floatingpoint type. The type of x is used as return type.

Confer the gSin [} 77] function.

COS

COS(x)

Returns the cosine of x where x is expected to be in radians.

The function is overloaded for any floatingpoint type. The type of x is used as return type.

Confer the gCos [} 77] function.

TAN

TAN(x)

Returns the tangent of x where x is expected to be in radians.

The function is overloaded for any floatingpoint type. The type of x is used as return type.

Confer the gTan [} 77] function.

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ASIN

ASIN(x)

Returns the arc sine of x within the interval [-PI/2,PI/2] radians.

The function is overloaded for any floatingpoint type. The type of x is used as return type.

Confer the gASin [} 78] function.

RESTRICTION:
Variable x must lie within the interval [-1,1].

Note

ACOS

ACOS(x)

Returns the arc cosine of x within the interval [0,PI] radians.

The function is overloaded for any floatingpoint type. The type of x is used as return type.

Confer the gACos [} 78] function.

RESTRICTION:
Variable x must lie within the interval [-1,1].

Note

ATAN

ATAN(x)

Returns the arc tangent of x within the interval [-PI/2,PI/2] radians.

The function is overloaded for any floatingpoint type. The type of x is used as return type.

Confer the gATan [} 78] function.

ATAN2

ATAN2(y,x)

Returns the arc tangent of y/x within the interval [-PI,PI] radians.

The function is overloaded for any floatingpoint type. The smallest common type of x and y is used as return
type.

Confer the gATan2 [} 78] function.

ADD

ADD(x1, x2, …)

Returns the sum of all parameters. The ADD-function can have an arbitrary number of parameters, but has to
have at least one.

The function is overloaded for any integer and floatingpoint type. The smallest common type of all
parameters is used as return type.

MUL

MUL(x1, x2, …)

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Returns the product of all parameters. The MUL-function can have an arbitrary number of parameters, but
has to have at least one. The infix-operator ‘*’ can be used as an alternative.

The function is overloaded for any integer and floatingpoint type. The smallest common type of all
parameters is used as return type.

SUB

SUB(x,y)

Returns the difference x-y. The infix-operator ‘-’ can be used as an alternative.

The function is overloaded for any integer and floatingpoint type. The smallest common type of x and y is
used as return type.

DIV

DIV(x,y)

Returns the quotient x/y. The infix-operator '/' can be used as an alternative.

The function is overloaded for any integer and floatingpoint type. The smallest common type of x and y is
used as return type. If the return type is an integer type, the result is truncated towards zero.

RESTRICTION:
Variable y must not be zero.

Note

MOD

MOD(x,y)

Returns the remainder of the integer division x/y. The infix-operator ‘MOD’ can be used as an alternative.

The function is overloaded for any integer type. The smallest common type of x and y is used as return type.
The result may also be negative. The equation x = MUL(DIV(x,y),y) + MOD(x,y) holds.

RESTRICTION:
Variable y must not be zero.

Note

EXPT

EXPT(x,y)

Returns x raised to the power of y.

The function is overloaded such that x has a floatingpoint type and y has a floatingpoint type or integer type.
The type of x is used as return type, i.e. returned is a Real or an LReal floating point type. The infix-
operator ‘**’ can be used as an alternative.

RESTRICTION:
If x is negative, then y must be an integer.

Note

RESTRICTION:
If x is zero, then y must be larger than zero.

Note

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3.5.7.3 Shift and Rotation

SHL

SHL(x,y)

Returns the bitstring x shifted left by y bits. Zero-bits are inserted at the right side. The least significant bit is
assumed to be rightmost.

The function is overloaded for any bitstring type for x and any integer type for y. The type of x is used as
return type.

CONSTRAINT:
Variable y must not be negative.

Note

SHR

SHR(x,y)

Returns the bitstring x shifted right by y bits. Zero-bits are inserted at the left side. The least significant bit is
assumed to be rightmost.

The function is overloaded for any bitstring type for x and for any integer type for y. The type of x is used as
return type.

CONSTRAINT:
Variable y must not be negative.

Note

ROL

ROL(x,y)

Returns the bitstring x rotated left by y bits. Bits that are shifted out at the left side are inserted at the right
side. The least significant bit is assumed to be rightmost.

The function is overloaded for any bitstring type for x and for any integer type for y. The type of x is used as
return type.

CONSTRAINT:
Variable y must not be negative.

Note

ROR

ROR(x,y)

Returns the bitstring x rotated right by y bits. Bits that are shifted out at the right side are inserted at the left
side. The least significant bit is assumed to be rightmost.

The function is overloaded for any bitstring type for x and for any integer type for y. The type of x is used as
return type.

CONSTRAINT:
Variable y must not be negative.

Note

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3.5.7.4 Logical Operations

AND

AND(x1, x2, …)

Returns the bitwise Logical And of all parameters. Bit i is set in the result if bit i is set in all parameters. The
AND function can have an arbitrary number of parameters, but has to have at least one.

The function is overloaded for any bitstring type. The smallest common bitstring type is used as return type.

OR

OR(x1, x2, …)

Returns the bitwise Logical Or of all parameters. Bit i is set in the result if bit i is set in at least one of all
parameters. The OR function can have an arbitrary number of parameters, but has to have at least one.

The function is overloaded for any bitstring type. The smallest common bitstring type is used as return type.

XOR

XOR(x1, x2, …)

Returns the bitwise Logical Exclusive Or of all parameters. Bit i is set in the result if bit i is set in an uneven
number of all parameters. The XOR function can have an arbitrary number of parameters, but has to have at
least one.

The function is overloaded for any bitstring type. The smallest common bitstring type is used as return type.

NOT

NOT(x)

Returns the bitwise complement of x. Bit i is set in the result if bit i is not set in x.

The function is overloaded for any bitstring type. The type of x is used as return type.

3.5.7.5 Selection (Conditional Expressions)

SEL

SEL(cond,x1,x2)

Returns x1 if cond is false, and x2 otherwise.

MUX

MUX(select, x0, x1, …, xN)

Returns x<select>. If select is 0, x0 is returned. If select is 1, x1 is returned and so forth. The MUX
function can have an arbitrary number of parameters, but has to have at least two.

The function is overloaded for any type for x<i> and for any integer for select. The smallest common type
of x<i> is used as return type.

RESTRICTION:
The variable select must lie within the interval [0,N]. Otherwise, an out-of-bounds error
is issued at runtime.
Note

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3.5.7.6 Min, Max and Limit

MAX

MAX(x1, x2, …)

Returns the maximum of all parameters.

The function is overloaded for any integer and floatingpoint type. The smallest common type of all
parameters is used as return type.

MIN

MIN(x1, x2, …)

Returns the minimum of all parameters.

The function is overloaded for any integer and floatingpoint type. The smallest common type of all
parameters is used as return type.

LIMIT

LIMIT(min,in,max)

Returns in if it lies in the interval [min,max]. Otherwise, the violated bound (min or max) is returned.

The function is overloaded for any integer and floatingpoint type. The smallest common type of all
parameters is used as return type.

CONSTRAINT:
The min boundary must be smaller than the max boundary.

Note

3.5.7.7 Comparison

GT

GT(x,y)

Returns TRUE if x is larger than y. The smallest common type of x and y is used to perform the comparison.

The function is overloaded for all integer and floatingpoint types. The returntype is BOOL.

GE

GE(x,y)

Returns TRUE if x is not smaller than y. The smallest common type of x and y is used to perform the
comparison.

The function is overloaded for all integer and floatingpoint types. The returntype is BOOL.

EQ

EQ(x,y)

Returns TRUE if x and y are equal. The smallest common type of x and y is used to perform the comparison.

The function is overloaded for all integer and floatingpoint types. The returntype is BOOL.

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LE

LE(x,y)

Returns TRUE if x is not larger than y. The smallest common type of x and y is used to perform the
comparison.

The function is overloaded for all integer and floatingpoint types. The returntype is BOOL.

LT

LT(x,y)

Returns TRUE if x is smaller than y. The smallest common type of x and y is used to perform the
comparison.

The function is overloaded for all integer and floatingpoint types. The returntype is BOOL.

NE

NE(x,y)

Returns TRUE if x and y are not equal. The smallest common type of x and y is used to perform the
comparison.

The function is overloaded for all integer and floatingpoint types. The returntype is BOOL.

3.6 CNC Functions

3.6.1 Strings and Messages

The toString-Function

toString(<arg0>, …, <argN>): STRING

Converts and concatenates the given arguments to one string. This string is limited to 255 characters, which
is the default string length. The toString-function behaves like the print function, except that it yields a
formatted string instead of printing.

NOTE:
The toString-function is especially useful to format a string for the msg(…)-function.

Note

Msg

msg(str:= String[81])

Send the given message to the message list of TwinCAT. The message is processed by the NC-channel
synchronously. It appears in the user-interface when all preceeding NC-commands are completed.

To send formatted strings this function can be combined with the toString-function.

NOTE:
The message is restricted to 81 characters. Text exceeding this restriction will be truncated.

Note

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Example:

The path of the following example is shown in Figure “ExampleMsg”. It is annotated with the emitted
messages.
{
VAR
x,y,z: LREAL;
start: LDT;
END_VAR

!N10 G00 X0 Y0 F300

start := currentLdt();
!N20 G01 X30
msg('N20 completed');
!N30 X60 Y10
frameGet(x=>x,y=>y,z=>z); msg(toString('Current position: [',x,',',y,',',z,']'));
!N40 X90
sync();
msg(toString('Machining time: ', currentLdt()-start));
}

Y
30

Machining time: +18.00

20
Current position: [60.00,10.00,0.00]
10
N40
N20 completed
N30
0
N20

-10 X
-10 0 10 20 30 40 50 60 70 80 90 100

Figure “ExampleMsg”.

3.6.2 Transformations

transRotX/Y/Z

transRotX(angle:= LReal)

transRotY(angle:= LReal)

transRotZ(angle:= LReal)

Rotation around the respective axis by the given angle in the user-defined angle unit. The rotation is pushed
onto the stack of transformations. The angle value is interpreted using the current angle-unit. See section
Transformations [} 80] for details.

Example:

The resulting path of the following example is shown in Figure “ExampleTransRotZ”.

• N10 is programmed with the PCS (program coordinate system) and the MCS (machine coordinate
system) being equal.
• N20 is programmed after a 45-degree rotation around the Z-axis in [0,0,0] has been pushed onto
the stack of transformations. Another rotation of 45 degrees is pushed onto the transformation stack
such that the rotations add up to 90 degree.
• Therefore, the MCS (machine coordinate system) coordinate of the end of segment N30 is [0,30,0].
N10 G01 X30 Y0
!transRotZ(45);
N20 G01 X30 Y0

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!transRotZ(45);
N30 G01 X30 Y0
!transPop();
!transPop();

Y
30
N30

20

N20
10

0
N10

-10 X
-10 0 10 20 30 40 50 60 70 80 90 100

Figure “ExampleTransRotZ”.

transRotA

transRotA(x:=LReal, y:=LReal, z:=LReal, angle:=LReal)

Rotate around vector [x,y,z] by the given angle. The rotation is pushed onto the stack of
transformations. The angle value is interpreted using the current angle-unit. See section Transformations
[} 80] for details.

NOTE:
The vector [x,y,z] must not be the zero vector.

Note

Example:

The resulting path of the following example is shown in Figure “ExampleTransRotA”. The first invocation of
transRotA rotates the PCS (program coordinate system) around the positive Z-axis (right-hand rule) by
45 degree. The second invocation rotates around the negative Z-axis by the same angle, i.e. into the
opposite direction. The combination of both rotations is the identity transformation.
!transRotA(0,0,1,45);
N10 G01 X30 Y0
!transRotA(0,0,-1,45);
N20 G01 X30 Y0
!transPop();
!transPop();

Y
30

20

N10 N20
10

-10 X
-10 0 10 20 30 40 50 60 70 80 90 100

Figure “ExampleTransRotA”.

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transMirrorX/Y/Z

transMirrorX()

transMirrorY()

transMirrorZ()

Mirror with respect to the X-direction, Y-direction or Z-direction relative to the origin of the current PCS
(program coordinate system). The transformation is pushed onto the stack of transformations.

NOTE:
The invocation of a mirror function switches the orientation of the coordinate system from
right-handed to left-handed or vice versa. Most notably, this behavior switches the rotation
Note direction of circles and the compensation direction of tool radius compensation. By default,
the coordinate system is right-handed.

Example:

The resulting path of the following example is shown in Figure “ExampleTransMirrorX”. The PCS (program
coordinate system) is mirrored along the X-dimension. Thereby, the coordinate system becomes a left-
handed system, within which the rotation direction of G2 is (intentionally) swapped.
N10 G02 X20 Y20 U20
!transMirrorX();
N20 G02 X-40 Y0 U20
!transPop();

Y
30

20
N10
10
N20
0

-10 X
-10 0 10 20 30 40 50 60 70 80 90 100

Figure “ExampleTransMirrorX”.

transScale

transScale(factor:= LReal)

Scales the coordinate system by the factor in the X-dimension, Y-dimension and Z-dimension. The
transformation is pushed onto the stack of transformations.

NOTE:
The factor must be nonzero.

Note

NOTE:
If the factor is negative, the coordinate system is effectively mirrored in the X-dimension, Y-
dimension and Z-dimension. Thus, the orientation of the coordinate system is swapped.
Note

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Example:

The resulting path of the following example is shown in Figure “ExampleTransScale”. After scaling by a
factor of 2, the endpoint of segment N20 is mapped to [60,20,0].
N10 G01 X30 Y10
!transScale(2);
N20 G01 X30 Y10
!transPop();

Y
30

20

N20
10

N10
0

-10 X
-10 0 10 20 30 40 50 60 70 80 90 100

Figure “ExampleTransScale”.

transTranslate

transTranslate(x:=LReal, y:=LReal, z:=LReal)

Translate by vector [x,y,z]. The translation is pushed onto the stack of transformations.

Example:

The resulting path of the following example is shown in Figure “ExampleTransTranslate”. After translating by
[40,20,0] the endpoint of segment N20 is mapped to [80,20,0].
N10 G01 X20 Y0
!transTranslate(40,20,0);
N20 G01 X40 Y0
!transPop();

Y
30

20

N20
10

0
N10

-10 X
-10 0 10 20 30 40 50 60 70 80 90 100

Figure “ExampleTransTranslate”.

transPop

transPop()

Pops a transformation from the stack of transformations.

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Example:

The resulting path of the following example is shown in Figure “ExampleTransPop”. This example pushes
the translation [0,20,0] onto the stack, followed by the translation [0,10,0]. Thereby, the effective
translation for N30 is [0,30,0]. The invocation of transPop removes the translation [0,10,0] from the
stack. Thus, the endpoint of segment N40 is translated by [0,20,0]. After removing the last translation
from the stack the endpoint of segment N50 is not translated at all.
N10 G01 X10 Y0
!transTranslate(0,20,0);
N20 G01 X30 Y0
!transTranslate(0,10,0);
N30 G01 X50 Y0
!transPop();
N40 G01 X70 Y0
!transPop();
N50 G01 X90 Y0

Y
30

N30 N40
20

10 N20 N50

0
N10

-10 X
-10 0 10 20 30 40 50 60 70 80 90 100

Figure “ExampleTransPop”.

transDepth

transDepth(): UInt

Yields the depth of the stack of transformations, i.e. the number of active transformations. See transRestore
[} 67] for more details.

transRestore

transRestore(depth:= UInt)

Reduces the stack of transformations to the given depth. This command is typically used in conjunction with
transDepth() to restore an earlier state of the stack.

NOTE:
The current depth of the stack must not be smaller than the given depth.

Note

Example:

The resulting path of the following example is shown in Figure “ExampleTransDepthTransRestore”. A

translation to [40,10,0] is initially pushed onto the transformation stack. The resulting depth is stored in
variable savedDepth. The following code repeatedly performs a linear move to X20 Y0 and a rotation by
45 degree. This resulting path is one half of an octagon, composed of segments N10 to N50. When N50 is
processed, the transformation stack contains the initial translation and 4 rotations by 45 degree. The
invocation of transRestore(savedDepth) restores the stack depth of 1 by removing all rotations. Hence,
only the translation is applied to N60.

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!VAR savedDepth : UINT; END_VAR

!transTranslate(40,10,0);
!savedDepth := transDepth();

N10 G01 X20 Y0

!transRotZ(45);
N20 G01 X20 Y0
!transRotZ(45);
N30 G01 X20 Y0
!transRotZ(45);
N40 G01 X20 Y0
!transRotZ(45);
N50 G01 X20 Y0
!transRestore(savedDepth);
N60 G01 X10 Y0

Y
30 N40 N30

20
N50 N20

N60
10

N10
0

-10 X
-10 0 10 20 30 40 50 60 70 80 90 100

Figure “ExampleTransDepthTransRestore”.

3.6.3 Movement

moveCircle3d

moveCircle3d(cx:=LReal, cy:=LReal, cz:=LReal, nx:=LReal, ny:=LReal, nz:=LReal, a

ngle:=LReal, height:=LReal)

Move circular by rotating around the center cx,cy,cz and the normal vector nx,ny,nz by the given angle. If
height is nonzero, a helix is described. If angle is greater than a full circle, a multiturn circle or a multiturn
helix is described. The rotation is performed according to the right hand rule. Using a negative angle or
flipping the normal will reverse the direction of rotation. The angle value is interpreted using the current angle
unit. The parameters x, y, z, cx, cy, cz are interpreted using the current length unit.

NOTE:
The radius must be nonzero.

Note

Example:

The resulting path of the following example is shown in Figure “ExampleMoveCircle3D”. The invocation of
moveCircle3D describes a helical movement. It starts at the current point that is [40,10,0]. The center
axis of the helix is defined by the point [30,10,0] and direction [gSin(22.5),0,gCos(22.5)].
Compared to the workingplane normal [0,0,1] the axis is tilted by 22.5 degree in X-direction. The angle of
720+90 degree describes a multiturn helix. It exhibits a height of 30 with respect to the center axis. The
endpoint of the helix is not explicitly programmed to avoid redundancy. If the user requires these
coordinates, they can be retrieved by the frameGet(…) function, as demonstrated. The approximate
coordinates are shown in Figure “ExampleMoveCircle3D”.
{
VAR
x,y,z: LREAL;

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END_VAR

!N10 G01 X40 Y10

moveCircle3D(cx:=30, cy:=10, cz:=0, nx:=gSin(22.5), ny:=0, nz:=gCos(22.5), an-
gle:=720+90, height:=30);
!frameGet(x=>x,y=>y,z=>z);
}

Y
30
X=42.94...
Y=19.23...
20 Z=31.25...

10

-10 X
-10 0 10 20 30 40 50 60 70 80 90 100

Figure “ExampleMoveCircle3D”.

3.6.4 Centerpoint Correction

centerpointCorrectionSet

centerpointCorrectionSet(on:= bool)

Activates the centerpoint correction for circles. The centerpoint correction will be used for circles that are
defined using centerpoint programming. See G02 [} 35] and G03 [} 37]. Due to inaccuracies (e.g. rounding
errors by the CAD program), the radius of the starting-point and endpoint with respect to the centerpoint may
differ. If centerpoint correction is active, the center will be moved in such a way that the starting-radius and
endradius are equal to their former average.

A limit for centerpoint correction can be configured with centerpointCorrectionLimitSet(…). If this

limit is exceeded, a runtime error will be reported.

centerpointCorrectionLimitSet

centerpointCorrectionLimitSet(limit:= LReal)

Sets the precision limit for the centerpoint of circles. If the given limit is exceeded, a runtime error is reported.
The default limit value is 0.1 mm.

3.6.5 Tools

toolParamSet

toolParamSet(tidx:= USInt, col:= USInt, val:= LReal)

Set a parameter of the tool tidx (1..255) to val. The parameter is identified by col (0..15).

COL DESCRIPTION

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0 tool number
For giving the tool a number.
Written to the T-parameter in the cyclic channel interface.

1 tool type (10: drill, 20: miller)

The drill is type 10.
The miller is type 20.

2 length
Describes the length of e.g. the drill.

4 radius

5 length (added to the length value of column 2)

Describes the wear on e.g. the drill. The wear has to be given as a negative value as it
is added to the length.

7 radius (added to the radius value of column 4)

8 x-shift
Cartesian tool displacement in x-direction.

9 y-shift
Cartesian tool displacement in y-direction.

10 z-shift
Cartesian tool displacement in z-direction.

toolParam

toolParam(tidx:= USInt, col:= USInt): LReal

Yields the given tool parameter.

toolSet

toolSet(index:= USInt, nr:= Int, tooltype:= ToolType, length:= LReal, radius:= L

Real, lengthAdd:= LReal, radiusAdd:= LReal, offsetX:= LReal, offsetY:= LReal, of
fsetZ:= LReal)

Set all parameters of a tool. The index is used in D-words to refer to the tool. It must lie in the range 1 to 255.
The parameter nr has only informational purpose. Typically, it is a company internal number to identify a
certain tool. The parameter tooltype identifies the kind of tool, like a drill for instance. The remaining

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parameters are dimensions, which are visualized in Figure “ToolSetDimensions”. If the tool orientation is
changed towards the negative (see P [} 43]-word), the value length+lengthAdd is implicitly negated. The
parameters length, radius, lengthAdd, radiusAdd, offsetX, offsetY and offsetZ are interpreted
using the current length unit.

Y offsetZ

offsetY
offsetX
X
length+lengthAdd
Tool

Z
radius+radiusAdd

Figure “ToolSetDimensions”.

Example:

The example defines tool 1 as a drill of total length 48.5 and tool 2 as a mill with a length of 30 and a
diameter of 5.
!toolSet(index:=1, nr:=4711, tooltype:=tooltypeDrill, length:=50, lengthAdd:=-1.5);
!toolSet(index:=2, nr:=10783, tooltype:=tooltypeMill, length:=30, radius:=2.5);

End of example code.

ToolType

Enumeration of tool types.

tooltypeDrill
tooltypeMill

3.6.6 Synchronization

sync

sync()

Synchronizes the interpreter with the associated NC-channel. The sync()-command blocks until all pending
NC-commands are completed, i.e. until the job-queue of the NC-channel is empty. This command replaces
the former @714-command. Oftentimes, the sync()-command is combined with a preceeding M-function of
type handshake. Then, the sync()-command will block until the M-function is acknowledged by the PLC.

wait

wait()

Waits for a GoAhead-signal from the PLC. The wait()-command blocks until this signal is received. This
command replaces the former @717-command. Compared to a combination of an M-function and sync(),
this kind of synchronization does not result in an empty job queue. Notably, an empty job queue forces the
machine to halt.

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TIP:
The GoAhead-signal may be send from the PLC before the associated wait()-function is
called. In this case the wait()-function does not block.
Note

3.6.7 Query of Axes

queryAxes

queryAxes()

Set the MCS (machine coordinate system) coordinates of the interpreter to the actual coordinates of the
physical axes. The MCS (machine coordinate system) coordinates are automatically translated to PCS (path
coordinate system) coordinates, which are exposed to the programmer. They may also be retrieved by
frameGet(…). A combination of sync() and queryAxes() replaces the former @716-command.
• The queryAxes()-command considers the path axes (X, Y, Z), as well as the auxiliary axes
(Q1..Q5).

NOTE:
The queryAxes()-command should be preceeded by sync() to avoid unexpected be-
havior.
Note

Example:

The resulting path of the following example is shown in Figure “ExampleQueryAxes”. The example assumes
M20 to be an M-function of type “handshake after”. The PLC is assumed to
• wait for M20,
• move the Y-axis to 20,
• wait for completion of the movement,
• acknowledge M20.

The interpreter sends the line segment N10 to the NC-channel followed by the M-function M20. Then the
invocation of sync() blocks. The NC-channel signals the M-function to the PLC after the line segment N10
has been processed. Then the PLC moves the tool from the end of segment N10 to the beginning of
segment N20 and acknowledges M20. The interpreter resumes operation and invokes queryAxes(), which
sets the internal “current point” to the endpoint of segment N10'. Therefore, the final block sends the line
segment N20 to the NC-channel.
N00
N10 G01 X40 M20
!sync();
!queryAxes();
N20 G01 X80

Y
30

N20
20
M20 acknowledged; axes queried
10 N10'
Performed by PLC
0
N10
M20 signaled to PLC
-10 X
-10 0 10 20 30 40 50 60 70 80 90 100

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Figure “ExampleQueryAxes”.

3.6.8 Current Point

frameGet

frameGet(x:=LReal, y:=LReal, z:=LReal, a:=LReal, b:=LReal, c:=LReal)

Store the current frame of the PCS (program coordinate system) in x, y, z and a, b, c.

Example:

The output of the following example is shown below. The G-Code in the example performs a linear
movement to the PCS (program coordinate system) point [10,20,30]. Then these coordinates are stored
in curX, curY, curZ by frameGet(…). The translation [1,2,3] that is pushed onto the transformation-
stack leads to an adaption of the current PCS (program coordinate system) point such that the MCS
(machine coordinate system) point [10,20,30] remains unchanged. Therefore, the subsequent call of
frameGet(…) retrieves the PCS (program coordinate system) point [9,18,27].
{
VAR
curX, curY, curZ : LREAL;
END_VAR

!G01 X10 Y20 Z30 F65000

frameGet(x=>curX, y=>curY, z=>curZ);

MSG(toString('test',curX,' ',curY,' ',curZ,''));

transTranslate(1,2,3);
frameGet(x=>curX, y=>curY, z=>curZ);
MSG(toString(curX,' ',curY,' ',curZ,''));
}

Output:
10.000000 20.000000 30.000000
9.000000 18.000000 27.000000

qAxisGet

qAxisGet(q1:=LReal, q2:=LReal, q3:=LReal, q4:=LReal, q5:=LReal)

Store the current values of Q-axes in q1 to q5. The Q-axes are the auxiliary axes.

3.6.9 Tool Radius Compensation

trcApproachDepartSet

trcApproachDepartSet(approachRadius:= LReal, approachAngle:= LReal, departRadius

:= LReal, departAngle:= LReal)

Configures the approach and depart behavior to use an arc of given radius and angle. If the product of radius
and angle are zero, no approach or depart segment will be inserted.

The resulting configuration is used by G41/G42.

trcOffsetSet

trcOffsetSet(offset:= LReal)

Configures the amount of segment extension that is used to close gaps. If offset is zero, no extension will
be performed.

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The resulting configuration is used by G41/G42.

trcLimitSet

trcLimitSet(limit:= LReal)

Configures the lookahead that is used for collision elimination.

The resulting configuration is used by G41/G42.

trcParam

trcParam(): TrcParamType

Returns the current configuration as a structure value.

trcParamSet

trcParamSet(param:= TrcParamType)

Configures the tool radius compensation. This function is an alternative that summarizes
trcApproachDepartSet, trcOffsetSet and trcLimitSet. It can be used in combination with
trcParam to load, save and restore different TRC (tool radius compensation) configurations efficiently.

TrcParamType

TrcParamType

This structure contains all configuration parameters of the tool radius compensation. It consists of the
following parameters.
approachradius: LREAL;
approachangle: LREAL;
departRadius: LREAL;
departAngle: LREAL;
offset: LREAL;
limit: LREAL;

See trcApproachDepartSet [} 73], trcOffsetSet [} 73], trcLimitSet [} 74] for a comprehensive description of
the listed parameters.

collisionElimination

collisionElimination(nx:= LReal, ny:= LReal, nz:= LReal, limit:= ULInt)

Activates collision elimination with respect to the plane of the normal vector nx, ny, nz. Collisions within the
projection of the path onto the plane are eliminated. Supplying a zero vector deactivates collision elimination.
The limit parameter can be used to restrict elimination to the last n segments. By default, elimination is
unlimited.

collisionEliminationFlush

collisionEliminationFlush()

This function can be called during active collision elimination to ignore any conflicts between the path
preceeding the call and the path succeeding the call.

3.6.10 Suppression of G-Code Blocks

disableMask

disableMask():= LWord

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Yields the current value of the disable mask. Note that the mask may also be set by the PLC. See
disableMaskSet [} 75] for details.

disableMaskSet

disableMaskSet(mask:= LWord)

Sets the internal disable mask to the given value. The mask is used to suppress execution of G-Code blocks.
The disable mask has 0 default value, i.e. no suppression is active by default. The mask consists of 64 bits.

In a binary notation like 2#1101 bits are numbered from right to left, starting with bit 0. For the value 2#1101
the bits 0, 2 and 3 are set by value one. The remaining bits are not set by exhibiting zero value.

Example:

The resulting path of the following example is shown in Figure “ExampleDisableMaskSet”. The disable mask
is initially set to the binary value 2#1101, which is equal to the decimal value 13. The first G-Code, which is
N10 in the given example, is always executed, independently of the current disable mask because there is
no ‘/’-operator in the N10-line. N20 is only executed if bit 0 is not set. In the case bit 0 is set N20 is
supressed, which is true in the given example. The same holds for N30, since ‘/’ is only a shorthand for ‘/0’.
N40 is not supressed, since bit 1 is not set. The G-Codes N50 and N60 after disableMaskSet(0) are
executed, since no bit in the disable mask is set. In contrast, the call disableMaskSet(-1) sets all bits of
the mask. Consequently, the succeeding G-Codes that are prefixed with a ‘/’, N80 and N90, are disabled.
!disableMaskSet(2#1101);
N10 G01 X10 Y10
/0 N20 G01 X20 Y0
/ N30 G01 X30 Y0
/1 N40 G01 X40 Y10
!disableMaskSet(0);
/ N50 G01 X50 Y0
/1 N60 G01 X60 Y10
!disableMaskSet(-1);
N70 G01 X70 Y0
/1 N80 G01 X80 Y10
/2 N90 G01 X90 Y20

Y
30

disabled disabled
20

10 N40
N10 N70
N50 N60
0

-10 X
-10 0 10 20 30 40 50 60 70 80 90 100

Figure “ExampleDisableMaskSet”.

3.6.11 Zero Offset Shift

zeroOffsetShiftSet

zeroOffsetShiftSet(g:= USInt, x:= LReal, y:= LReal, z:= LReal)

Sets the translation for G-Code g where g must be one of the numbers 54, 55, 56 or 57.

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Example:

The resulting path of the following example is shown in Figure “ExampleZeroOffsetShiftSet”. The zero offset
shift of G54 is first set to the translation [0,10,0]. It gets active for N20 and any later segment endpoints
until a novel translation is applied. The second invocation of zeroOffsetShiftSet has an immediate
effect. It applies to N30 and any later segment endpoints until a novel translation is applied. The same holds
for the last invocation. However, the block N40 does not program the Y-coordinate. Therefore, the change
does not become apparent for N40. (See section Transformations [} 80] for details.) Because the block N50
programs the Y-coordinate, it applies the recent [0,30,0]-translation.
!zeroOffsetShiftSet(g:=54, x:=0, y:=10, z:=0);
N10 G01 X20 Y0
N20 G01 X40 Y0 G54
!zeroOffsetShiftSet(g:=54, x:=0, y:=20, z:=0);
N30 G01 X60 Y0
!zeroOffsetShiftSet(g:=54, x:=0, y:=30, z:=0);
N40 G01 X80
N50 G01 X90 Y0

Y
30
N50
N40
20
N30

10
N20 G54 G54 G54 G54
0
N10

-10 X
-10 0 10 20 30 40 50 60 70 80 90 100

Figure “ExampleZeroOffsetShiftSet”.

3.6.12 Units

unitAngleSet

unitAngleSet(unitAngle:= UnitAngle)

Set the unit for angles to unitAngle. The default is unitAngleDegree. The unit for angles applies to all
NC-related functions like transRotX. It does not apply to ST-standard functions like sin. For this reason
the interpreter offers a set of NC-specific counterparts like gSin that consider the angle unit.

UnitAngle

Enumeration of the following values:

unitAngleRadian: 0…2pi
unitAngleDegree: 0…360
unitAngleGon: 0…400
unitAngleTurn: 0…1

unitLengthSet

unitLengthSet(unitLength:= UnitLength)

Set the unit for lengths to unitLength. The default is unitLengthMillimeter. The unit for length
applies to all NC-related functions like G01 or zeroOffsetShiftSet(…).

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UnitLength

Enumeration of the following values:

unitLengthMeter
unitLengthCentimeter
unitLengthMillimeter
unitLengthMicrometer
unitLengthNanometer
unitLengthInch
unitLengthFoot

unitTimeSet

unitTimeSet(unitTime:= UnitTime)

Set the unit for time to unitTime. The default is unitTimeSecond. The unit for time applies to all NC-
related functions like G04. It does not apply to ST-standard functions like currentLdt().

UnitTime

Enumeration of the following values:

unitTimeSecond
unitTimeMillisecond
unitTimeMicrosecond
unitTimeMinute
unitTimeHour

unitVelocitySet

unitVelocitySet(unitLength:= UnitLength, unitTime:= UnitTime)

Set the unit for velocity to unitLength/unitTime. The default is unitLengthMillimeter/

unitTimeMinute. The unit for velocity applies to all NC-related functions. It is used by the F-parameter for
instance.

3.6.13 Trigonometric (Unit Aware)

gSin

gSin(angle:= LReal)

Returns the sine of the given angle where the current angle unit is used to interpret the angle. (See section
Units [} 76] for details.) The return type is LReal. This function is not overloaded.

gCos

gCos(angle:= LReal)

Returns the cosine of the given angle where the current angle unit is used to interpret the angle. (See
section Units [} 76] for details.) The return type is LReal. This function is not overloaded.

gTan

gTan(angle:= LReal)

Returns the tangent of the given angle where the current angle unit is used to interpret the angle. (See
section Units [} 76] for details.) The return type is LReal. This function is not overloaded.

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gASin

gASin(val:= LReal)
• Returns the arcsine of val in the current angle unit. (See section Units [} 76] for details.)
• The return type is LReal. This function is not overloaded.
• The result lies within the interval [-c/4,c/4] where c is the angle of a full circle in the current angle
unit.

CONSTRAINT:
The variable val must reside within the interval [-1,1].

Note

gACos

gACos(val:= LReal)
• Returns the arccosine of val in the current angle unit. (See section Units [} 76] for details.)
• The return type is LReal. This function is not overloaded.
• The result lies within the interval [0,c/2] where c is the angle of a full circle in the current angle unit.

CONSTRAINT:
The variable val must reside within the interval [-1,1].

Note

gATan

gATan(val:= LReal)
• Returns the arctangent of val in the current angle unit. (See section Units [} 76] for details.)
• The return type is LReal. This function is not overloaded.
• The result lies within the interval [-c/4,c/4] where c is the angle of a full circle in the current angle
unit.

gATan2

gATan2(y:= LReal, x:= LReal)

• Returns the arctangent of y/x in the current angle unit. (See section Units [} 76] for details.)
• The return type is LReal. This function is not overloaded.
• The result lies within the interval [-c/2,c/2] where c is the angle of a full circle in the current angle
unit.

3.6.14 Feed Mode

feedModeSet

feedModeSet(feedMode:= FeedModeType)

FeedModeType

Enumeration of the following values:

fmContour
fmInternalRadius
fmToolCenterPoint

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3.6.15 Feed Interpolation

feedInterpolationSet

feedInterpolationSet(feedInterpolation:= FeedInterpolationType)

FeedInterpolationType

FeedInterpolationType

Enumeration of the following values:

fiConstant
fiLinear

3.6.16 Streaming of Large G-Code Files

runFile

runFile(path:= string)

The size of files that can be executed employing the GST-interpreter is limited. However, sometimes it is
required to execute large files that may have been created e.g. by a CAD-program. Therefore, the user has
the possibility to execute filestreams of native G-Code.

Executes the plain G-Code that is contained in the G-Code file given by path. The function call returns after
all lines in the supplied file have been processed. The function is intended for streaming large G-Code files to
the NC-kernel efficiently.

Native G-Code: No Structured Text Allowed

Note that the supplied G-Code file must not contain any ST-elements, but only plain G-
Code.
Note

A G-Code filestream from file 'myNativeGCodeFile.gcode' can be called from a GST-program lining up
the following syntax:
!runfile('myNativeGCodeFile.gcode');

3.6.17 Vertex Smoothing

smoothingSet

smoothingSet(mainType:= SmoothingMainType, subType:= SmoothingSubType, value:= L

Real)

Sets the vertex smoothing behavior according to the given parameters.

SmoothingMainType

Enumeration of the following values:

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smoothingNone
smoothingParabola
smoothingBiquadratic
smoothingBezier3
smoothingBezier5

SmoothingSubType

Enumeration of the following values:

smoothingRadius
smoothingDistance
smoothingAdaptive

3.6.18 Dynamic Override

dynOverrideSet

dynOverrideSet(value:= LReal)

Set the dynamic override of axes to the given value. The factor must lie in the range 0 to 1.

3.6.19 Center Point Reference of Circles

circleCenterReferenceSet

circleCenterReferenceSet(value:= ReferenceType)
• Sets the center reference type for circles that are programmed by G02/G03 using a center point, whose
definition involves the i,j,k-parameters.
• For referenceAbsolute the center point of the circle is defined by the supplied i,j,k-vector.
• For referenceRelative the center point is defined by the sum of the circle starting-point and the
supplied i,j,k-vector. This is the default and usual behavior of G-Code.

ReferenceType

Enumeration of the following values:

referenceAbsolute
referenceRelative

3.7 Transformations
The relation between the MCS (machine coordinate system) and the PCS (program coordinate system) is
defined by the effective transformation T. T is the concatenation of the transformations TZ, TU and
TT (T = TZ * TU * TT). Note that the order of concatenation is significant for the transformations do not
commute in general. The transformation TZ represents a (historical) zero offset shift, the transformation TU
represents a user defined transformation and the transformation TT represents a tool transformation. They
are described in detail later.

Figure “TransformationsTzTuTt” visualizes the relation between the MCS (machine coordinate system) and
the PCS (program coordinate system):
• TZ is defined to be a translation by [20,20,0],

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• TU is a combination of the translation [30,-10,0], followed by a rotation by 45 degree around the Z-

axis,
• TT is a translation by [0,-10,0].

Y
30

20

TZ TU
10

S
PC
MCS TT
0
T
-10 X
-10 0 10 20 30 40 50 60 70 80 90 100

Figure “TransformationsTzTuTt”.

3.7.1 Modification of the Effective Transformation T and its Effect

Most G-Codes define only the destination point of a movement. Therefore, the interpreter maintains the
current position of the tool. This point can be represented in MCS (machine coordinate system) coordinates
and PCS (program coordinate system) coordinates while the equation
CurrentPointMCS = T * CurrentPointPCS holds. In contrast to the previous implementation, this
transformation equation also holds after a modification of T. This behavior is accomplished by adapting the
CurrentPointPCS. The MCS (machine coordinate system) point is not adapted, as this would affect the
machine. This behavior may be summarized roughly as: When the active transformation is changed, the
current PCS (program coordinate system) point is adapted in a way that the modification shows no effect.

Example:

After N10 the coordinates of the current PCS (program coordinate system) and MCS (machine coordinate
system) point are [20,10,80], since no transformation is active. The translation changes the current PCS
(program coordinate system) point to [28,7,84]. Applying the translation on this point yields the
unchanged MCS (machine coordinate system) point [20,10,80]. Hence, the translation shows no effect,
although it is active. The block N20 programs a movement to the PCS (program coordinate system) point
[25,7,10], which is mapped to the MCS (machine coordinate system) coordinate [17,10,6]. After the
invocation of transPop() the current PCS (program coordinate system) point is set to the current MCS
(machine coordinate system) point.
N10 G01 X20 Y10 Z80
!transTranslate(-8,3,-4);
N20 G01 X25 Z10
!transPop();

Example:

If the user wants the PCS (program coordinate system) point to remain unchanged, he has to retrieve and
program it, as shown in the following code. However, the desire for an unchanged PCS (program coordinate
system) point typically indicates a bad programming style. Actually, there should be no need for the following
code.
{
VAR
pcsX, pcsY, pcsZ : LREAL;
END_VAR

// … G-Code …

frameGet(x=>pcsX,y=>pcsY,z=>pcsZ);
// … modify transformations …

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!G01 x=pcsX y=pcsY z=pcsZ

}

3.7.2 Components of the Effective Transformation T

Zero Offset Shift TZ

The TZ-transformation is affected by certain G-Codes. It has no effect if G53 is active. Otherwise, TZ is the
combination of the three translations TZ58, TZ59 and one of {TZ54, …, TZ57}. The former two translations are set
via the G-Codes G58 and G59. The latter translation is selected by the G-Codes G54 to G57. One translation
is associated with each of these 4 G-Codes. It can be set by the PLC or using the ST-function
zeroOffsetShiftSet.

Tool Transformation TT

TT is defined by the currently selected tool. It has no effect if tool 0 (D0) is selected. Otherwise, it is a
translation by [offsetX, offsetY, offsetZ] + (length+lengthAdd) * D where D is the normal
of the current workingplane.

Userdefined Transformation TU

TU is defined by a stack of transformations. The stack of depth N contains elementary transformations

TU1, TU2, …, TU<N> where TU<N> is the topmost transformation. Initially, the stack is empty. The userdefined
transformation is the concatenation of these elementary transformations TU = TU1 * TU2 * … * TU<N>. Note that
the order is significant for the transformations do not commute in general. If the stack is empty, TU is the
identity transformation, which has no transformation effect.

3.7.3 Applying Transformations

A transformation is pushed onto the stack by the following ST-functions. The transformation pushed recently
will be the topmost transformation on the transformation stack. When a transformation is pushed onto the
transformation stack, the stack depth is increased by one and TU is adapted accordingly.
transTranslate(x:= LREAL, y:= LREAL, z:= LREAL)
transRotX(angle:= LREAL)
transRotY(angle:= LREAL)
transRotZ(angle:= LREAL)
transMirrorX()
transMirrorY()
transMirrorZ()
transScale(factor:= LREAL)

3.7.4 Revoking Transformations

The function transPop() removes the topmost transformation from the transformation stack. When
transPop() removes a transformation from the transformation stack, the stack depth is reduced by one
and TU is adapted accordingly. Commonly, the transPop()-function is used to revoke a temporary
transformation.

Example:

In the following example the translation is applied to N10, N20 and N30. The rotation is only applied to N20
as it is revoked by transPop(). Figure “ExampleRevokingTransformations” shows the resulting MCS
(machine coordinate system) path. Note that the rotation center is [20,0,0] in MCS (machine coordinate
system), which is the origin in PCS (program coordinate system) after the preceeding translation.
!transTranslate(20,0,0);
N10 X10 Y0
!transRotZ(90);
N20 X20 Y0

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!transPop();
N30 X30 Y0
!transPop();

Y
30

20

N30
10 N20

0
N10

-10 X
-10 0 10 20 30 40 50 60 70 80 90 100

Figure “ExampleRevokingTransformations”.

3.7.5 Restoration of Stack

The function transDepth() yields the current depth of the stack. The function transRestore(depth)
removes transformations from the stack until the given depth is reached. Typically, the two functions are
combined to save and restore the state of the transformation stack.

It is good programming style to do this saving and restoring in the context of userdefined ST-functions.

Example:

Initially, within the following function the depth of the stack is stored in the variable depth. At the end of the
function the initial state is restored by transRestore. Note that restoration only works properly if the stack
depth does not fall below depth within the function. Instead of using transDepth() and
transRestore() the stack depth could also be restored using transPop(). However, it may become
cumbersome to keep pushing and popping of transformations synchronous, especially if transformations are
pushed conditionally.
{
FUNCTION draw
VAR
depth : UINT;
END_VAR
depth := transDepth();
transTranslate(10,0,0);
// … G-Code …
transRotZ(45);
// … G-Code …
transMirrorX();
// … G-Code …
transRestore(depth);
END_FUNCTION
}

3.8 Error Reporting

Efficient development of CNC-programs requires decent support by development tools. This support includes
proper reporting of programming errors for both, compile-time errors and runtime errors. An error message
should point directly to the source code the error originates from and give a precise description of the
circumstances under that the error occured (dynamic data). Such individual error messages help a developer
substantially to fix errors in short time. The GST-interpreter yields such error messages, as described in the
following texts.

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3.8.1 Error Messages

In case of an error the interpreter produces a descriptive error message. An error message consists of a
source code coordinate and a description. The source code coordinate links the error to its origin in the GST-
program. It defines a range of source code stretching from the first character of the code range to the last
character of the code range. Both, first and last character, are defined by their file, line and column. Note that
the last character actually points to the first character behind the range, which is a common technical
convention.

Example:

In the following example an integer variable i is declared and initialized. The initialization uses a floatingpoint
literal. Since an implicit conversion from floatingpoint to integer is not allowed in ST, the interpreter produces
the descriptive error message given below when the program is loaded. The error message does not only
report that a type-error has occured, it also gives the precise position: File aaa.gst, line 3, column 14 to 17.
This code range displays the literal ‘1.5’. In addition, the programmed type (real) and the expected type
(int) are reported. With such a detailed error message bugs can be fixed by the developer easily.
{
VAR
i : int := 1.5;
END_VAR
}

Error message:
aaa.gst: 3.14-3.17: Invalid implicit conversion from type
'<real literal>' to 'int'.

3.8.2 Compile-Time Errors and Runtime Errors

Errors may occur during program loading (so called compile-time errors) or during program execution (so
called runtime errors). Fortunately, most errors are detected at compile-time. This detection includes missing
files, syntax errors, type errors and unexpected identifiers. The developer gets feedback immediately when
he tries to load the program. Thus, a part of unexpected failures during machining is avoided.

However, there are also errors that, by their nature, cannot be detected at compile-time. For instance, this
circumstance includes a division by zero, since the divisor may be computed dynamically. If a runtime error
occurs, the interpreter is stopped safely and an error message is produced. A runtime error message is
similar to a compile-time error message. It even includes a reference to the pertinent source code.

Example:

In the following example the FOR-loop contains a division of 10 by the loop variable i. Since the variable i is
iterated from -3 to 3, this program leads to an error during the 4th iteration, when i has the value 0. This
error is detected at runtime and stops the interpreter. The error message shown below is reported. It points
precisely to the code ‘10/i’ in the example.

FILE aaa.gst:
{
VAR
i, j : int;
END_VAR

FOR i := -3 TO 3 DO
j := j + 10/i;
END_FOR;
}

Error message:
aaa.gst: 7.12-7.16: Division by zero

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Example:

At runtime the interpreter also performs checking of array bounds. Consequently, invalid indices do not result
in unpredictable and typically fatal crashes. The runtime error message precisely defines location and origin
of the error at ‘idx’, reports the erroneously supplied index (20) and the valid index range (10..19).

FILE aaa.gst:
{
VAR
idx : INT;
a : ARRAY [10..19] OF INT;
END_VAR

FOR idx := 10 TO 20 DO
a[idx] := i;
END_FOR;
}

Error message:
aaa.gst: 8.5-8.8: Out of bounds. 20 exceeds range 10..19.

3.8.3 Errors in G-Code

Error reporting is also performed for G-Code. This reporting includes compile-time errors and runtime errors.
Runtime error reporting includes invalid use of G-Code, e.g. like a bad definition for a circle.

Example:

In the following example the value of a string variable str is assigned to the address letter X of the G-Code
block. As before the position of the error is precisely identified at ‘=str’ in the code. In addition, the
programmed type and the expected type are reported.

FILE aaa.gst:
{
VAR
str : string := 'Hello World';
END_VAR
}

G01 X=str F6000

G01 Y100

Error message:
7.5-7.9: Invalid implicit conversion from type 'string[255]'
to 'lreal'

Example:

In the following example a sequence of circular arcs is processed by a FOR-loop. The radius of the arc is 4.
The distance between the starting-point and endpoint of the arc is successively increased within each
iteration. During the 9th iteration the distance exceeds the circle diameter of 8. The reported error message
identifies the origin G2 X=i*10+i U4 and gives information about the diameter and distance between
starting-point and endpoint.

FILE aaa.gst:
{
VAR
i : INT;
END_VAR

!G00 X0 Y0 Z0
FOR i := 1 TO 10 DO
!G01 X=i*10

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!G02 X=i*10+i U4
END_FOR;
}

Error Message:
aaa.gst: 9.4-10.1: Invalid definition of circle. Distance
between start-point and end-point (=9.000000) is larger than
diameter (=8.000000).

3.8.4 Preprocessing
During preprocessing #include-directives are replaced by the contents of the referenced files. Care has
been taken to maintain information about the origin of source code properly. Therefore, an error that is
caused by code in an included file will refer to that included file and not to the result of preprocessing, as a
simple implementation would do.

Example:

In the following example the file aaa.gst includes the file bbb.gst. In the latter file the variables i and j
are used in G-Codes. Variable i is declared at the beginning of aaa.gst, but j is not. Therefore, the error
message below is issued. As you can see it references the use of variable j in file bbb.gst properly.

FILE aaa.gst:
{
VAR
i : INT;
END_VAR
}

G00 X0 Y0 Z0

#include "bbb.gst"

G00 X100

FILE bbb.gst:
G01 X=i
G01 Y=j
G01 Z100

Error message:
bbb.gst: 2.6-2.7: Undeclared variable or enumeration value
'j'

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3.9 General Command Overview

Interpolations

Com- Description Modal or Non- Default

mand modal
G00 Interpolation mode: Linear. Modal. Default.
[} 35] Applying maximum velocity ignoring programmed velocity.
Reset by G01, G02, G03.
G01 Interpolation mode: Linear. Modal. No.
[} 35] Applying programmed velocity.
Reset by G00, G02, G03.
G02 Clockwise interpolation mode: Circular or helical. Modal. No.
[} 35] Applying current velocity.
Reset by G00, G01, G03.
G03 Counterclockwise interpolation mode: Circular or helical. Modal. No.
[} 37] Applying current velocity.
Reset by G00, G01, G02.
G04 Defines a dwell time, i.e. suspends machining for a given Nonmodal. No.
[} 37] duration.
G09 Accurate stop. Nonmodal. No.
[} 37]

Workingplane Selection

Com- Description Modal or Non- Default

mand modal
G17 Selects XY-plane as workingplane. Modal. Default.
[} 37]
G18 Selects ZX-plane as workingplane. Modal. No.
[} 37]
G19 Selects YZ-plane as workingplane. Modal. No.
[} 37]

Deactivation and Activation of Tool Radius Compensation

Com- Description Modal or Non- Default

mand modal
G40 Deactivates Tool Radius Compensation (TRC). Modal. Default.
[} 37]
G41 Activates Tool Radius Compensation (TRC). Modal. No.
[} 38] Left.
G42 Activates Tool Radius Compensation (TRC). Modal. No.
[} 39] Right.

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Set, Deactivate and Activate Zero-Offset-Shift Translations

Com- Description Modal or Non- Default

mand modal
G53 Deactivates any zero-offset-shift translation. Modal. Default.
[} 39]
G54..G57 Activates the zero-offset-shift associated with the given G-Code. Modal. No.
[} 39] Activates the translation G58 and G59.
G58, G59 Sets the translation associated with the given G-Code. Modal. No.
[} 39]

Accurate Stop

Com- Description Modal or Non- Default

mand modal
G60 Accurate stop. Modal. No.
[} 40]

Set Unit for Length

Com- Description Modal or Non- Default

mand modal
G70 Sets the unit for lengths to inch. Modal. No.
[} 40] Does not affect the unit for velocity.
G71 Sets the unit for lengths to millimeter. Modal. Default.
[} 40] Does not affect the unit for velocity.

Switch to Absolute or Relative Coordinates

Com- Description Modal or Non- Default

mand modal
G90 Switches to absolute programming. Modal. Default.
[} 41]
G91 Switches to incremental programming. Modal. No.
[} 41]

Set Unit for Length and Speed

Com- Description Modal or Non- Default

mand modal
G700 Sets the unit for lengths to inch. Modal. No.
[} 42] Also applies to the interpretation of velocity.
G710 Sets the unit for lengths to millimeter. Modal. Default.
[} 42] Also applies to the interpretation of velocity.

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IJK

Com- Description Modal or Non- Default

mand modal
IJK [} 42] Center point is currentPoint + [vx,vy,vz]. Modal. Default: Center
Current length unit is used for vx,vy,vz. point is
I used by G4 defines a duration. currentPoin
t + [0,0,0].
The IJK-
parameters are
optional.

M-Functions

Com- Description
mand
M [} 42] Triggers the M-function v.
The timing behavior depends on the definition of v in the System Manager of TwinCAT.
There must not be more than one M-function of type handshake in a block.
M2 Predefined M-function.
Signals program end.
M30 Predefined M-function.
Signals program end.

Tool Orientation and Auxiliary Axes

Com- Description Modal or Non- Default

mand modal
P [} 43] Switches tool orientation. Modal. No.
Q [} 44] Sets label for auxiliary axis. Modal. No.

Set Block Number

Com- Description
mand
N [} 45] Block number.

Set Radius

Com- Description Modal or Non- Default

mand modal
U [} 45] Sets the radius within the context of G02 or G03 to |v|. Modal. No.

Set Cartesian Coordinate

Com- Description
mand
X [} 45] Sets the X-coordinate of the next point to v.
Uses current length unit for v.
Y [} 45] Sets the Y-coordinate of the next point to v.
Uses current length unit for v.
Z [} 46] Sets the Z-coordinate of the next point to v.
Uses current length unit for v.

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Set Orientation Angle

Com- Description Modal or Non- Default

mand modal
A [} 46] Sets the A-angle of the next orientation to v. Nonmodal, but No.
Uses current length unit for v. may influence
succeeding
blocks.
B [} 46] Sets the B-angle of the next orientation to v. Nonmodal, but No.
Uses current length unit for v. may influence
succeeding
blocks.
C [} 46] Sets the C-angle of the next orientation to v. Nonmodal, but No.
Uses current length unit for v. may influence
succeeding
blocks.

Trigonometric

Command Description
SIN [} 56] Returns the sine of x; x in radians.
COS [} 56] Returns the cosine of x; x in radians.
TAN [} 56] Returns the tangent of x; x in radians.
ASIN [} 57] Returns the arc sine of x; x in radians.
ACOS [} 57] Returns the arc cosine of x; x in radians.
ATAN [} 57] Returns the arc tangent of x; x in radians.
ATAN2 [} 57] Returns the arc tangent of y/x; y/x in radians.

Arithmetic

Command Description
ABS [} 55] Returns the absolute value of x.
SQRT [} 55] Returns the square root of x.
LN [} 56] Returns the natural logarithm of x.
LOG [} 56] Returns the decimal logarithm of x.
EXP [} 56] Returns e raised to the power of x.
ADD [} 57] Returns the sum of all parameters.
MUL [} 57] Returns the product of all parameters.
SUB [} 58] Returns the difference x-y.
DIV [} 58] Returns the quotient x/y.
MOD [} 58] Returns the remainder of the integer division x/y.
EXPT [} 58] Returns x raised to the power of y.

Shift

Command Description
SHL [} 59] Returns the bitstring x shifted left by y bits.
SHR [} 59] Returns the bitstring x shifted right by y bits.

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Rotation

Command Description
ROL [} 59] Returns the bitstring x rotated left by y bits.
ROR [} 59] Returns the bitstring x rotated right by y bits.

Logical Operations

Command Description
AND [} 60] Returns the bitwise Logical And of all parameters.
OR [} 60] Returns the bitwise Logical Or of all parameters.
XOR [} 60] Returns the bitwise Logical Exclusive Or of all parameters.
NOT [} 60] Returns the bitwise complement of x.

Selection (Conditional Expressions)

Command Description
SEL [} 60] Returns x1 if cond is FALSE, and x2 otherwise.
MUX [} 60] Returns x<select>.

Min, Max and Limit

Command Description
MAX [} 61] Returns the maximum of all parameters.
MIN [} 61] Returns the minimum of all parameters.
LIMIT [} 61] Returns in if it lies in the interval [min,max]. Otherwise, the violated bound (min or
max) is returned.

Comparison

Command Description
GT [} 61] Returns TRUE if x is larger than y.
GE [} 61] Returns TRUE if x is not smaller than y.
EQ [} 61] Returns TRUE if x and y are equal.
LE [} 62] Returns TRUE if x is not larger than y.
LT [} 62] Returns TRUE if x is smaller than y.
NE [} 62] Returns TRUE if x and y are not equal.

Comparison

Command Description
The toString-Function [} 62] Converts and concatenates the given arguments to one string.
Msg [} 62] Send the given message to the message list of TwinCAT.

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Transformations

Command Description
transRotX/Y/Z [} 63] Rotation around the respective axis by the given angle in the user-defined
transRotX/Y/Z [} 63] angle unit.
transRotX/Y/Z [} 63]
transRotA [} 64] Rotate around vector [x,y,z] by the given angle.
transMirrorX/Y/Z [} 65] Mirror with respect to the X-direction, Y-direction or Z-direction relative to
transMirrorX/Y/Z [} 65] the origin of the current PCS.
transMirrorX/Y/Z [} 65]
transScale [} 65] Scales the coordinate system by the factor in the X-dimension, Y-
dimension and Z-dimension.
transTranslate [} 66] Translate by vector [x,y,z].
transPop [} 66] Pops a transformation from the stack of transformations.
transDepth [} 67] Yields the depth of the stack of transformations, i.e. the number of active
transformations.
transRestore [} 67] Reduces the stack of transformations to the given depth.

Movement

Command Description
moveCircle3d [} 68] Move circular by rotating around the center cx,cy,cz and the normal
vector nx,ny,nz by the given angle. If height is nonzero, a helix is
described. The rotation is performed according to the right hand rule.

Centerpoint Correction

Command Description
centerpointCorrectionSet [} 69] Activates the centerpoint correction for circles. Used for circles that are
defined by centerpoint programming.
centerpointCorrectionLimitSet Sets the precision limit for the centerpoint of circles.
[} 69]

Tools

Command Description
toolParamSet [} 69] Set a parameter of the tool tidx (1..255) to val. The parameter is
identified by col (0..15).
toolParam [} 70] Yields the given tool parameter.
toolSet [} 70] Set all parameters of a tool.
ToolType [} 71] Enumeration of tool types.

Synchronization

Command Description
sync [} 71] Synchronizes the interpreter with the associated NC-channel.
wait [} 71] Waits for a GoAhead-signal from the PLC.

Query of Axes

Command Description
queryAxes [} 72] Set the MCS coordinates of the interpreter to the actual coordinates of the physical
axes.

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Current Point

Command Description
frameGet [} 73] Store the current frame of the PCS in x, y, z and a, b, c.
qAxisGet [} 73] Store the current values of Q-axes q1 to q5.

Tool Radius Compensation

Command Description
trcApproachDepartSet [} 73] Configures the approach and depart behavior to use an arc of given radius
and angle.
trcOffsetSet [} 73] Configures the amount of segment extension that is used to close gaps.
trcLimitSet [} 74] Configures the lookahead that is used for collision elimination.
trcParam [} 74] Returns the current configuration as a structure value.
trcParamSet [} 74] Configures the tool radius compensation. Summarizes
trcApproachDepartSet, trcOffsetSet and trcLimitSet.
TrcParamType [} 74] Structure containing all configuration parameters of the tool radius
compensation.
collisionElimination [} 74] Activates collision elimination with respect to the plane of the normal vector
nx, ny, nz.
collisionEliminationFlush [} 74] To ignore conflicts between the path preceding the call and the path
succeeding the call.

Com- Description Modal or Non- Default

mand modal
G40 Deactivates Tool Radius Compensation (TRC). Modal. Default.
[} 37]
G41 Activates Tool Radius Compensation (TRC). Left. Modal. No.
[} 38]
G42 Activates Tool Radius Compensation (TRC). Right. Modal. No.
[} 39]

Suppression of G-Code Blocks

Command Description
disableMask [} 74] Yields the current value of the disable mask.
disableMaskSet [} 75] Sets the internal disable mask to the given value.

Zero Offset Shift

Command Description
zeroOffsetShiftSet [} 75] Sets the translation for G-Code g where g must be one of the numbers 54,
55, 56 or 57.

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Units

Command Description
unitAngleSet [} 76] Set the unit for angles to unitAngle.
UnitAngle [} 76] Enumeration of unit angles.
unitLengthSet [} 76] Set the unit for lengths to unitLength.
UnitLength [} 77] Enumeration of unit lengths.
unitTimeSet [} 77] Set the unit for time to unitTime.
UnitTime [} 77] Enumeration of unit times.
unitVelocitySet [} 77] Set the unit for velocity to unitLength/unitTime.

Trigonometric (Unit Aware)

Command Description
gSin [} 77] Returns the sine of the given angle where the current angle unit is used to
interpret the angle.
gCos [} 77] Returns the cosine of the given angle where the current angle unit is used
to interpret the angle.
gTan [} 77] Returns the tangent of the given angle where the current angle unit is
used to interpret the angle.
gASin [} 78] Returns the arc sine of val in the current angle unit.
gACos [} 78] Returns the arc cosine of val in the current angle unit.
gATan [} 78] Returns the arc tangent of val in the current angle unit.
gATan2 [} 78] Returns the arc tangent of y/x in the current angle unit.

Feed Mode

Command Description
feedModeSet [} 78] Set the feed mode.
FeedModeType [} 78] Enumeration of feed mode types.

Feed Mode

Command Description
feedInterpolationSet [} 79] Set feed interpolation.
FeedInterpolationType [} 79] Enumeration of feed interpolation types.

Streaming of Large G-Code Files

Command Description
runFile [} 79] Executes the plain G-Code that is contained in the G-Code file given by
path.

Vertex Smoothing

Command Description
smoothingSet [} 79] Set the vertex smoothing behavior.
SmoothingMainType [} 79] Enumeration of smoothing main types.
SmoothingSubType [} 80] Enumeration of smoothing sub types.

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Dynamic Override

Command Description
dynOverrideSet [} 80] Set the dynamic override of axes to the given value.

Center Point Reference of Circles

Command Description
circleCenterReferenceSet [} 80] Sets the center reference type for circles that are programmed by G02/
G03.
ReferenceType [} 80] Enumeration of reference types.

3.10 Comparative Command Overview

Command Command Modal or Non- Description
NCI Inter- GST Inter- modal
preter preter
ANG [} 128] Nonmodal. Contour line programming (angle).
AROT [} 129] transRotA Modal. Rotation additive.
[} 64],
transRotX/Y/Z
[} 63],
transRotX/Y/Z
[} 63],
transRotX/Y/Z
[} 63]

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Command Command Modal or Non- Description

NCI Inter- GST Inter- modal
preter preter
CalcInvRot Nonmodal. Calculates the inverse rotation of a vector.
[} 129]
CalcRot [} 129] Nonmodal. Calculates the rotation of a vector.
CDOF [} 173] collisionElimina Modal. Bottleneck detection off.
tion [} 74]
Supplying a
zero vector.
CDON [} 173] collisionElimina Modal. Bottleneck detection on.
tion [} 74]
Supplying a
nonzero vector.
collisionElimina This function can be called during active collision
tionFlush [} 74] elimination to ignore any conflicts between the path
preceding the call and the path succeeding the call.
CFC [} 172] feedInterpolati Modal. Constant velocity at the contour.
onSet [} 79]
CFIN [} 172] feedModeSet Modal. Constant velocity in the interior circle.
[} 78]
CFTCP [} 172] feedModeSet Modal. Constant velocity of the tool center point.
[} 78]
CIP [} 119] moveCircle3d Nonmodal. Circular interpolation. Move circular by rotating around the
[} 68] center cx,cy,cz and the normal vector nx,ny,nz by the
given angle.
CPCOF [} 119] centerpointCor Modal. Center point correction off.
rectionSet
[} 69]
CPCON [} 119] centerpointCor Modal. Center point correction on.
rectionSet
[} 69]

Command Command Modal or Non- Description

NCI Inter- GST Inter- modal
preter preter
DelDTG [} 140] Nonmodal. Delete distance to go.
DYNOVR dynOverrideSet Modal. Dynamic override.
[} 156] [} 80]

Command Command Modal or Non- Description

NCI Inter- GST Inter- modal
preter preter
FCONST feedInterpolati Modal. Constant feed programming.
[} 123] onSet [} 79]
FLIN [} 123] feedInterpolati Modal. Linear feed programming.
onSet [} 79]

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Command Command Modal or Non- Description

NCI Inter- GST Inter- modal
preter preter
G00 [} 118] G00 [} 35] Modal. Rapid traverse.
G01 [} 119] G01 [} 35] Modal. Straight line interpolation.
G02 [} 119] G02 [} 35] Modal. Clockwise circular interpolation.
G03 [} 119] G03 [} 37] Modal. Counterclockwise circular interpolation.
G04 [} 122] G04 [} 37] Nonmodal. Dwell time.
G09 [} 123] G09 [} 37] Nonmodal. Accurate stop.

Command Command Modal or Non- Description

NCI Inter- GST Inter- modal
preter preter
G17 [} 111] G17 [} 37] Modal. Plane selection XY.
G18 [} 111] G18 [} 37] Modal. Plane selection ZX.
G19 [} 111] G19 [} 37] Modal. Plane selection YZ.

Command Command Modal or Non- Description

NCI Inter- GST Inter- modal
preter preter
G40 [} 167] G40 [} 37] Modal. No miller/ cutter radius compensation.
G41 [} 167] G41 [} 38] Modal. Miller/ cutter radius compensation left.
G42 [} 167] G42 [} 39] Modal. Miller/ cutter radius compensation right.

Command Command Modal or Non- Description

NCI Inter- GST Inter- modal
preter preter
G53 [} 124] G53 [} 39] Modal. Zero shift suppression.
G54 [} 124] G54..G57 [} 39] Modal. 1st adjustable zero shift.
G55 [} 124] G54..G57 [} 39] Modal. 2nd adjustable zero shift.
G56 [} 124] G54..G57 [} 39] Modal. 3rd adjustable zero shift.
G57 [} 124] G54..G57 [} 39] Modal. 4th adjustable zero shift.
G58 [} 124] G58, G59 [} 39] Modal. 1st programmable zero shift.
G59 [} 124] G58, G59 [} 39] Modal. 2nd programmable zero shift.

Command Command Modal or Non- Description

NCI Inter- GST Inter- modal
preter preter
G60 [} 123] G60 [} 40] Modal. Accurate stop.

Command Command Modal or Non- Description

NCI Inter- GST Inter- modal
preter preter
G70 [} 113] G70 [} 40] Modal. Dimensions in inch.
G71 [} 113] G71 [} 40] Modal. Dimensions metric.
G74 [} 117] Nonmodal. Programmed traverse to reference point.

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Command Command Modal or Non- Description

NCI Inter- GST Inter- modal
preter preter
G90 [} 111] G90 [} 41] Modal. Reference dimension notation.
G91 [} 111] G91 [} 41] Modal. Incremental dimension notation.

Command Command Modal or Non- Description

NCI Inter- GST Inter- modal
preter preter
G700 [} 113] G700 [} 42] Modal. Dimensions in inches with calculation of the feed.
G710 [} 113] G710 [} 42] Modal. Dimensions metric with calculation of the feed.

Command Command Modal or Non- Description

NCI Inter- GST Inter- modal
preter preter
Mirror [} 132] transMirrorX/Y/ Modal. Mirroring the coordinate system.
Z [} 65],
transMirrorX/Y/
Z [} 65],
transMirrorX/Y/
Z [} 65]
MOD [} 140] Nonmodal. Modulo movement.
MSG [} 161] Msg [} 62] Nonmodal. Message from the NC program.

Command Command Modal or Non- Description

NCI Inter- GST Inter- modal
preter preter
NORM [} 172] Nonmodal. Orthogonal approach off the contour and orthogonal
departure from the contour.

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Command Command Modal or Non- Description

NCI Inter- GST Inter- modal
preter preter
P+ [} 111] P [} 43] Modal. Feed direction positive.
P- [} 111] P [} 43] Modal. Feed direction negative.
paramAutoAcc Modal. Automatic accurate stop.
urateStop
[} 139]
paramAxisDyna Modal. Parameterization of the axis dynamics.
mics [} 156]
paramC1Reduc Modal. C1 reduction factor.
tionFactor
[} 158]
paramC2Reduc Modal. C2 reduction factor.
tionFactor
[} 158]
paramCircularS Modal. Circular smoothing.
moothing
[} 138]
paramDevAngl Modal. C0 reduction - deflection angle.
e [} 158]
paramGroupVe Modal. Circular smoothing (old).
rtex [} 138]
paramGroupDy Modal. Pathway dynamics (old).
namic [} 156]
paramPathDyn Modal. Pathway dynamics.
amics [} 156]
Circular Modal. Circular accuracy.
accuracy
[} 120]
paramSplineSm smoothingSet Modal. Vertex smoothing. NC: Smoothing with Bezier Splines.
oothing [} 136] [} 79]
paramVertexS smoothingSet Modal. Smoothing of segment transitions.
moothing [} 79]
[} 133]
paramVeloJum Modal. C0 reduction - maximum step change in velocity.
p [} 158]
paramVeloMin Modal. Minimum velocity.
[} 159]
paramZeroShift zeroOffsetShift Modal. Parameterization of the configurable zero shift.
[} 124] Set [} 75]
PathAxesPos frameGet Nonmodal. Reads the actual position.
[} 160] [} 73],
qAxisGet [} 73]

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Command Command Modal or Non- Description

NCI Inter- GST Inter- modal
preter preter
Additive transRotA Modal. Rotation additive.
Rotation [} 64],
[} 130] transRotX/Y/Z
[} 63],
transRotX/Y/Z
[} 63],
transRotX/Y/Z
[} 63]
ROT [} 129] Modal. Absolute rotation.
RotExOff Modal. Extended rotation function off.
[} 129]
RotExOn Modal. Extended rotation function on.
[} 129]
RotVec [} 129] Nonmodal. Calculation routine for rotating a vector.
RParam [} 115] !R1:=var1; Nonmodal. Initialization of an R-parameter.
!R2:=var2;
!R3:=var3;
…
RToDwordGetB Modal. Converts an R-parameter to DWord and checks whether a
it [} 115] defined bit is set.

Command Command Modal or Non- Description

NCI Inter- GST Inter- modal
preter preter
SEG [} 128] Nonmodal. Contour line programming (segment length).
skip Modal. Skip virtual movements.
VirtualMoveme
nts [} 161]

Command Command Modal or Non- Description

NCI Inter- GST Inter- modal
preter preter
ToolOffsetIncO Modal. Cartesian tool displacement and length compensation is
ff [} 164] not applied under G91.
ToolOffsetIncO Modal. Cartesian tool displacement and length compensation is
n [} 164] applied under G91.
ToolParam toolParamSet Modal. Set a tool parameter. NC: Writing and reading of tool
[} 162] [} 69] parameters.
ToolParam toolParam Modal. Yields the given tool parameter. NC: Writing and reading of
[} 162] [} 70] tool parameters.
ToolParam toolSet [} 70] Modal. Set all parameters of a tool. NC: Writing and reading of tool
[} 162] parameters.
TPM [} 126] Nonmodal. Target position monitoring.

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Command Command Modal or Non- Description

NCI Inter- GST Inter- modal
preter preter
ZeroShiftIncOff Modal. Zero shift is not applied under G91.
[} 124]
ZeroShiftIncOn Modal. Zero shift is applied under G91.
[} 124]

Command NCI In- Command GST In- Description

terpreter terpreter
transScale [} 65] Scales the coordinate system by the factor in the X-
dimension, Y-dimension and Z-dimension.
transDepth [} 67] Yields the depth of the stack of transformations.
transRestore [} 67] Reduces the stack of transformations to the given depth.
transPop [} 66] Pops a transformation from the stack of transformations.

Command NCI In- Command GST In- Description

terpreter terpreter
CIP [} 119] moveCircle3d [} 68] Move circular by rotating around the center cx,cy,cz and the
normal vector nx,ny,nz by the given angle.

Command NCI In- Command GST In- Description

terpreter terpreter
queryAxes [} 72] Set the MCS (machine coordinate system) coordinates of the
interpreter to the actual coordinates of the physical axes.

Command NCI In- Command GST In- Description

terpreter terpreter
trcApproachDepartS Configures the approach and depart behavior to use an arc of
et [} 73] given radius and angle.
trcOffsetSet [} 73] Configures the amount of segment extension that is used to
close gaps.
trcLimitSet [} 74] Configures the lookahead that is used for collision elimination.
trcParam [} 74] Returns the current configuration as a structure value.
trcParamSet [} 74] Configures the tool radius compensation.
TrcParamType [} 74] This structure contains all configuration parameters of the tool
radius compensation.

Command NCI In- Command GST In- Description

terpreter terpreter
disableMask [} 74] Yields the current value of the disable mask.
Block Skipping disableMaskSet Sets the internal disable mask to the given value.
[} 108] [} 75]
/

Command NCI In- Command GST In- Description

terpreter terpreter
runFile [} 79] Streaming of large G-Code files.

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Command NCI In- Versions Command GST In- Description

terpreter terpreter
@40 [} 115] @40 Kn Rn Rm … Save register on the stack.
@41 [} 115] @41 Rn Rm Save register on the stack.
@42 [} 115] @42 Kn … Rm Rn Restore register from stack.
@43 [} 115] @43 Rm Rn Restore register from stack.

Command NCI In- Versions Command GST In- Description

terpreter terpreter
@100 [} 151] @100 K±n @100 Rm Unconditional jump.

Command NCI In- Versions Command GST In- Description

terpreter terpreter
@111 [} 151] @111 Rn K/Rn Km … CASE OF [} 53] Case block.

Command NCI In- Versions Command GST In- Description

terpreter terpreter
@121 [} 151] @121 Rn K/Rn Kn Jump if unequal.
@122 [} 151] @122 Rn K/Rn Kn Jump if equal.
@123 [} 151] @123 Rn K/Rn Kn Jump if less or equal.
@124 [} 151] @124 Rn K/Rn Kn Jump if less.
@125 [} 151] @125 Rn K/Rn Kn Jump if greater or equal.
@126 [} 151] @126 Rn K/Rn Kn Jump if greater.

Command NCI In- Versions Command GST In- Description

terpreter terpreter
@131 [} 153] @131 Rn K/Rn Kn WHILE [} 53] Loop while equal.
@132 [} 153] @132 Rn K/Rn Kn WHILE [} 53] Loop while unequal.
@133 [} 153] @133 Rn K/Rn Kn WHILE [} 53] Loop while greater.
@134 [} 153] @134 Rn K/Rn Kn WHILE [} 53] Loop while greater or equal.
@135 [} 153] @135 Rn K/Rn Kn WHILE [} 53] Loop while less.
@136 [} 153] @136 Rn K/Rn Kn WHILE [} 53] Loop while less or equal.

Command NCI In- Versions Command GST In- Description

terpreter terpreter
@141 [} 153] @141 Rn K/Rn Kn REPEAT [} 54] Repeat until equal.
@142 [} 153] @142 Rn K/Rn Kn REPEAT [} 54] Repeat until unequal.
@143 [} 153] @143 Rn K/Rn Kn REPEAT [} 54] Repeat until greater.
@144 [} 153] @144 Rn K/Rn Kn REPEAT [} 54] Repeat until greater or equal.
@145 [} 153] @145 Rn K/Rn Kn REPEAT [} 54] Repeat until less.
@146 [} 153] @146 Rn K/Rn Kn REPEAT [} 54] Repeat until less or equal.

Command NCI In- Versions Command GST In- Description

terpreter terpreter
@151 [} 153] @151 Rn K/Rn Kn FOR [} 53] FOR_TO loop.

Command NCI In- Versions Command GST In- Description

terpreter terpreter
@161 [} 153] @161 Rn K/Rn Kn FOR [} 53] FOR_DOWNTO loop.

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Command NCI In- Versions Command GST In- Description

terpreter terpreter
@200 @200 Rn Delete a variable.
@202 @202 Rn Rm Swap two variables.

Command NCI In- Versions Command GST In- Description

terpreter terpreter
@302 @302 K/R/Pn K/R/Pn R/Pn Read machine data bit.
@361 [} 160] @361 Rn Km Read machine-related actual
axis value.
@372 @372 Rn Set number of the NC channel
in variable.

Command NCI In- Versions Command GST In- Description

terpreter terpreter
@402 [} 119] @402 K/R/Pn K/R/Pn K/R/ circleCenterReferenc Write machine data bit.
Pn eSet [} 80]

Command NCI In- Versions Command GST In- Description

terpreter terpreter
@610 @610 Rn Rn ABS [} 55] Find the absolute value of a
variable.
@613 @613 Rn Rn SQRT [} 55] Find the square root of a
variable.
@614 @614 Rn Rm Rm SQRT(a^2 + b^2) Find the square root of the sum
of the squares of two
variables !
x := sqrt(a^2 + b^2);.

Command NCI In- Versions Command GST In- Description

terpreter terpreter
@620 [} 153] @620 Rn !var := var+1; Increment variable.
@621 @621 Rn !var := var-1; Decrement variable.
@622 @622 Rn Find integer part of a variable.

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Command NCI In- Versions Command GST In- Description

terpreter terpreter
@630 [} 115] @630 Rn Rm SIN [} 56] Find the sine of a variable.
@630 [} 115] @630 Rn Rm gSin [} 77] Find the sine of a variable.
@631 [} 115] @631 Rn Rm COS [} 56] Find the cosine of a variable.
@631 [} 115] @631 Rn Rm gCos [} 77] Find the cosine of a variable.
@632 [} 115] @632 Rn Rm TAN [} 56] Find the tangent of a variable.
@632 [} 115] @632 Rn Rm gTan [} 77] Find the tangent of a variable.
@633 [} 115] @633 Rn Rm Find the cotangent of a
variable.
@634 [} 115] @634 Rn Rm ASIN [} 57] Find the arc sine of a variable.
@634 [} 115] @634 Rn Rm gASin [} 78] Find the arc sine of a variable.
@635 [} 115] @635 Rn Rm ACOS [} 57] Find the arc cosine of a
variable.
@635 [} 115] @635 Rn Rm gACos [} 78] Find the arc cosine of a
variable.
@636 [} 115] @636 Rn Rm gATan [} 78] Find the arc tangent of a
variable.
gATan2 [} 78] Returns the arc tangent of y/x.

Command NCI In- Versions Command GST In- Description

terpreter terpreter
@714 [} 150] @714 sync [} 71] Decoder stop.
@716 [} 150] @716 A combination Decoder stop with rescan of the
of sync axis positions.
[} 71] and queryAxes
[} 72] replaces the
former @716-
command.
@717 [} 150] @717 wait [} 71] Decoder stop with external
trigger event.

Command NCI In- Command GST In- Description

terpreter terpreter
LN [} 56] Returns the natural logarithm of x.
LOG [} 56] Returns the decimal logarithm of x.
EXP [} 56] Returns e raised to the power of x.
ADD [} 57] Returns the sum of all parameters.
MUL [} 57] Returns the product of all parameters.
SUB [} 58] Returns the difference x-y.
DIV [} 58] Returns the quotient x/y.
MOD [} 58] Returns the remainder of the integer division x/y.
EXPT [} 58] Returns x raised to the power of y.

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Command NCI In- Command GST In- Description

terpreter terpreter
GT [} 61] Returns TRUE if x is larger than y.
GE [} 61] Returns TRUE if x is not smaller than y.
EQ [} 61] Returns TRUE if x and y are equal.
LE [} 62] Returns TRUE if x is not larger than y.
LT [} 62] Returns TRUE if x is smaller than y.
NE [} 62] Returns TRUE if x and y are not equal.

Command NCI In- Command GST In- Description

terpreter terpreter
Type Conversion Explicit conversion between the given native types.
(*_TO_*) [} 55],
Type Conversion
(*_TO_*) [} 55]

Logical Operations

Command NCI In- Command GST In- Description

terpreter terpreter
AND [} 60] Returns the bitwise Logical And of all parameters.
OR [} 60] Returns the bitwise Logical Or of all parameters.
XOR [} 60] Returns the bitwise Logical Exclusive Or of all parameters.
NOT [} 60] Returns the bitwise complement of x.

Min, Max and Limit

Command NCI In- Command GST In- Description

terpreter terpreter
MAX [} 61] Returns the maximum of all parameters.
MIN [} 61] Returns the minimum of all parameters.
LIMIT [} 61] Returns in if it lies in the interval [min,max]. Otherwise, the
violated bound (min or max) is returned.

Rotation

Command NCI In- Command GST In- Description

terpreter terpreter
ROL [} 59] Returns the bitstring x rotated left by y bits.
ROR [} 59] Returns the bitstring x rotated right by y bits.

Selection (Conditional Expressions)

Command NCI In- Command GST In- Description

terpreter terpreter
SEL [} 60] Returns x1 if cond is FALSE, and x2 otherwise.
MUX [} 60] Returns x<select>.

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Shift

Command NCI In- Command GST In- Description

terpreter terpreter
SHL [} 59] Returns the bitstring x shifted left by y bits.
SHR [} 59] Returns the bitstring x shifted right by y bits.

Units

Command NCI In- Command GST In- Description

terpreter terpreter
unitAngleSet [} 76] Set the unit for angles to unitAngle.
UnitAngle [} 76] Enumeration of unit angles.
unitLengthSet [} 76] Set the unit for lengths to unitLength.
UnitLength [} 77] Enumeration of unit lengths.
unitTimeSet [} 77] Set the unit for time to unitTime.
UnitTime [} 77] Enumeration of unit times.
unitVelocitySet Set the unit for velocity to unitLength/unitTime.
[} 77]

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4 Interpreter (DIN 66025/G-Code)

4.1 Basic Principles of NC Programming

4.1.1 Structure of an NC Program

An NC program is a text that is normally stored as a sequence of ASCII codes in a file on the hard disk. It
consists of a sequence of NC blocks separated by line breaks (Return). Usually it is executed by being
interpreted and worked through, character by character and line by line.

Program structure

The NC program is thus composed of three parts

• Program start (optional)
• Number of blocks
• Program end

Program start

At the beginning of an NC program the character "%" can represent the start of the program. The name of
the program is then found following this character. The block for the program start does not necessarily have
to be programmed.

Sample:
% Test1 (program start)
N10 G0 X100 Y100 Z0
M30 (program end)

NC block

Each NC block consists of one or several NC words, or even of none (an empty line), separated by spaces
or tab characters. It is therefore not possible to use a space within a word.

Sample:
N10 G0 X100 Y100 Z0

NC word

The first character of an NC word specifies its meaning. It is either a letter or a special character.

Upper/lower case has, in general, no significance. Uniform use of upper case is, however, recommended for
the sake of better readability. The optional following characters specify the meaning more precisely, or
supply parameters for the execution.

In order to manage with such a limited supply of characters, an expression is not available for every variation
of every function. It is rather the case that the significance and effect of many NC words is determined partly
by the context. This can be a matter of the foregoing words in the block, but it can also depend on previous
NC blocks. In a few cases the effect of NC words even depends on the machine data.

Program end

The end of the program is indicated by an M-function. Either M2 or M30 is used for this.

Effective Duration of Words

Commands such as G0 [} 118] or G17 [} 111], that have effects beyond the end of the block, are known,
according to DIN 66025, as modal. These commands are effective as long as they are neither cancelled nor
altered by another command.

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Comments

If either parts of an NC block, or the whole of it, is not to be interpreted, the region concerned is to be placed
within curved brackets.

Sample:
N10 G0 X100 (comment)

NOTE! A comment ends with the closing bracket, or, at the latest, at the end of the block. This
means that a comment can’t continue over a number of lines. Nested comments are also not possible.

Block numbers

Each block can be identified by a block number. The block number is accompanied by "N" for subordinate
blocks and ":" for main blocks.

NOTE! The block number is not essential. A block not identified by a block number can not,
however, be used as the target of a jump command. An error message, moreover, can only
approximately report the location of the error (the last block number).

4.1.2 Block Skipping

It is often useful if not all blocks of a program are always executed. This makes it possible to implement
similar processes with a single program.

In such cases, the blocks that belong to one variant are given a block skipping identifier. This must be written
at the start of the block, and consists of a slash "/".

If several variants are required, the slash is extended with line information (0..15), for instance "/12". The line
information (where "/" is equivalent to "/0") selects a bit from a word in the channel interface from the PLC to
the NC. If this bit is set, the block is not interpreted.

In the NC the variable 'mSkipLine' is evaluated for this purpose, which can be found among the inputs in the
cyclic channel interface. The counterpart in the PLC can be found in the outputs under 'nSkipLine' [} 306]
(previously: nSkipBlock) (see TwinCAT PLC library: NCI Interpreter).

If one of a number of variants is to be active, all the other suppressions must be set. Then only those blocks
remain active that have either no identifier, or that have the desired identifier.

Active time of block skipping

The interpreter works an indeterminate number of blocks in advance of the execution.
Block skipping can only operate correctly if it is set early enough (perhaps before the pro-
Note gram starts), or if the interpreter is synchronized with the execution at a suitable location in
the program (decoder stop [} 150]).

4.1.3 Look-Ahead
The actual velocity at the segment transition depends on a range of parameters. These include residual path
length, dynamic parameters for the current segment, and (indirectly) the geometric angle at the segment
transition.

Dynamic look-ahead (referred to as look-ahead below) ensures that the velocity can remain as high as
possible at segment transitions. In the standard configuration 128 geometry entries are considered.

Without look-ahead the velocity is reduced to 0 at each segment transition (G60).

The number of geometry entries taken into account can be set in the DXD parameters [} 25].

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Segments with different target velocity

If the target velocity changes from a high velocity level to a lower level (N10 -> N20), the lower velocity will
already have been reached at the start of the segment.

If the target velocity changes from a low velocity level to a higher level (N20 -> N30), the higher velocity is
initiated with the segment transition. The system therefore always ensures that even at the segment
boundary the current velocity does not exceed the programmed velocity.

green: Path velocity

blue: Position
orange: Block numbers
N10 G01 X600 F30000
N20 G01 X700 F15000
N30 G01 X900 F30000
M30

green: Path velocity

blue: Position
orange: Block numbers

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N40 G01 X200 F15000

N50 G01 X800 F30000
N60 G01 X900 F15000
M30

4.1.4 Smoothing of Segment Transitions

Overview

Segment transitions with no continuous second differential cause instability in the dynamics unless the path
velocity is reduced to 0 at those points. For dynamically stable segment transition at a finite speed it is
possible to smooth segment transitions with Bezier splines which alter the local geometry and ensure that
the complete path has a continuous second differential.

Tolerance spheres

A tolerance sphere is laid around every segment transition within which the path may deviate from its pre-set
geometry for smoothing purposes. The radius of the tolerance sphere (parameterization [} 301]) is
predetermined by the user and applied modally for all segment transitions that imply no exact positioning or
stop in the segment transitions. The radii of the tolerance spheres are automatically reset adaptively, thus
preventing tolerance spheres from overlapping in the case of small segments.

Dynamic parameters

The smoothing enables faster dynamics. The system-determined maximum segment transition velocity
VeloLink can be influenced by the user insofar as the system parameter C2 velocity reduction C2
(parameterization [} 301]) sets the segment transition velocity to C2x VeloLink. The factor can be changed
online.

General characteristics at segment transitions

When entering the tolerance sphere, the path acceleration is 0 and the path velocity equals the segment
transition velocity. This is maintained within the tolerance sphere. The override is inactive within the
tolerance sphere, i.e. the change of the velocity level caused by the override is interrupted within the
tolerance sphere and continues after the exit from the tolerance sphere.

4.1.5 Co-ordinate System

The names of the axes of a machine tool are specified by DIN 66217. The letters X, Y and Z are allocated to
the axes. These create a right-handed right-angle (Cartesian) coordinate system. In many machines, not all
three axes are present at every location. In these cases individual letters are allocated in some meaningful
way, and the axes that are not present are ignored.

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4.1.6 Dimensional Notation

Dimensional data can optionally be referred to an absolute origin or to the current set value.

Absolute dimensions

Command G90
Cancellation G91

All positional data in absolute dimensions are always given with reference to the currently valid origin.

In terms of tool movement, this means that, under absolute dimensioning, it is the position to which the tool
should move that is described.

Incremental Dimensions

Command G91
Cancellation G90

When dimensions are incremental, positional data is related to the immediately preceding point. In addition
to the path axes, the auxiliary axes (Q1..Q5) are also taken into account.

For the tool movement this means that the incremental dimension describes by how much the tool is moved.

Units

The units for length, angle etc. are described in the following table:

Unit
Positions and lengths mm
Angle degree
Times sec
Feed mm/min

4.1.7 Working Plane and Feed Direction

In order to describe circles (except CIP [} 119]), and for the compensation of cutter radius [} 167] and tool
length [} 164], it is necessary to specify the working plane.

Working Plane XY

Command G17
Cancellation G18 or G19

The function G17 specifies the XY plane as the working plane and the feed direction as the Z direction.

The function acts as:

• Plane for tool radius compensation [} 167]
• Feed direction for tool length compensation [} 164] (offset)
• Plane for circle interpolation

Changing the working plane

The working plane cannot be changed while tool compensation is active.

Note

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Working Plane ZX

Command G18
Cancellation G17 or G19

The function G18 specifies the ZX plane as the working plane and the feed direction as the Y direction.

Working Plane YZ

Command G19
Cancellation G17 or G18

The function G19 specifies the YZ plane as the working plane and the feed direction as the X direction.

Specification of the feed direction

Command P
Parameter + feed direction positive (default)
- feed direction negative

Parameterization of the feed direction is required for tool length compensation. It is used to specify whether
the tool operates above or below the workpiece.

Sample:
N10 G0 X0 Y0 Z0 F6000
N20 D2 P- Z
N30 G01 X100
N40 D0 Z
N50 M30

In this sample the length compensation operates below the workpiece.

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4.1.8 Inch/metric dimensions

G70 Dimensions in inches
G71 Dimensions in millimeters (default)
G700 Dimensions in inches with calculation of the feed
G710 Dimensions in millimeters with calculation of the feed

Dimensions in millimeters (G71) is active by default. Information on whether the coordinates have to be
converted is stored in the machine parameters [} 11] (Interpreter tab). The basic dimension system in
millimeters is also set there by default.

The effects of the changeover

If the basic dimension system is not the same as the current dimension system (set with G70 or G71), then
certain parameters and co-ordinates must be converted. The conversion factor required here is stored in the
machine parameters, like the basic dimension system. The changeover has effects on the following
parameters:
• Path information for the path axes (X, Y & Z)
• Path information for the auxiliary axes (Q1..Q5)
• Intermediate point co-ordinates (I, J, K)
• Circle radii (B or U)
• Programmable zero shift
• Rounding radius (circle and spline smoothing)

There are also parameters that always remain in the basic dimension system, and are not converted.
These include the
• adjustable zero shift
• Tool data
• feeds (except under G700 or G710)

Sample 1:

Basic dimension system: inch

...
N10 G71 (metric dimensions)
N20 G01 X100 (conversion is carried out)
N30 G70 (dimensions in inches)
N40 G01 Y100 (conversion is not necessary, because)
.... (the basic dimensions are also inches)

Sample 2:

Basic dimension system: millimeters

...
N10 G71 (metric dimensions)
N20 G01 X100 (conversion is not necessary, because)
(the basic dimensions are also metric)
N30 G70 (dimensions in inches)
N40 G01 Y100 (conversion is carried out)

Zero shifts (NPV)

Adjustable zero shifts (G54-G57) always remain in the basic dimension system, and are not converted. In
the case of the programmable zero shifts (G58 & G59) the effect depends on the current dimension system
when the shift is selected.

Sample 3:

Basic dimension system: millimeters

...
N10 G71 (mm - default)
N20 G54 (activates adjustable zero offset shift)

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N30 G58 X100 (programmable zero offset shift)

N40 G01 X0 F6000 (the axis travels to 100 in the machine co-ordinate system)
N50 G70 (inch)
N60 G01 X0 (zero offset shift is programmed under G71 => zero offset shift remains unchanged)
(i.e. the axis does not move)
N70 G58 X100 (new programmable zero offset shift - now in inches)
N80 G01 X0 (axis moves out by zero offset shift - to 2540 in the machine co-ordinate system)

4.1.9 Single Block Operation

To test a new NC program, the NCI can be switched to single block mode with the function block
ItpSingleBlock [} 226]. When single block mode is active, the NC program is stopped after each line. The
user has to acknowledge execution of the next line. This can be done by pressing 'NC start (F5)' in the XAE
under the Editor tab or by setting the input 'bTriggerNext' in the PLC function block ItpSingleBlock [} 226].

A distinction is made between two modes:

• Interpreter single block mode
• NC kernel single block mode

Interpreter single block mode

If interpreter single block mode is active, the NC program is stopped after each line in the interpreter. This
remains true even if the line only contains calculations, and no physical movement is programmed.
This enables re-writing of R-parameters, for example.

Interpreter single block mode should be activated before the NC program is started. If this is not possible, an
M-function can be reserved for the activation and combined with a decoder stop.
If interpreter single block mode is activated during processing of the NC program without M-function and
decoder stop, it is impossible to predict when it will be active. Theoretically it is possible that the memories in
the NC kernel (SVB & SAF) are filled and contain more than 100 geometry entries. The single block can only
take effect once these memories have been fully processed.

NC kernel single block mode

Like in interpreter single block mode, in NC kernel single block mode the NC blocks are executed
individually. The difference is that in NC kernel single block mode all entries (e.g. geometry entries) have
already passed through the interpreter. It is therefore not possible to overwrite R-parameters retrospectively,
for example.

This operating mode has the advantage that single block mode can be enabled during processing of the NC
program. If a geometry entry is executed (i.e. the axes are moved) during the activation, the system stops at
the next possible end of segment. This is usually the current segment. For activation after program startup
no M-function with decoder stop is required.

If NC kernel single block mode is used in conjunction with blending, block relaying takes place in the
blending sphere. The programmed blending continues to be executed (from TwinCAT V2.10 Build 1301).

Alternatives to activation

We recommend activating single block mode with ItpSingleBlock [} 226].

For reasons of compatibility with previous TwinCAT versions, single block mode can be activated via the
cyclic channel interface.

Single block mode can be selected or deselected in the cyclic channel interface of the PLC. To this end the
variable 'nItpMode' has to be masked correctly in the PLC/NC channel interface.

Set bit 14 (0x4000) to switch on interpreter single block mode. Resetting the bit turns single block mode off
again.

It is also possible to trigger the single block from the PLC by means of this interface. Bit 15 must be set for
this. The effect is the same as activating NC start in the XAE.

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4.1.10 Arithmetic Parameters

The arithmetic parameters (known as R-parameters for short) are interpreter variables that are named by an
expression of the form "R<n>". Since 'n' is an integer in the range 0..999, a total of 1000 R-parameters are
available. Of these, the first 900 values (R0..R899) are local variables for the NC channel. They can only be
accessed by the channel’s interpreter. The R-parameters R900..R999 are declared globally. They exist only
once for each NC, and all channels access the same storage. This makes it possible to exchange data (e.g.
for part tracing, collision avoidance etc.) over the channel boundaries.

Mathematical Calculations

The R-parameters (like the axis co-ordinates, feedrates etc.) are declared as variables of type 'double'. This
makes full use of the computer’s arithmetic capacity. The number of places before and after the decimal
point is not restricted by a format specification. The arithmetical resolution does, nevertheless, have a limit.
In practice this is only visible in particularly critical cases. Examples of this include the differences of very
large numbers that are almost equal, or trigonometrical functions in particular ranges of angles.

Assignment of R-Parameters
N100 R5=17.5
N110 R6=-4
N120 R7=2.5 R8=1

As can be seen in the third line, it is quite possible to make more than one assignment in one block. This
speeds interpretation slightly, but it can be more difficult to localize an error in the line.

Calculation formula

A calculation formula is an extension of assignment. It consists of a target parameter, an assignment sign

and a series of values (R-parameters and constants) separated by arithmetical instructions.
N100 R1=R2+R3-17.5*R9/2.5

Such a formula, contrary to normal mathematical practice, is processed strictly from left to right.

The illustrated formula is calculated as follows:

1. The contents of R2 is loaded into the arithmetic unit

2. The contents of R3 is loaded into the arithmetic unit
3. The arithmetic unit carries out the + instruction
4. The value 17.5 is loaded into the arithmetic unit
5. The arithmetic unit carries out the - instruction
6. The contents of R9 is loaded into the arithmetic unit
7. The arithmetic unit carries out the * instruction
8. The value 2.5 is loaded into the arithmetic unit
9. The arithmetic unit carries out the / instruction
10. The content of the arithmetic unit is stored in R-parameter R1

Mathematical functions

The interpreter provides standard computing functions. DIN 66025 does not specify any syntax here. The
computing functions are called via @6xx (see appendix - @-command overview [} 178]).

The trigonometrical functions are always calculated in degrees.

Sample:
N10 R2=0 R3=45
N20 @630 R2 R3

In this sample the sine of R3 is calculated in degrees. The result is then written into R2.

R-parameter access from the PLC

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You can read the R-parameters into the PLC, or write the R-parameters from the PLC. Special PLC function
blocks are provided for this purpose
• ItpReadRParams [} 258]
• ItpWriteRParams [} 270]

During writing of the R-parameters, ensure that the interpreter is ahead of the block execution. In other
words, writing of the R-parameters from the PLC should take place before the NC program starts or be linked
to a decoder stop [} 150].

For debugging purposes, all R-parameters can be written to a file at any time. This process can be triggered
via ADS (see ADS interface - channel functions IndexOffset 0x24 & 0x25 [} 382]).

Other functions

RToDwordGetBit

This function converts an R-parameter to a DWord and then checks whether a particular bit is set. The result
is again stored in an R-parameter.

Command RToDwordGetBit[<dest>; <src>; <bit> ]

Parameter <dest> R-parameter in which the result is entered
Parameter <src> R-parameter containing the number that is to be
converted and checked
Parameter <bit> Bit to be checked (0..31)

Sample:
N10 R1=7
N20 RToDwordGetBit[R2;R1;0]
R10=31
N30 RToDwordGetBit[R3;R1;R10]

Enter 1 in R2 and 0 in R3.

Initialization of R-parameters

'set RParam' is used to assign a value to a contiguous block of R-parameters.

Command #set RParam(<start index>; <count>; <value> )#

Parameter <start index> Describes the first R-parameter to be written
Parameter <count> Number of R-parameters to be written
Parameter <value> Assigned value

Sample:
N10 G01 X100 Y200 F6000
N15 R2=3000
N20 #set RParam( 1; 2; 0.0 )# (R2 is overwritten again here)
N30 G01 X500

Saving R-Parameters

If the content of R-parameters [} 115] is required for subsequent use, while in the meantime the R-
parameters are used for a different purpose, it can temporarily be stored in the values stack of the arithmetic
unit.

Two possibilities exist for this:

• enumeration of the R-parameters
• giving the range of R-parameters

Saving the values:

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Command @40 <number> R<n> R<m>...

@41 <1st R-parameter> <last R-parameter>

Restoring the values:

Command @42 <number> R<n> R<m>

@43 <last R-parameter> <1st R-parameter>

When restoring the values, call the parameters in reverse order.

Sample 1:
(saving the data)
N100 @40 K4 R800 R810 R823 R4

N110 R800=4711
N120 ...

(restoring the data)

N200 @42 K4 R4 R823 R810 R800

Sample 2:
(saving the data)
N100 @41 R800 R805

N110 R800=4711
N120 ...

(restoring the data)

N200 @43 R805 R800

Stack size
The value stack of the arithmetic unit has limited capacity. If it overflows, the NC program is
interrupted with an error message. That can occur as the value is saved, but can also occur
Note in the course of subsequent formula evaluation.

4.2 Programming Movement Statements

4.2.1 Referencing
By default, axis referencing (homing) should take place before the 3D-group is formed from the PTP
channel. Or it can be done from the NC program.

If axes are referenced in PTP mode, it can be done for several axes simultaneously. If axes are referenced
from the NC program, it can only be done for one axis at a time.

Command G74
Cancellation End of block

Sample:
N10 G74 X
N20 G74 Y

Referencing with own block

Referencing must be carried out within its own block. G74 may only refer to one axis. This
command is only applicable for the main axes (X,Y,Z).
Note

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4.2.2 Rapid Traverse

Command G0
Cancellation G1 [} 119], G2 [} 119] or G3 [} 119]

Rapid traverse is used to position the tool quickly, and is not to be used for machining the workpiece. The
axes are moved with maximum velocity.

If a number of axes are to be driven in rapid traverse, the velocity is determined by that axis that requires the
most time for its movement.

An accurate stop (G60 [} 123]) is cancelled with G0.

The rapid traverse velocity is set individually for each axis. This can be edited in the axis parameters in the
XAE under NCI parameters.

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4.2.3 Linear Interpolation

Command G1 or G01 (default)
Cancellation G0 [} 118], G2 [} 119] or G3 [} 119]

Under linear interpolation the tool moves, with feedrate F, along a straight line that can be freely located in
space. The movement of the axes involved is completed at the same moment.

The feedrate (short: feed), F, describes the rate of displacement in millimeters per minute. This value is
effective globally, so that it is not necessary to program it again if the same feed is to be used later for other
geometrical movements.

Sample:
N10 G90
N20 G01 X100.1 Y200 F6000

In this example the axes are moved linearly to the position described. The Z axis is not mentioned in this
program, and therefore retains its old position.

4.2.4 Circular Interpolation

Circular arcs can be programmed in a number of ways. Two types must be distinguished. One of these is an
arc in the working plane [} 111] (e.g. the XY plane), and the other is an arc that can be freely located in
space (a CIP circle).

Clockwise circular interpolation

Command G2 or G02
Cancellation G0 [} 118], G1 [} 119] or G3 [} 120]

Function G2 describes the path of a circular arc clockwise. This function requires the working plane [} 111]
to have already been defined (G17 [} 111] by default).

In order to describe the circle unambiguously, further parameters are required in addition to the end point. A
choice is available between center point programming and radius programming.

Radius programming

In radius programming the radius of the circle is programmed as well as the end point. Either of the letters 'B'
or 'U' may be used for the radius.

Since the direction is prescribed with G2, the circle is also unambiguously described. The starting point is
determined by the foregoing geometrical movements.

Sample 1:
N10 G01 G17 X100 Y100 F6000
N20 G02 X200 B200

Angle programming for angles >180°

If an angle of more than 180° is to be traversed, the radius must be stated negatively.

Note

Full circle programming

The start and the end points must be different, so that the center can be calculated. Radius
programming can therefore not be used for programming a full circle. Centre point pro-
Note gramming can be used for this purpose.

Centre point programming

Centre point programming represents an alternative to the method that has just been described. The
advantage of center point programming is that full circles can also be described in this way.

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Under the standard settings, the center point is always given relatively to the starting point of the arc. The
parameters I, J and K are used for this purpose. With
• I for the X-component
• J for the Y-component and
• K for the Z-component.

At least one of these parameters is 0 and therefore does not have to be included in the program.

Sample 2:
N10 G01 G17 X100 Y100 F6000
N20 G02 I50 J0 (J is optional) X200
N30 M30 (program end)

Sample 3:
N10 G01 G18 X100 Y100 Z100 F6000
N20 G02 I0 K50 X150 Z150 (quarter circle in ZX plane)
N30 M30

By programming an item of machine data it is however also possible to enter the center point absolutely. The
command @402 is required for write access to a machine data bit.

In the following example, the circle from the first example is programmed using the absolute circle center.

Sample 4:
N10 G01 G17 X100 Y100 F6000
N20 @402 K5003 K5 K1 (centre point programming on)
N30 G02 I150 J100 X200
N40 @402 K5003 K5 K0 (centre point programming off)
N50 M30

Anticlockwise Circular Interpolation

Command G3 or G03
Cancellation G0 [} 118], G1 [} 119] or G2 [} 119]

The function G3 describes a circular arc anticlockwise. The parameters and entry possibilities are the same
as under G2.

Circular accuracy

Command #set paramRadiusPrec(<param>)#

Parameter param: Maximum permitted radius tolerance
0.001 < param < 1.0 (default 0.1)

The 'set paramRadiusPrec' function is used to parameterize the required circular accuracy. This parameter
affects circles programmed with G02 or G03.

With center point programming, an error is generated if the difference in radius length is greater than
<param>.

Centre point correction

Command CPCON (standard setting)

Cancellation CPCOF

In center point programming the circle is overdetermined. For data consistency, the center point is usually
corrected. Normally only a marginal modification of the center point is required. After the center point
correction, the magnitude of the input radius equals the output radius.

It the start and end point are very close together, the center point offset may be large. This may lead to
problems with automatically generated G-Code (postprocessor). For manually written G-Code, the CPCON
setting (center point correction on) is recommended.

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CIP circle

Command CIP
Cancellation End of block

The circles discussed so far can only be used in the principal planes. The CIP circle can also be used to
program a circle anywhere in space. For this purpose it is necessary to program not only an end point but
also some other point on the path.

So that the circle can be described unambiguously, it is necessary that the three points (the starting point is
given implicitly) must not be collinear. It is thus not possible to program a full circle in this way.

I, J and K are available as path point parameters. By default their values are relative to the starting point of a
circular path.

Sample 5:
N10 G01 X100 Y100 F6000
N20 CIP X200 Y200 I50 J50 K50

NOTE! For the CIP circle motion, cutter radius compensation [} 167] must not be active.

4.2.5 Helix
If a circular motion is superimposed onto a perpendicular linear movement, a helix is obtained. A helix can
only be programmed in the principal planes. The same parameters as are used for a circle in the principal
plane are used. At the same time the axis that is perpendicular to the plane is driven.

The helix can be used together with the cutter radius compensation [} 167].

Sample:
N10 G01 G17 X100 Y0 Z0 F6000
N20 G03 I-50 Z100
M30

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4.2.6 Dwell Time

Command G4 or G04
Cancellation End of block
Parameter F or X

G4 is used to switch on a dwell time. It is used to interrupt workpiece machining between two NC blocks for a
programmed time (in seconds).

Sample:
N10 G01 X100 F6000
N20 G04 X0.5 (pause in sec)
N30 G02 X300
...

NOTE! The dwell time must be programmed in a dedicated set, and the parameters (X or F) must be
programmed after G04.

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4.2.7 Accurate Stop

block-by-block

Command G9 or G09
Cancellation End of block

The accurate stop instruction is used, for example, when sharp contour corners must be manufactured. At
the contour transition the set path velocity is reduced to zero and then increased again. This ensures that the
programmed position is approached precisely.

NOTE! G09 acts only on the set value side. The actual values can be checked with TPM (target
position monitoring), for example.

modal

Command G60
Cancellation G0 [} 118]

Description:

see above

see also target position monitoring [} 126] (TPM)

4.2.8 Feed interpolation

Constant feed interpolation

Command FCONST (standard setting)

Cancellation FLIN

The programmed velocity is applied as fast as possible with the constant feed interpolation (default).

Sample 1:
N05 FCONST
N10 G01 X1000 F50000
N20 G01 X2500 F80000
N30 G01 X3500 F60000
...

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Linear feed interpolation

Command FLIN
Cancellation FCONST

The linear feed interpolation transfers the velocity linearly over the path from v_start to v_end.

Sample 1:
N05 FCONST
N10 G01 X1000 F50000
N15 FLIN
N20 G01 X2500 F80000
N30 G01 X3500 F60000
...

NOTE! If the velocity on the segment transition has to be reduced more drastically than the
programmed segment velocity, due to the geometry or M function for example, then the linear
velocity is maintained as long as possible. The reduced segment velocity will delayed, only if required
dynamically.

4.2.9 Zero Offset Shifts

A range of zero offset shifts are available in TwinCAT NC I. They describe the distance between the origins
of the workpiece and of the machine.

Zero shift suppression

Command G53
Cancellation G54 [} 124] to G59 [} 125]

The zero shift is suppressed modally with G53. The suppression affects both the adjustable and the
programmable zero shift.

Adjustable zero shift

Command G54
G55
G56
G57
Cancellation G53 [} 124]
or selection of another configurable zero shift

The commands G54 to G57 can be used within the NC program to switch back and forth between the zero
shifts.

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Parameterization

The configurable zero shift can be parameterized in different ways

1. PLC function block ItpWriteZeroShiftEx [} 231] (recommended standard)

2. XAE Interpreter element [} 11]
3. from the DIN-program

The parameters are saved for each interpolation channel. This means that the adjustable zero shifts are
channel dependent.

NOTE! The selection of a zero shift must be made in its own block. In order for the movement
corresponding to the shift to be actually made it is necessary that at least the axes involved are named
in a following geometrical block.

Sample 1:
N10 G01 X100 Y0 Z0 F6000
N20 G54 (activates adjustable zero offset shift (NPV))
N30 G01 X Y Z
N40 M30

In sample 1 all involved axes are named in line 30. The effect of this is that the zero shifts are applied to all
the axes.

Sample 2:
N10 G01 X100 Y0 Z0 F6000
N20 G54 (activates adjustable zero offset shift (NPV))
N30 G01 X200 Y

In line 30 of sample 2 the X axis is taken to position 200 + shift in the X direction. The Y axis only moves to
accommodate the shift, and the Z axis is not moved.

Parameterization from the DIN program

Command #set paramZeroShift( G<n>; <value x>; <value y>;

<value z> )#
Parameter G<n> Zero shift to be parameterized (G54..G59)
Parameter <value> Coordinates of the zero shift

'#set paramZeroShift(..)#' parameterizes the zero shift but does not activate it. This requires explicit
programming of the G-Code.

Sample 3:
N10 G01 X100 Y0 Z0 F6000
N20 R12=200
N30 #set paramZeroShift( G54; 100.0; R12; -20)#
N40 G54 (activates adjustable zero offset shift (NPV))
N50 G01 X200 Y Z

Programmable zero shift

Command G58 or G59

Cancellation G53 [} 124]

Programmable zero shifts exist in addition to the adjustable ones. This type of zero shift is directly described
from the NC program.

Addition of zero shifts

The programmable zero shift is only effective when the adjustable zero shift is active. This
means that the total shift is the sum of
Note
• set zero shift (G54, G55, G56 or G57)
• first programmable zero shift (G58)
• second programmable zero shift (G59)

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Sample 4:
N10 G01 X100 Y0 Z0 F6000
N20 G54 (activates adjustable zero offset shift (NPV))
N30 G58 X0.5 Y0.5 Z0.5 (1st prg. zero offset shift)
N50 X Y Z (movements for the zero offset shift)
...
M30

Behavior with incremental dimension notation

Default behavior

Changing the origin also affects the incremental dimension.

Sample 5:
N10 G01 X100 Y0 Z0 F6000
N20 G54 (activates adjustable zero offset shift (NPV))
N25 G58 X10 Y10 Z0
N30 G91 (Incr. dimensions)
N40 G01 X200 Y0
N50 ...

In N40 Y moves to 10 in the basic coordinate system. A shift in origin also shifts the point of reference for
incremental dimension programming, resulting in a travel path for Y.

In this way a contour, which is fully programmed based on the incremental dimension, can be positioned at
any point through a zero shift.

The behavior of G91 is parameterizable.

Command Description
ZeroShiftIncOn The zero shifts are also applied under G91 once the
axis is named
ZeroShiftIncOff The zero shift is not applied under G91

Sample 6:
N10 G01 X100 Y0 Z0 F6000
N15 ZeroShiftIncOff
N20 G54 (activates adjustable zero offset shift (NPV))
N25 G58 X10 Y10 Z0
N30 G91 (Incr. dimensions)
N40 G01 X200 Y
N50 ...

Since 'ZeroShiftIncOff' is set in sample 6 , the X-axis in N40 is moved by 200 mm independently of the new
zero shift. The Y-axis does not move as no target coordinate is programmed for it.

See also ToolOffsetIncOn/Off [} 164]

4.2.10 Target Position Monitoring

Command TPM
Cancellation End of block

The command 'TPM' is used to trigger target position monitoring from the NC program. At the end of the
geometry this always leads to an accurate stop on the set value side and subsequent checking of the target
position window. Block relaying takes place when the monitoring conditions are met for all axes in the group.

Like for PTP, this function is enabled and parameterized individually for each axis. This means that different
limits can be selected for auxiliary axes than for the path axes, for example.

Sample 1:
N10 G01 X100 Y100 F6000
N20 G01 X300 Y100 TPM
...

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At the end of the motion of N20, target position monitoring is performed both for the X axis and for Y axis
(provided target position monitoring is enabled for both axes).

Sample 2:
N10 G01 X100 Y100 F6000
N20 G01 X300 Y100
N30 M61 (Type Handshake)
N40 TPM
...

TPM can also be programmed in a dedicated block. In this case the last positioning is checked (of N20 in
this case).

NOTE! If target position monitoring is enabled for an axis, the target position alarm (PEH) should
also be active. Time monitoring results in a channel error after the timeout (or before), if the axis is
not yet in the target position window. In order to avoid unnecessary channel errors, a sufficiently
large timeout value should be selected (e.g. 5 - 10 s). If no PEH time monitoring is active and the axis

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is permanently outside the position window, no block relaying takes place and the NC remains
stationary when viewed from outside. The SAF is in Waiting state (not to be confused with Interpreter
state).

See also accurate stop [} 123] (G09).

4.2.11 Contour definitions

Angle and segment length

In this type of programming the angle and the magnitude (segment length) are always quoted, similarly to
polar co-ordinates.

Parameter Description
ANG Angle in degrees with reference to the abscissa
( -360 ≤ ang ≤ 360 )
SEG Magnitude of the segment length

Sample 1:

N10 G01 ANG=45 SEG=424.264 F60000

N20 G01 ANG=0 SEG=400
N30 G01 ANG=-45 SEG=282.843

or
N10 G01 ANG=45 SEG=424.264 F60000
N20 G01 X700 Y300
N30 G01 ANG=-45 SEG=282.843

Restrictions:
• The programming may only be done in the chosen principal plane.
• The length of the segment must be greater than zero, and refers to the projection in the principal plane.

NOTE! It is additionally possible to program rounding or chamfering. The ANG and SEG parameters
must be programmed in every block. The assignment may use R-parameters, but formulas cannot be
programmed.

Angle and one component in the plane

As above, an angle is programmed, but the length of the segment is no longer specified directly. It is
calculated from a component in the selected principal plane.

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Sample 2:

N10 G01 ANG=45 X300

N20 G01 ANG=0 Z700

R10=100
N30 G01 ANG=315
X=R10

Runtime error
If either two components in the plane are quoted or none at all, the result is a runtime error.
A runtime error is also generated if the movement is parallel to the abscissa or to the ordi-
Note nate, and there is therefore no intersection.

4.2.12 Rotation
It is also possible to program a rotation as well as the zero shift [} 124]. A distinction is drawn between
absolute and additive rotation.

The rotation can turn the co-ordinate axes (X, Y and Z) in the workpiece coordinate system.

This makes it possible to machine inclined surfaces (in the plane or in space).

Absolute Rotation

Command ROT X<value(x)> Y<value(y)> Z<value(z)>

Cancellation ROT (without parameters)

The rotation instructions must be programmed in their own block. Angles must always be stated in degrees.

Direction of Rotation

A positive angle describes rotation in the direction of the positive co-ordinate axis, the rotation being anti-
clockwise.

Carrying Out the Rotation

The sequence of rotations is of critical importance when a coordinate system is being rotated. In TwinCAT
NC I rotations are always carried out in the following sequence around the global coordinate system:

1. Rotation around the Z-axis,

2. Rotation around the Y-axis,
3. Rotation around the X-axis.

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This sequence is maintained even if the parameters are programmed in a different order.

The origin of the tool coordinate system is always used as the center point of the rotation. This means that
the total zero offset shift currently active describes the rotation center.

Additive Rotation

In addition to absolute programming of rotation it is also possible to carry this out additively. The same
conditions apply to this as do to absolute rotation.

Command AROT X <Wert(x)> Y<Wert(y)> Z<Wert(z)>

Cancellation ROT (without parameters)

Sample:
N10 G01 G17 X0 Y0 Z0 F60000
N20 G55
N30 G58 X200 Y0
N50 L47
N60 G58 X200 Y200
N65 ROT Z30
N70 L47
N80 G58 X0 Y200
N90 AROT Z15
N100 L47
N110 M30
L47
N47000 G01 X0 Y0 Z0 (movements for zero shift & rotation)
N47010 G91 (incremental dimensions)
N47020 G01 X100
N47030 G01 Y80
N47040 G03 X-20 Y20 I-20 J0
N47050 G01 X-40
N47060 G01 Y-40
N47070 G01 X-40 Y-30
N47080 G01 Y-30
N47090 G90
N47100 M17

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In this example, the same contour is traversed under different rotations. Since the contour (L47) is
programmed in incremental dimensions, and the starting point is described by means of the programmed
zero shift, the rotation is clear to see.

Note:

Once the ROT or AROT command has been programmed, the complete path vector (X, Y & Z) must be
assigned.

Rotation extensions

In the default configuration the whole path vector must be programmed after each ROT command. Since this
is difficult to realize in some applications, this calculation can optionally be performed automatically in the
interpreter. To use this option, 'RotExOn' should be included at the start of the NC program.

Command RotExOn
Cancellation RotExOff

Sample:
N10 RotExOn
...
N100 G54 (activate zero point & point of rotation)
N110 ROT X90
N120 G0 Z3 (preposition the tool)
N130 G01 Z-10 F6000 (lower to cutting depth)
N140 G01 X100
N150 G01 Z3 (raise to preposition)
...
N1000 RotExOff
N1010 M30

Calculate rotation

Command CalcRot[ R<s>; R<t>; R<u>]

CalcInvRot[ R<s>; R<t>; R<u>]
Parameter The 3 R-parameters describe the vector to be
calculated. The calculation will write the result into
this R-parameter, and the original value will therefore
be overwritten.

The function CalcRot rotates a three-dimensional vector through the current rotation angle. The rotation
angles had been determined by ROT or AROT. The sequence of the calculation is the same as is used for
the rotation itself, that is Z, Y and X.

The CalcInvRot function behaves in precisely the opposite way. The signs of the currently valid rotation
angles are inverted, and the order of calculation is X, Y and Z. In other words, the vector is turned back, so
to speak.

Neither CalcRot nor CalcInvRot generate any geometry, but merely carry out the calculation of the vector.

Sample:
N10 G01 X40 Y10 Z0 F6000 (the axes are moved
without rotation)
N20 R1=40 R2=10 R3=0

N30 ROT Z45

(What is the position to which X, Y, must be taken so that no

movement is executed?)
N40 CalcInvRot[R1; R2; R3]
N50 G01 X=R1 Y=R2 Z=R3 (R1=35.35 R2=-21.21 R3=0)
N60 ...

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Command RotVec[ R<x>; R<y>; R<z>; R<α>; R<β>; R<γ>]

Parameter The 3 R-parameters (x..z) describe the vector to be
rotated through. The calculation will write the result
into this R-parameter, and the original value will
therefore be overwritten.
The last 3 R-parameters describe the angle.

The function RotVec rotates a three-dimensional vector through the specified angle. The order of the
rotation is Z, Y and X, like for ROT. RotVec is a calculation routine solely for rotating a vector. It has no effect
on ROT or AROT.

4.2.13 Mirror
The mirror functionality changes the sign of named axes. This enables subroutines to be reused.

Mirroring

Command Mirror <opt. X> <opt. Y> <opt. Z>

Cancellation Mirror (without parameters)

The mirror instructions must be programmed in a dedicated block. Mirrored axes must be named without
further parameters.

Sample:
N20 G54
N30 G58 X100 Y100
N40 L100

N50 G58 X-100 Y100

N60 Mirror X
N70 L100

N80 G58 X-50 Y-50

N90 Mirror X Y
N100 L100

N110 G58 X10 Y-10

N120 Mirror Y
N130 L100

N140 Mirror (turn off mirror)

N150 G0 X0 y0
M02

L100
N1000 G0 X200 Y0 Z10 F60000 (move to start pos)
N1020 G01 Z0
N1030 G03 X200 Y100 J50
N1040 G01 X50
N1050 G01 Y400
N1060 G01 X0
N1070 G01 Y0
N1080 G01 X200
N1090 G01 Z10
M17

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If a zero shift is present (G54...G59), the mirror functionality depends on the currently programmed
coordinate system.

4.2.14 Smoothing of segment transitions

4.2.14.1 Overview

Overview

In general, at segment transitions polygon functions (G01 blocks) contain kinks within their contour. At these
transitions polygon functions are not steadily differentiable with respect to their spatial coordinate, thus
leading to dynamic-unsteadinesses, if at these transitions the path velocity is not reduced to zero value. To
actually avoid to have to reduce path velocity to zero value segment transitions of polygon functions can be
smoothed out by blending at those transitions.

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Execution Supported Acceleration Max. Toler- Adaptive Command

Segment of Axis Com- ance Tolerance
Transitions ponents Radius
Circular Interpreter Straight line/ Step change 1/2 of the No paramCircu
Smoothing straight line in input or larSmoothi
acceleration output ng(…)
[} 138]
(value segment
parameteriza
ble via the C1
factor)
Parabolic NC kernel Straight line/ Step change 1/3 of the Can be paramVerte
Smoothing straight line in input or selected xSmoothing
acceleration output (…)
[} 135]
to a constant segment
<type>: 2
level (value
parameteriza
ble via the C1
factor)
Biquadratic NC kernel Straight line/ Constant 1/3 of the Can be paramVerte
Smoothing straight line acceleration - input or selected xSmoothing
the output (…)
[} 135]
acceleration segment
<type>: 3
is 0 at the
entry and exit
- no
intermediate
point required
Bézier Curve NC kernel All Step change 1/3 of the Can be paramVerte
of the 3rd in input or selected, has xSmoothing
acceleration output an effect for (…)
Order [} 135]
to a linear segment straight-line
<type>: 4
level (can be transitions
parameterize
d with the C1
factor)
Bézier Curve NC kernel All Constant 1/3 of the Can be paramVerte
of the 5th acceleration - input or selected, has xSmoothing
the output an effect for (…)
Order [} 136]
acceleration segment straight-line
<type>: 5
is 0 at the transitions
entry and exit
- no
intermediate
point required
‘Old’ Bézier NC kernel All Constant 1/4 of the No paramSplin
Blending acceleration - input or eSmoothing
the output (…)
[} 136]
acceleration segment paramVerte
<type>: 1
is 0 at the xSmoothing
entry, the exit (…)
and at the
symmetric
intermediate
point

Blending takes effect from the transition between the subsequent two segments.

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Principle of Blending
The radius of the tolerance sphere can be altered at any time within the NC program and
can be switched off again by setting the radius to 0. Blending remains active until the next
Note reset of the interpreter or a TwinCAT runtime restart.

4.2.14.2 Parabolic smoothing

Parabola smoothing

Command #set paramVertexSmoothing(<type>; <subtype>;

<radius> )#
Parameter <type> For parabola smoothing: 2
Parameter <subtype> 1: Constant tolerance radius [} 138]
2: Distance between intersection and vertex [} 138]
3: Adaptive tolerance radius [} 138]
Parameter <radius> Max. radius of the tolerance sphere

For parabola smoothing a parabola is inserted geometrically into the segment transition. This ensures a
steady velocity transition within the tolerance radius.

The parabola is only inserted for straight line/straight line transitions.

4.2.14.3 Biquadratic smoothing

Bi-quad smoothing

Command #set paramVertexSmoothing(<type>; <subtype>;

<radius> )#
Parameter <type> For parabola smoothing: 3
Parameter <subtype> 1: Constant tolerance radius [} 138]
2: Distance between intersection and vertex [} 138]
3: Adaptive tolerance radius [} 138]
Parameter <radius> Max. radius of the tolerance sphere

With biquadratic smoothing there is no step change in acceleration in the axis components. With the same
radius, a smaller input velocity may therefore be required than for parabolic smoothing.

The operating principle of the subtypes is identical to that of the parabolic subtypes.

4.2.14.4 Bezier curve of the 3rd order

Bezier curve of the 3th order

Command #set paramVertexSmoothing(<type>; <subtype>;

<radius> )#
Parameter <type> for the Bezier curve of the 3th order: 4
Parameter <subtype> 1: Constant tolerance radius [} 138]
2: Distance between intersection and vertex [} 138]
3: Adaptive tolerance radius [} 138]
Parameter <radius> Max. radius of the tolerance sphere

In case of the 3rd order Bezier curve a step change in acceleration appears in the axis components when
the tolerance sphere is entered. The max. size is limited by the acceleration of the axis components and the
C1 factor.

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This blending can be used for all segment transitions. The subtypes 2 and 3 only work for straight line /
straight line transitions.

Acute angles at the segment transition

The Bezier splines are generated by default, even at very acute angles. In order to avoid
the dynamic values being exceeded, a considerable reduction velocity is required in this
Note case. However, since the dynamics are held constant in the spline, the movement across
the spline can be quite slow. In this case it is often practical to start the segment transition
with an accurate stop. The command AutoAccurateStop [} 139] can be used to avoid hav-
ing to calculate the angles manually.

4.2.14.5 Bezier curve of the 5th order

Bezier curve of the 5th order

Command #set paramVertexSmoothing(<type>; <subtype>;

<radius> )#
Parameter <type> for the Bezier curve of the 5th order: 5
Parameter <subtype> 1: Constant tolerance radius [} 138]
2: Distance between intersection and vertex [} 138]
3: Adaptive tolerance radius [} 138]
Parameter <radius> Max. radius of the tolerance sphere

With 5th order Bezier blending, no step change in acceleration occurs in the axis components on entry into
the tolerance sphere. In other words, the path axis acceleration is always constant if blending is selected.

This blending can be used for all segment transitions. The subtypes 2 and 3 only work for straight line /
straight line transitions.

Acute angles at the segment transition

The Bezier splines are generated by default, even at very acute angles. In order to avoid
the dynamic values being exceeded, a considerable reduction velocity is required in this
Note case. However, since the dynamics are held constant in the spline, the movement across
the spline can be quite slow. In this case it is often practical to start the segment transition
with an accurate stop. The command AutoAccurateStop [} 139] can be used to avoid hav-
ing to calculate the angles manually.

4.2.14.6 Old Bezier blending type

Functions for compatibility with existing projects
These functions are provided for compatibility reasons. For new projects Bezier curve of the
3rd order [} 135] or Bezier curve of the 5th order [} 136] should be used.
Note

Old Bezier blending with paramVertexSmoothing

Command #set paramVertexSmoothing(<type>; <subtype>;

<radius> )#
Parameter <type> For Bezier Spline smoothing: 1
Parameter <subtype> For Bezier Spline smoothing: 1
Parameter <radius> radius of the tolerance sphere

Sample 1:
N10 R57=100
#set paramVertexSmoothing(1; 1;R57)#

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Old Bezier blending with paramSplineSmoothing

With the aid of smoothing, it is possible to insert a Bezier spline automatically between two geometrical
entries. It is only necessary to program the radius of the tolerance sphere. This describes the maximum
permissible deviation from the programmed contour in the segment transition. The advantage of this type of
smoothing as opposed to rounding with an arc is that there are no step changes in acceleration at the
segment transitions.

The radius of the tolerance sphere can be altered at any time within the NC program, and can be switched
off again by setting the radius to 0. If the radius is not reset to 0, it remains active until the next interpreter
reset or TwinCAT restart.

Command #set paramSplineSmoothing( <radius> )#

Parameter <radius> Radius of the tolerance sphere

or alternatively

#set paramVertexSmoothing(...)

Sample 1:
N10 R57=100
#set paramSplineSmoothing(R57)#

Sample 2:
N10 G01 X0 Y0 F6000
N20 X1000
#set paramSplineSmoothing(100)#
N30 X2000 Y1000
N40 X3000 Y0
M30

The new parameter is valid from the transition between the subsequent two segments. In example 2, the
new value for the tolerance sphere is applicable at the segment transition from N30 to N40. The diagram
below shows a contour with and without spline at the segment transition.

The splines are generated even at very sharp angles by default. In order to avoid the dynamic values being
exceeded, a considerable reduction velocity is required in this case. However, as the dynamics are held
constant, the movement across the spline can be quite slow. In this case it is often practical to start the
segment transition with an accurate stop. In order to avoid manual calculation of the angles, an
'AutoAccurateStop [} 139]' command is available which can also be initiated via the NC program.

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4.2.14.7 Subtypes

Constant tolerance radius (subtype 1)

If subtype 1 is selected, the maximum tolerance radius (RTB) is used for blending. RTB is reduced if and only if
the input or output segment is less than 3*RTB.

Distance between intersection and vertex ( subtype 2)

The distance between the programmed segment transition and the vertex of the parabola is specified with
the subtype 2. The tolerance radius (RTB) results from this. If a segment is too short, then the distance is
shortened so that the tolerance radius is a max. of 1/3.

Adaptive tolerance radius (subtype 3)

Within the tolerance radius (including constant tolerance radius) the system ensures that the maximum
permissible acceleration is not exceeded. Depending on the deflection angle and the velocity, the maximum
axis acceleration within the smoothing segment may be different. The aim of an adaptive tolerance radius is
maximum acceleration during smoothing. In order to achieve this, the smoothing radius is reduced based on
the programmed velocity and dynamics. In other words, if the programmed velocity is changed, the tolerance
radius can also change. The override has no influence on the radius.

4.2.15 Circular Smoothing

It is possible with the aid of circular smoothing to insert an arc automatically between two straight lines. It is
only necessary to program the radius of the arc.

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The radius of the circular smoothing can be altered at any time within the NC program, and can be switched
off again by setting the radius to 0. Rounding must be switched off before the end of the program or a
decoder stop [} 150].

Command #set paramCircularSmoothing( <radius> )#

Parameter <radius> Radius of the circular smoothing arc

Sample:
N10 R57=4.5
#set paramCircularSmoothing(R57)#
…
#set paramCircularSmoothing(0)#
N1000 M02

NOTE! When combined with cutter radius compensation, please note that first the radius
compensation is calculated, then the circular smoothing is added. The smoothing radius thus refers to
the TCP.

NOTE! The old command paramGroupVertex continues to be supported. However, it cannot be

used to transfer R parameters.

Syntax:
#set paramGroupVertex(<grp>,<radius>)#

The first parameter describes the group to which the circular smoothing refers. This value is currently always
1. The second parameter is used to specify the circular smoothing radius.

4.2.16 Automatic Accurate Stop

Command #set paramAutoAccurateStop(<angle>)#
Parameter <angle> Limit angle (in degrees) after which an accurate stop
is inserted
Deselect #set paramAutoAccurateStop( 0 )#

An accurate stop after a defined limit angle is inserted between two segments with the aid of the
'AutoAccurateStop' command.

For circle segments, the angle is calculated from the tangents at the points of entry and leaving.

Sample:
#set paramAutoAccurateStop(45)# (angle in
degrees)
N10 G01 X1000 Y0 Z0 F60000 (start position: X0 Y0 Z0)
N20 X0 Y500
...

An accurate stop is inserted between segments A and B in this example.

Application field:

This command should be used in conjunction with Bezier blending, if acute angles are programmed in the
NC program.

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See also:
• Bezier curve of the 3th order [} 135]
• Bezier curve of the 5th order [} 136]
• 'Old' Bezier curve [} 136]

NOTE! This function has not yet been implemented for segment transitions with a helix.

4.2.17 Delete Distance to Go

Command DelDTG
Cancellation End of block

The DelDTG (delete distance to go) command is activated block by block via the NC program. This
command enables deleting of the residual distance of the current geometry from the PLC with the function
block ItpDelDtgEx [} 191]. In other words, if the command is issued while the block is processed, the motion
is stopped with the usual deceleration ramps. The NC program then processes the next block. An error
message is generated if the PLC command is not issued during the execution of a block with "delete
distance to go" selected.

The "delete distance to go" command always effects an implicit decoding stop, i.e. an exact positioning
always occurs at the end of the block.

Sample:
N10 G01 X0 Y0 F6000
N20 DelDTG G01 X2000
N30 G01 X0

NOTE! DelDTG must not be active when cutter radius compensation is active.

4.2.18 Modulo Movements

Command MOD[<axis and target modulo position>]
Cancellation End of block
Parameter 1 Axis for modulo operation
Parameter 2 Arithmetic sign for the direction of rotation (optional)
Parameter 3 Modulo position

The modulo position is programmed in the same way as normal positioning.

The MOD command is effective for specific blocks, and must be explicitly programmed for every axis that is
selected for modulo operation. The modulo position's arithmetic sign specifies the direction of rotation.
• Positive sign: The axes moves in the 'larger' direction
• Negative sign: The axes moves in the 'smaller' direction
• Exception: The axis cannot move to modulo -0, since zero has no sign

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Sample 1:
N10 G90
N20 G01 MOD[X200] Y30 F600
N30 G01 X200

N20 specifies a move in a positive direction for X to modulo position 200. Y moves to absolute position 30. In
block N30, X is moved absolutely to position 200, i.e. not modulo.

Modulo movements of more than 360 degrees

The MOD command also allows movements of more than a 360 degrees to be made.

Modulo position = number of necessary rotations * 360 + modulo position

Sample 2:
N10 G90
N20 G01 X3610 F6000
N30 R1=360
N40 G01 MOD[X=R1+20]

In this example, the X axis moves 370 degrees to modulo position 20.

Restrictions and notes of for modulo movements:

• No radius compensation may be active for the modulo axis.
• No zero shift may be active for the modulo axis.
• During relative programming (G91 [} 111]) the modulo command is not evaluated, so that the axis
referred to in square brackets is treated as if the MOD command had not been given.

Modulo factor

The modulo factor is constant, and is 360.

4.2.19 Auxiliary axes

Auxiliary axes (also known as Q axes) can be added to an interpolation group in addition to the actual path
axes (X, Y & Z). The auxiliary axis can be seen as a type of slave for the path, i.e. it has no direct influence
on the path velocity. In addition to the 3 path axes, 5 auxiliary axes can also be interpolated for each
channel.

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The function block 'CfgBuildExt3DGroup [} 182] ' from the library Tc2_NCI, for example, may be used for
adding to the interpolation group from the PLC.

Syntax

The auxiliary axes are addressed as Q1..Q5 from the part program. The numerical value may be assigned
directly, or an R-parameter.

Sample 1:
(start position X=Y=Z=Q1=0)
N10 G01 X100 Q1=47.11 F6000
...

If an NC block is programmed with one or more path axes and an auxiliary axis, both axes start
simultaneously and also reach the destination together.

Swiveling of the auxiliary axes

The term "swiveling of the auxiliary axes" is used if the path length within a motion set is zero. This is often
the case during 'swiveling' of a tool, with the feed angle relative to the contour being changed.

Since the path length is zero, there is no link to the path, and the movements of the auxiliary axes are
calculated via a virtual path. However, this has no influence on the real path of X, Y and Z, but here too all
auxiliary axes are started simultaneously and also arrive at the destination simultaneously.

Here too, the velocity is specified via the F-parameter and now refers to the auxiliary axis with the greatest
travel distance.

Sample 1:
(start position X=Y=Z=Q1=Q1=0)
N10 G01 X100 F6000
N20 Q1=100 Q2=200 F3000
...

In N20, the velocity of Q2 is now 3000 and that of Q1 is 1500, since the travel distance is Q1=Q2/2.

4.2.19.1 Calculation of the velocity

Initially, only the path axes (X, Y and Z) are considered for the calculation of the path velocity.
The path and the travel distance of the individual auxiliary axes result in a fixed coupling ratio for each
auxiliary axis within a segment. The target velocity of the auxiliary axis is thus also known. If this velocity is
greater than the permitted maximum velocity for this auxiliary axis, the path velocity is reduced until the
upper speed limit is adhered to. In other words, exceeding of the velocity limits of the auxiliary axes also has
an indirect effect on the path velocity.

4.2.19.2 Path velocity at segment transitions

The reduction of the path velocity is explained below by means of an example. The contour of a stadium is
particularly suitable for this purpose. The aim is for the feed angle of a tool relative to the path tangent to
remain constant.

On the stadium straight, the orientation of the tool remains constant, i.e. the tool is not turned. In contrast,
the orientation relative to the base coordinate system must be changed continuously within the circle.
Assuming the path velocity in the transition between straight and circle is not reduced to zero, a step change
in velocity is inevitably generated for the swiveling axis (but not for the path axes!).

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This step change in velocity of the auxiliary axis is freely parameterizable and depends on the machine.
Extreme cases would be for the path velocity at such segment transitions to be reduced to zero, or for the
velocity not to be reduced at all.

The global axis parameter 'VeloJumpFactor', which can be set individually for each axis, is used for the
parameterization. The resulting velocity and the calculation is described in more detail in the TwinCAT NCI
appendix on page Parameterization [} 301].

Smoothing of the velocity at segment transitions

As has been described above, step changes in velocity can occur at the segment transitions. The size of
these steps can be affected by the VeloJump parameter.

It is further possible for a tolerance sphere to be specified for every auxiliary axis. This sphere is symmetrical
with the path at a segment transition. On entering this sphere, the velocity of the auxiliary axis is
continuously modified to reach the set velocity at the exit of the sphere. The step changes in velocity are, in
other words, eliminated. This does imply that the auxiliary axis is subject to a positional error when it is within
the sphere. On entering the sphere the change to the new target velocity of the axis starts immediately. This
avoids an overshoot in position, and the position is again precise at the borders of the sphere.

If it happens that the specified sphere is larger than 1/3 of the path, its radius is automatically restricted to
that value.

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Selection and Deselection

The tolerance sphere of the auxiliary axis is an axis parameter (IO: 0x108). It can be set in the axis interface
in the XAE or via ADS [} 407].

Parameterization of the axis parameters

The parameters described here only take effect for axes that are in the interpolation group
as auxiliary axes (Q1..Q5). For path axes (x,y,z), the parameters 'Veloc. discontinuity fac-
Note tor', 'Tolerance sphere auxiliary axis' and 'Max. positional deviation, auxiliary axis' have no
influence.

Diagnosis

It is possible to record the tolerance sphere of each auxiliary axis and the position error that results from this
for diagnostic purposes. It is also possible to access the variables via ADS. They are to be found in the
group status [} 396] (IO: 0x54n and 0x56n).

Effect on VeloJump, if the size of the tolerance sphere is reduced

If the size of the tolerance sphere has to be reduced due to the given geometry, the VeloJump parameter is
automatically adjusted for this segment transition. I.e. the path velocity in the transition is reduced more
strongly. So the dynamics of the auxiliary axis is not exceeded for smaller tolerance spheres.

Positional deviation of the auxiliary axis if the tolerance sphere has to be reduced

The parameter 'maximum permitted positional deviation of the auxiliary axis' only takes effect if the tolerance
sphere would have to be reduced due to the geometry.

The aim is to keep the path velocity high despite the smaller tolerance sphere, as long as the resulting
position error does not exceed a threshold value. To this end the velocity of the auxiliary axis is kept constant
and the position error is calculated. If the error is smaller than the maximum positional deviation the velocity
is maintained for this segment transition, and the resulting position error is compensated in the next segment
(the tolerance sphere then becomes unnecessary for this segment transition).

In the event that the position error would exceed the maximum deviation, the reduced tolerance sphere takes
effect, including the VeloJump factor. And the path velocity is reduced if necessary.

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Sample 1:

Initial conditions:
• Set tolerance sphere: 5
• Max. positional deviation: 1
• The given geometry results in an effective tolerance sphere of 0.2, for example
• The potential positional deviation is 0.3

Resultant behavior:
• The path velocity remains at a constant high level
• The velocity of the auxiliary axis is kept constant
• For this transition no tolerance sphere is required
• The resulting positional deviation is compensated in the subsequent segment

Sample2:

Initial conditions:
• Set tolerance sphere: 5
• Max. positional deviation: 1
• The given geometry results in an effective tolerance sphere of 1.2, for example
• The potential positional deviation is 1.1

Resultant behavior:
• The tolerance sphere is adjusted
• The VeloJump parameter is adjusted
• The path velocity is reduced at the segment transition
• There is no positional deviation that has to be compensated

Parameterization

The parameterization of the maximum permitted positional deviation is an axis parameter [} 407]. By default
this feature is switched off (deviation = 0.0)

4.3 Supplementary Functions

4.3.1 M-Functions

Task: Signal exchange between NC and PLC

A range of equipment, such as collet chucks, drill drives, transport equipment etc. is best not driven directly
by the NC, but indirectly, using the PLC as an adapting and linking controller. This makes it easy to consider
feedback or safety conditions, without having to adapt the NC program, or even the NC system. The NC’s M-
functions involve digital signal exchange: functions are switched on or off, activated or deactivated. The
transfer of numerical working parameters is not provided for here, but can be implemented in other ways (H-
functions [} 149], T-numbers [} 149] etc.).

4.3.1.1 Available M-functions

Number of M-functions

A total of 160 M-functions are available per channel

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M function Meaning
0..159 Freely definable M-functions (except 2, 17, 30)
2 Program end
17 End of subprogram
30 Program end with deletion of all fast M functions

All M-functions (apart from the 3 pre-defined M-functions - M2, M17, M30) are freely definable. This means
that, depending on the machine type, M8 can be used to switch on a cooling medium or indeed for any other
functionality, for example. The machine manufacturer can select the function as required.

Like any other rules, the rules for reserved M-functions are read when TwinCAT is started. Additionally, an
internal code is generated for these functions in the interpreter, which is responsible for the behavior
described. These 3 M-functions therefore do not have to be described in the table. It makes sense to
parameterize M2 and M30, even if M-functions are used.

Types of M-functions

Basically, two signal exchange versions are available: fast signal bits, or transfer secured by handshake.

Secured Handshakes

M-functions that require feedback must be processed using bi-directional signal exchange between the NC
and the PLC. If an M-function of type handshake is programmed, the velocity is reduced to 0 at this point.
The PLC uses the ItpIsHskMFunc [} 210] function to check whether an M-function with handshake is present,
in which case the number of the M-function is determined via ItpGetHskFunc [} 210]. The NC is in a waiting
state and will not process further NC commands until the PLC has acknowledged the M-function. Processing
of the NC program continues once acknowledgement has been received from the PLC (ItpConfirmHsk
[} 190]).

This procedure permits the operation of the equipment controlled by the NC to be securely coordinated with
the equipment controlled by the PLC. It is therefore advisable to acknowledge the M-function for starting the
spindle (e.g. M3) once a minimum speed has been reached.

Since this kind of M-function involves synchronous functions, it is only ever possible for one M-function with
handshake to be active in the NC program.

Fast signal bits

If no feedback is required from the PLC, fast signal bits can be used for activating M-functions. Since the NC
does not have to wait for the PLC with these M-functions, look-ahead [} 108] can combine the segments. In
this way it is possible to apply an M-function without velocity reduction.

This type of M-function is useful for in-motion activation of a nozzle for applying adhesive, for example.

A combination of fast signal bits and handshake is also possible. Since a handshake always requires
acknowledgement from the PLC, the velocity has to be reduced to 0 in this case.

4.3.1.2 Resetting of M-functions

Resetting fast signal bits

The signal bits are active until they are reset explicitly, or until an M30 (end of program) or channel reset is
executed.

Resetting with reset list

Each M-function can reset up to 10 fast M-functions. If cooling medium is switched on with M8, for example,
the cooling medium can be switched off again with M9. To this end simply enter M8 in the reset list for M9.

Automatic reset

During parameterization of the M-function an 'auto-reset flag' can be set. This means that the M-function is
automatically reset at the end of the block.

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In order for the PLC to be able to see the signal, the duration of the motion block must be long enough, or
this M-function is combined with a handshake. The handshake may come from the same or a different M-
function.

Reset from the PLC

The fast M-functions can be reset from the PLC via the ItpResetFastMFunc [} 263] function block. For
reasons of transparency, mixed resets using via PLC and NC should be avoided.

Delete all pending M functions

A channel stop and a channel reset are used to reset all pending M functions. This is true for the 'handshake'
type M functions, and also for the fast signal bits. If the NC program is terminated properly with M30, all M-
functions are also cleared.

4.3.1.3 Parameterization of M-functions

The M-functions are parameterized in TwinCAT XAE. A dedicated M-function table is used for each
interpolation channel.

A restart of the TwinCAT configuration is required to activate a configuration of M-functions.

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No

Number of M-function to be parameterized. The value must be between 0 and 159

HShake

If a value other than 'None' is entered, the M-function is of type 'Handshake'

• None: No handshake
• BM (Before Move): If a movement is programmed in the same block, the handshake is completed
before the movement.
• AM (After Move): If a movement is programmed in the same block, the handshake is completed after
the movement.

Fast

If a value other than 'None' is entered, a 'fast signal bit' type M-function is executed
• None: No fast M-function is executed
• BM (Before Move): If a movement is programmed in the same block, the output is completed before
the movement.
• AM (After Move): If a movement is programmed in the same block, the output is completed after the
movement.
• BMAutoReset (Before Move & Automatic Reset): If a movement is programmed in the same block, the
output is completed before the movement. In addition, the M-function is automatically cancelled at the
end of the block, i.e. the M-function is active on a per-block basis. In order to ensure that the PLC
recognizes the M-function, the duration of the associated motion block must be long enough (at least 2
PLC cycles), or an additional M-function with handshake should be programmed.
• AMAutoReset (After Move & Automatic Reset): This parameterization is only meaningful if either an M-
function of type handshake is programmed at the same time (or parameterized), or if the M-function is
only used for resetting other M-functions. Without an additional handshake the PLC will usually not be
able to detect this M-function.
• All other combinations can be selected for compatibility reasons.

Reset

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Up to 10 M-functions can be entered for cancellation when a reset is called.

NOTE! In the event that no reset-signal-bit is in fact set, the bits to be cleared are reset
immediately before setting the new signal bits.

Import/Export

The M-functions are parameterized individually for each channel. The parameterization can be transferred to
other channels via the import/export function.

4.3.1.4 Combination of M functions

• Within each line, only one 'handshake' type M function must be programmed!
• Within a single line, up to 10 'signal bit' M functions may be programmed
• A combination of the two options above is allowed

Sample:
N10 G01 X1000 F60000
N20 M10 M11 M12 X2000 (M10 & M11 are signal bits)
(M12 is of type handshake)
M30

Examples of meaningful and practically applicable rule combinations:

• An M-function is to be active for the duration of a movement and then be automatically cleared. Select
'None' in the HShake column and 'BMAutoReset' in the Fast column. The signal bit generated could,
for instance, control a glue application valve.
• An M-function starts a drill motor, and the subsequent movements may only be started after an
appropriate run-up time, and then only when the drill is ready for operation. Select 'BM' in the HShake
column. The PLC acknowledges the request after a certain delay time and only if the frequency
converter is ready for operation.
• A drill motor is started with an M-function. In order not to have to wait for the drive to run up, the M-
function is programmed in the block before the one for the drill movement. In the following movement
(the drill movement itself) it is however still essential to ensure that the drive has reached its full
rotation speed. For this variant either two different M-functions have to be used (lead signal as signal
bit, safety query as handshake) or a Fast 'BMAutoReset' and HShake 'AM' M-function is used.

4.3.1.5 Behavior in case of an error

If a runtime error occurs during the execution of an NC program (e.g. following error monitoring is activated),
the NC program is interrupted. In this case the M functions, provided they are set, remain pending. This
means that the PLC program may have to ensure that M functions are not executed.

4.3.2 H, T and S Parameters

H-, T- and S-parameters are used to transfer parameters from the NC interpreter to the PLC.

In this context the H-parameter stands for auxiliary parameter and is of type DINT (32 bit signed).

The T and S parameters are of type WORD, and stand for Tool and Spindle.

Sample:
H=4711
R1=23
S=R1
T4711

NOTE! No R-parameter can be assigned for the T-parameter. Furthermore, the assignment is made
without assignment operator ('=').

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T- and S-parameters take effect at the start of a block, H-parameters take effect at the end of the
programmed block.

4.3.3 Decoder stop

Code Function
@714 [} 150] Decoder stop
@716 [} 150] Decoder stop with axis position rescan
@717 [} 151] Decoder stop with trigger event, conditional decoder
stop

4.3.3.1 Decoder stop (@714)

The interpreter offers the option to execute a decoder stop in the NC program. In this case the interpreter
waits until a certain external event occurs. Execution of the NC program does not continue until this event
has taken place.

A decoder stop can be used, for instance, to switch block skipping [} 108] on or off from the PLC, or to re-
assign R parameters [} 115].

Two events are available for continuing processing:

• Acknowledgement of an M-function [} 145]
• SAF task is empty

Acknowledgement of an M-function

Decoding of the NC program is interrupted until the M-function [} 145], which is programmed immediately
prior to the decoder stop, is acknowledged. In other words, the M-function must be of type "handshake".

Sample 1:
N10...
N20 M43 (M-function with handshake)
N30 @714 (decoder stop)
N40 ...

SAF task is empty

The decoder stop does not necessarily have to be programmed in conjunction with an M-function. If the SAF
task runs out of travel commands, an event is sent to the interpreter. This event causes the interpreter to
start up again.

NOTE! The decoder stop must not be programmed when the tool compensation or circle
smoothing are active, because they wouldn`t work anymore.

4.3.3.2 Decoder Stop with Axis Position Rescan (@716)

In addition to the common decoder stop (see Decoder stop (@714) [} 150]), there is a decoder stop at which
the axis positions of the interpolation channel are read again. This stop is required, if, for example, axes are
moved during a tool change via PTP and are subsequently not returned to the old position. Another possible
application is a change in axis configuration via an M function (with handshake).

If a decoder stop with rescan is programmed, it is essential to program an M-function with handshake
immediately before it.

Sample 2:
N10...
N20 M43 (M function with handshake carries out a tool change, for
example)
N30 @716 (Decoder stop with rescan)
N40 ...

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NOTE! The decoder stop must not be programmed when the tool compensation or circle
smoothing are active, because they wouldn`t work anymore.

4.3.3.3 Decoder Stop with external trigger event (@717)

Sometimes the question of whether the NC part of the program must wait or can continue may depend, for
instance, on events in the PLC. With the two types of M-functions [} 145] this can give rise to the following
problems:
• Handshake: Because of the M-function's handshake the path velocity must be brought to zero at the
location where the M-function is programmed, after which confirmation is awaited from the PLC.
• On The Fly (also known as a fast M-function): Because no confirmation from the PLC is waited for,
there is also no way for the partial program to wait for the PLC.
• Even a combination of the two types of M-function does not help here.

Sample:

During positioning with a flying M-function, a process A is initiated by the NC partial program. It is assumed
here that the set of processes in the NC program is typically long enough for process A to be completed in
the PLC. If A is ready, then the NC partial program should execute the next segment with look-ahead. In
case A is not ready, however, then the NC should stop at the end of the segment and wait until process A
has finished. It is exactly this scenario that can be implemented with the command @717. The PLC here
sends the so-called 'GoAhead [} 207]' command when process A has finished.
N10 ...
N20 G0 X0 Y0 Z0
N30 G01 X500 F6000
N40 M70 (flying M-function that triggers process A)
N50 G01 X700
N60 @717 (decoder stop with external trigger event)
N70 G01 X1000
N80 ...

If the GoAhead signal reaches the PLC early enough, then blocks N50 and N70 are linked by look-ahead,
and the path velocity is not then reduced. If the signal arrives during the deceleration phase of N50, then the
velocity is once more increased. Otherwise, the machine waits for the signal from the PLC.

NOTE! The decoder stop must not be programmed when the tool compensation or circle
smoothing are active, because they wouldn`t work anymore.

The function block 'ItpGoAheadEx' returns the error code 0x410A, if no @717 is present in the interpreter at
the time of the call.

4.3.4 Jumps
Code Function
@100 [} 152] Unconditional jump
@121 [} 152] Jump if unequal
@122 [} 152] Jump if equal
@123 [} 152] Jump if less or equal
@124 [} 152] Jump if less
@125 [} 152] Jump if greater or equal
@126 [} 152] Jump if greater
@111 [} 152] Case block

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Unconditional jump

Command @100
Parameter K or R

The parameter describes the jump destination. This must have an indication of direction ('+' or '-').

Sample 1:
N10 ..
...
N120 @100 K-10

In this example, execution continues from line 10 after line 110 has been interpreted. The sign indicates the
direction in which the line to be searched can be found.

Jump if unequal

Command @121
Parameter 1 R<n> Comparison value
Parameter 2 K or R<m> Comparison value
Parameter 3 K Jump destination with direction
indication

Sample 2:
N10 ..
...
R1=14
N120 @121 R1 K9 K-10
N130 ...

Jump if equal

cf. Jump if not equal [} 152]

Jump if less or equal

cf. Jump if not equal [} 152]

Jump if less

cf. Jump if not equal [} 152]

Jump if greater or equal

cf. Jump if not equal [} 152]

Jump if greater

cf. Jump if not equal [} 152]

Case block

Command @111
Parameter 1 R<n> Comparison value
Parameter 2 K or R<m> First comparison value
Parameter 3 K First jump destination
Parameter 4 K or R<m> Second comparison value
...

Sample 3:

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N100 R2=12 (R2=13) (R2=14)

N200 @111 R2 K12 K300
K13 K400
K14 K500

N300 R0=300
N310 @100 K5000

N400 R0=400
N410 @100 K5000

N500 R0=500
N510 @100 K5000

N5000 M30

A case block is made in line 200. If R2 = 12 a jump is made to line 300.

If R2 = 13, the jump destination is line 400. If R2 = 14, the jump destination is line 500.

In the event that none of the conditions is satisfied, execution simply continues with the next line (in this
case, line 300).

4.3.5 Loops
The various types of loop are described below.

Code Loop type Aborting condition

@131 While Loop [} 153] while equal
@132 While Loop [} 153] while not equal
@133 While Loop [} 153] while greater
@134 While Loop [} 153] while greater or equal
@135 While Loop [} 153] while less
@136 While Loop [} 153] while less or equal
@141 Repeat Loop [} 154] repeat until equal
@142 Repeat Loop [} 154] repeat until not equal
@143 Repeat Loop [} 154] repeat until greater
@144 Repeat Loop [} 154] repeat until greater or equal
@145 Repeat Loop [} 154] repeat until less
@146 Repeat Loop [} 154] repeat until less or equal
@151 For-To Loop [} 154]
@161 For-DownTo Loop [} 154]

Loops can be nested.

While loops

Command @13<n> where 1<= n <= 6

Parameter 1 R<m> Comparison value
Parameter 2 K or R<k> Comparison value
Parameter 3 K Jump destination for the case that
the condition is not met

A while loop is executed for as long as the condition is satisfied. The test is made at the beginning of the
loop. If the condition is not or no longer met, a jump to the specified line takes place (parameter 3).

At the end of the While loop an unconditional jump (@100 [} 151]) must be programmed. The target of this
jump is the line number of the while loop.

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The loop’s exit condition is specified with <n>.

Sample 1:
N100 R6=4
N200 @131 R6 K4 K600 (K600 is the target of the jump, when the condition is no longer satisfied)
N210 ...
N220 @100 K-200

N600 ...

N5000 M30

The loop (lines 200 to 220) is repeated for as long as R6 = 4. Once the condition is no longer satisfied,
execution jumps to line 600.

Repeat loops

Command @14<n> where 1<= n <= 6

Parameter 1 R<m> Comparison value
Parameter 2 K or R<k> Comparison value
Parameter 3 K Jump destination at the start of the
loop

In a repeat loop, the interrogation takes place at the end of the loop. This means that the loop is executed at
least once. The loop is only ended, to continue with the rest of the program, when the condition is satisfied.

Sample 2:
N200 ...
N210 ...

N300 @141 R6 K25 K200

The loop is repeated until R6 = 25. The second constant in line 300 gives the jump target (the start of the
loop).

For-To loops

Command @151 <variable> <value> <constant>

A for-to loop is a counting loop that is executed until the variable equals the value. The test is made at the
beginning of the loop. If that condition is satisfied, execution jumps to the line specified by the constant.

The variable must be incremented (@620) at the end of the loop, and there must be an unconditional jump to
the start of the loop.

Sample 3:
N190 R6=0
N200 @151 R6 K20 K400
N210 ...
N290 @620 R6 (increment R6)
N300 @100 K-200

For-Downto Loops

Command @161 <variable> <value> <constant>

A for-downto loop is a counting loop. The behaviour is similar to that of a for-to loop. The difference is merely
that the variable is decremented (@621) by 1 at the end of the loop.

4.3.6 Subroutine techniques

As in other fields, it is also valuable in NC programming to organize frequently used command sequences as
subroutines. This makes it possible to employ pre-prepared and tested functions in various workpiece
programs.

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Subroutines are identified within a program by a number. This number must be unique: there must be only
one subroutine with a particular number (1..>2.000.000.000).

As interpretation proceeds, the calling program is suspended. The text of the subroutine is worked through,
as often as necessary. Processing then returns to the calling program after the call location.

It is of course possible for one subroutine to call another subroutine. This call is executed in a similar way.
This causes a stack of return information to be created. For technical reasons this nesting of subroutines is
presently limited to 20 levels.

Definition of a Subroutine

The code for a subroutine can be written to the same file as the calling program. In this case the subroutine
is linked directly: it is automatically also loaded as the file is read. If it is to be made generally available then
it must be written in its own file that must be located in the CNC directory.

The name of the file begins with the letter 'L', and continues with a string of digits. This digit string must
repeat the subroutine number, without any leading '0's.

The code should contain a label to indicate the starting point of the subroutine. Like the file name, it consists
of the letter 'L' and the digit sequence described above.

The interpreter starts immediately after this label.

Subroutine syntax:
(Datei L2000.NC)
L2000
N100...
N110...
...
N5000 M17 (return command)

Calling a Subroutine

The following syntax must be used to call a subroutine from some block within the NC program. It is
important that the expression "L2000" does not stand at the start of the line, in order to avoid confusion with
a subroutine label.
(syntax of the subroutine call)
N100 L2000

In the following sample the expression "P5" causes the subroutine to be repeated 5 times.
(n-fold subroutine call (here: 5- fold))
N100 L2000 P5

Dynamic subroutine call

In some cases the subroutine to be called is not known until runtime. In this case the subroutine can be
called with an R-parameter, thereby avoiding the need for a CASE instruction. The value for R must be
allocated or calculated in a dedicated line.
(Dynamic call of a subroutine)
N099 R47=R45+1
N100 L=R47

Parameter passing

Parameters are passed to subroutines with the aid of R-parameters [} 115]. Note that R-parameters are not
saved automatically (see Rescuing R-parameters [} 115]).

Use of Parameters

R-parameters can, in general, be freely used within subroutines. This has a number of consequences that
can lead to errors if they are not borne in mind. On the other hand their careful use offers the NC-
programmer a range of useful working techniques.

Results of Subroutines

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If an R-parameter is changed without its contents being saved and restored, the change is effective after a
return from the subroutine. If this was not intended, the result can be machine behavior that was not
planned.

This feature can however be deliberately used in order to make the continuation of the processing
dependent on the results of a subroutine. No restriction need be considered here other than those on the R-
parameters.

Sample:
N100 L2000
N110 R2=R3+R4
...
N999 M30
L2000
N10 R3=17.5
N20 R4=1
N99 M17

Values are specified here in a subroutine. The values are then used in the calling program.

Ending a Subroutine

A subroutine is ended with M17.

4.3.7 Dynamic Override

Command DynOvr=<value>
or
DynOvr = R<n>
Cancellation DynOvr=1

Sample:
N10 G01 X100 Y200 F6000
N20 DynOvr=0.4
N30 G01 X500

'DynOvr' can be used to make percentage changes to the dynamic parameters of the axes in the group while
the NC program is running. This also results in new values for the motion dynamics. The new dynamic
values become valid, without any stop, when the line is executed. This means, for the example illustrated
above, that in block 10 the old values will still be used for the deceleration, while the new values will be used
for acceleration in block 20.

Scope of Definition

0 < DynOvr ≤ 1

See also change in path dynamics [} 156].

4.3.8 Altering the Motion Dynamics

Command #set paramPathDynamics
Parameter <acc> Value of the maximum permitted path acceleration in
mm/s^2.
Parameter <dec> Value of the maximum permitted deceleration in mm/
s^2.
Parameter <jerk> Value of the maximum permitted jerk in mm/s^3.

Sample:
N10 G01 X100 Y200 F6000
N15 R4=3000
N20 #set paramPathDynamics( 700; 700; R4 )#
N30 G01 X500

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The 'paramPathDynamics' command can be used to alter the motion dynamics as the NC program is
running. The new dynamic values become effective as from the line in which they are programmed. For the
example illustrated, this means that the whole of block 10 is still treated with the default values. The new
parameters are used for block 30 from the start of the segment.

This command limits all path axes to the parameterized dynamic values, although the path itself can have
higher dynamics, depending on its orientation. The dynamics of auxiliary axes remains unchanged.

See also dynamic override [} 156].

NOTE! The dynamic values changed via the NC program remain active until the interpreter is next
reset and/or TwinCAT has been restarted.

NOTE! The old command 'paramGroupDynamics' continues to be valid. However, it cannot be used
to transfer R parameters.

Command #set
paramGroupDynamics(<grp>,<acc>,<dec>,<jerk>)#
Parameter <grp> Group for which the alteration of the motion dynamics
is to be effective. Presently always 1.
Parameter <acc> Value of the maximum permitted path acceleration in
mm/s^2.
Parameter <dec> Value of the maximum permitted deceleration in mm/
s^2.
Parameter <jerk> Value of the maximum permitted jerk in mm/s^3.

Sample:
N10 G01 X100 Y200 F6000
N20 #set paramGroupDynamics( 1, 700, 700, 3000 )#
N30 G01 X500

Change in axis dynamics

Command #set paramAxisDynamics

Parameter <axis> Axis in the interpolation group:
X: 0
Y: 1
Z: 2
Q1: 3
...
Q5: 7
Parameter <acc> Value of the maximum permitted acceleration in mm/
s^2
Parameter <dec> Value of the maximum permitted deceleration in mm/
s^2.
Parameter <jerk> Value of the maximum permitted jerk in mm/s^3.

Sample:
N10 G01 X100 Y200 F6000
N15 R4=30000
N20 #set paramAxisDynamics( 0; 1500; 1400; R4 )#
N30 G01 X500

'paramAxisDynamics' can be used to change the axis dynamics at runtime. Generally the behavior is the
same as for 'paramPathDynamics', except that here the dynamics can be specified individually for each axis.

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4.3.9 Change of the Reduction Parameters

C0 reduction [} 158]
C1 reduction [} 159]
C2 reduction [} 159]

C0 reduction

In some types of machine it is not absolutely necessary to reduce the path velocity to 0 at knee-points. 2
reduction methods are available
• VeloJump
• DeviationAngle

VeloJump

Command #set paramVeloJump( <C0X>; <C0Y>; <C0Z> )#

Parameter <C0X> Reduction factor for C0 transitions: X axis: C0X ≥ 0.0
Parameter <C0Y> Reduction factor for C0 transitions: Y axis: C0Y ≥ 0.0
Parameter <C0Z> Reduction factor for C0 transitions: Z axis: C0Z ≥ 0.0

The 'paramVeloJump' command can be used to alter the velocity step change factors as the NC program is
running. The new values come into effect via the block execution in the programmed line. You can find
further details of the means of operation in the appendix under Parameterization [} 301].

Sample:
N10 G01 X100 Y200 F6000
N20 R2=4.5
N30 #set paramVeloJump( 1.45; R2; R2 )#
N40 G01 X500

Resetting parameters
The VeloJump parameters changed via the NC program remain active until the interpreter
is next reset and/or TwinCAT has been restarted.
Note

DeviationAngle (not yet released)

Command #set paramDevAngle( <C0Factor>; <AngleLow>;

<AngleHeigh> )#
Parameter <C0Factor> Path reduction factor for C0 transitions: 1.0 ≥ C0 ≥
0.0
Parameter <AngleLow> Angle in degrees from which reduction takes effect: 0
≤ φ_l < φ_h ≤ π
Parameter <AngleHeigh> Angle in degrees from which reduction to v_link = 0.0
takes effect: 0 ≤ φ_l < φ_h ≤ π

The 'paramDevAngle' command is used to describe the parameters for the C0 reduction. In contrast to the
VeloJump reduction method, in which the velocity step change is influenced directly, in the DeviationAngle
method the velocity step change depends upon the angle. You can find further details of the means of
operation in the appendix under Parameterization [} 301].

Sample:
N10 G01 X100 Y200 F6000
N20 #set paramDevAngle(0.15; 5; 160 )#
N30 G01 X500

Resetting parameters
The DeviationAngle parameters changed via the NC program remain active until the inter-
preter is next reset and/or TwinCAT has been restarted.
Note

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C1 reduction factor

Command #set paramC1ReductionFactor( <C1Factor> )#

Parameter <C1Factor> C1 reduction factor

The 'paramC1ReductionFactor' command is used to change the C1 reduction factor while the NC program is
running.

The new parameter comes into effect at the segment transition at which the reduction factor is programmed.
In the example shown, the new value for the C1 reduction is therefore already effective in the segment
transition from N10 to N30.

A floating point value or an 'R parameter' can be provided as parameter.

You can find further details of the means of operation in the appendix under Parameterization [} 301].

Sample:
N10 G01 X100 Y200 F6000
N20 #set paramC1ReductionFactor( 0.45 )#
N30 G01 X500

Resetting parameters
The C1 reduction factor changed via the NC program remains active until the interpreter is
next reset and/or TwinCAT has been restarted.
Note

C2 reduction factor

Command #set paramC2ReductionFactor( <C2Factor> )#

Parameter <C2Factor> C2 reduction factor

The 'paramC2ReductionFactor' command is used to change the C2 reduction factor while the NC program is
running.

The command takes effect in the segment transition for which the reduction factor is programmed. In the
example shown, the new value for the C2 reduction is therefore already effective in the segment transition
from N10 to N30.

A floating point value or an 'R parameter' can be provided as parameter.

Sample:
N10 G01 X100 Y200 F6000
N20 #set paramC2ReductionFactor( 1.45 )#
N30 G01 X500

Resetting parameters
The C2 reduction factor changed via the NC program remains active until the interpreter is
next reset and/or TwinCAT has been restarted.
Note

4.3.10 Change of the Minimum Velocity

Command #set paramVeloMin( <VeloMin> )#
Parameter <VeloMin> Minimum path velocity

The 'paramVeloMin' command can be used to alter the minimum path velocity while the NC program is
running. The new velocity comes into effect via the block execution in the programmed line.

A floating point value or an 'R parameter' can be provided as parameter.

Sample:

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N10 G01 X100 Y200 F6000

N20 #set paramVeloMin( 2.45 )#
N30 G01 X500

Resetting parameters
The minimum velocity changed via the NC program remains active until the interpreter is
next reset and/or TwinCAT has been restarted.
Note

Programming the velocity

The unit of velocity is mm/sec and is therefore equivalent to the usual XAE units.

Note

4.3.11 Read Actual Axis Value

Command @361
Parameter 1 R<n> R parameter to which the actual
axis value is assigned
Parameter 2 K<m> Constant for the axis coordinate
that is to be read
0: X axis
1: Y axis
2: Z axis
3: Q1 axis
4: Q2 axis
...
7: Q5 axis

Sample 1:
N10 G0 X0 Y0 Z0 F24000
N30 G01 X1000
N40 @361 R1 K0 (read position of x axis)
N50 R0=X
N60 G01 X=R0+R1
N70 M30

A decoder stop is implicitly executed by @361 command. This ensures that, in this example, the position is
read when block N30 has been processed.

A possible application would be in combination with the deletion of any remaining travel.

Read actual axes value without decoder stop

Command #get PathAxesPos( R<a>; R<b>;

R<c> )#
Parameter 1 R<a> R parameter to which the actual
axes value of the X axis is
assigned
Parameter 2 R<b> R parameter to which the actual
axes value of the Y axis is
assigned
Parameter 3 R<c> R parameter to which the actual
axes value of the Z axis is
assigned

The command #get PathAxesPos( )# reads the current actual positions of the path axes (X, Y & Z). It
behaves similarly to @361, with the difference that this command does not trigger an implicit decoder stop.
This means that the programmer must himself ensure that at the time when the command is being
processed in the interpreter the axes have not yet moved, or else a decoder stop (@714) must be
programmed in the block before this command.

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#get PathAxesPos( )# is an alternative to @361, but it is linked to certain specific conditions.

Sample 2:
@714(optional)
N27 #get PathAxesPos( R0; R1; R20 )#

NOTE! If a path axis is not assigned (e.g. no axis is assigned to Z) the value 0 is passed to the
associated R parameter.

4.3.12 Skip virtual movements

Command #skip VirtualMovements(<parameter>)#
Parameter 0 (default): virtual movements are “completed”.
1: Virtual movements are skipped

Movements of unavailable but programmed main axes (X, Y & Z) can be skipped with the command 'skip
VirtualMovements'.

Sample:

The interpolation group (CfgBuildGroup) contains only assignments for the X and Y axis. The Z axis is not
assigned, but programmed in the parts program.
(Startposition X0 Y0 Z0)
N10 #skip VirtualMovements(1)#
N20 G01 X100 Y200 F6000
N30 G01 Z1000 (virtual movement, because z is not assigned)
N40 G01 X500

Segment N30 is skipped during execution of this program.

4.3.13 Messages from NC program

Command #MSG (<message level>; <mask>; "<text>" )#
<message level> • ITP
The message is issued from the interpreter.
This means that the message generally
appears well before the execution in the NC
kernel.
• NCK
The message is issued from the NC kernel
when the NC block is executed. This means it
appears at the same time as the block
execution (SAF)
<mask> STRING
<text> the text to be displayed
N10 G0 X0 Y0
N20 G01 X100 Y0 F6000

N30 #MSG( NCK; STRING; "this is a text")#

N40 G01 X200 Y-100

The text can not be used to transfer further parameters (e.g. R-parameters).

Internally the message is handled like a note.

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4.4 Tool Compensation

4.4.1 Tool Data

The NC has 255 memory locations (D1..D255) available for each channel for tool data. The parameters for
the tool data can be written directly in the XAE. The data is saved as an ASCII file (<channel ID>.wz) which
is kept in the TwinCAT\CNC directory. These files are automatically loaded when TwinCAT is started.

Currently two tool types are supported:

• Drills
• Shaft Cutters

The relevant columns (parameters) for this type of tool are described below.

Drills

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Parameter Meaning
0 Tool number
When this D-word is called, a tool number that is
specified here can be given at the same time.
1 Tool type
The drill is type 10.
2 Geometry: Length
Describes the length of the drill.
5 Wear: Length
Describes the wear on the drill. The wear has to be
given as a negative value, since it is added to the
length.
8 Cartesian tool displacement [} 164] in X direction
9 Cartesian tool displacement in Y direction
10 Cartesian tool displacement in Z direction

Shaft Cutters

Parameter Meaning
0 Tool number
When this D-word is called, a tool number that is
specified here can be given at the same time.
1 Tool type
The shaft cutter is type 20
2 Geometry: Length
Length of the shaft cutter.
4 Geometry: Radius
5 Wear: Length
7 Wear: Radius
8 Cartesian tool displacement [} 164] in X direction
9 Cartesian tool displacement in Y direction
10 Cartesian tool displacement in Z direction

Writing of tool data

Editing tool data with the XAE

As already mentioned, the tool data can be written directly from the XAE. To do this, edit the window shown
above.

Parameterization of tool data via the PLC

In addition, tool data can be read and written from the PLC with the function block ItpWriteToolDescEx
[} 230].

Writing tool data from the parts program

In some applications, it is more convenient to write the tool data directly from the part program.

The tool set to be overwritten must not be active during the write process. This means, for example, if tool
radius compensation with parameter set D10 is active, this cannot be overwritten, as long as D10 is still
selected.

Command #set ToolParam(<Zeile>; <Spalte>;<Wert>)#

Parameter <line> Describes the tool parameter line (1..255)
Corresponds to the D number
Parameter <column> Column to be written (0..15)
Parameter <value> Parameter value to be transmitted

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Sample:
N10 G0 X0 Y0 Z0
N20 G01 X100 F60000
N30 R1=10 R2=4 R3=20.3
N40 #set ToolParam(10; 0; 5)# #set ToolParam(10;1;20)#
N50 #set ToolParam(R1; R2; R3)#
N60 G41 X200 Y D10
...

NOTE! No formulas may be transmitted as parameters. Writing of the tool data does not require a
decoder stop.

Reading tool data from the parts program

This command can be used to assign tool data to an R-parameter.

Command #get ToolParam(<line>; <column>;<R-Param>)#

Parameter <line> Writes to the tool parameter line (1..255); this
corresponds to the D number
Parameter <column> Column to be written (0..15)
Parameter <R-Param> R-parameter in which the date is entered

Sample:
N10 G0 X0 Y0 Z0
N20 G01 X100 F60000
N30 R1=10 R2=4
N40 #get ToolParam(10; 0; R5)# #getToolParam(10;1;R20)#
N50 #get ToolParam(R1; R2; R3)#
N60 G41 X200 Y D10
...

Notes:

NOTE! No formulas may be transmitted as parameters. Reading of the tool data does not require a
decoder stop.

4.4.2 Selecting and Deselecting the Length Compensation

Length compensation can only be selected when G0 [} 118] or G1 [} 119] are in effect. The working plane
[} 111] must be selected to which the length compensation is perpendicular.

The feed direction is specified with P (see working plane and feed direction [} 111]).

To effect the movement corresponding to the length compensation, the axis concerned must at least be
mentioned.

Sample:
N10 G17 G01 X0 Y0 Z0 F6000
N20 D1 X10 Y10 Z
N30 ...
N90 M30

NOTE! Length correction is automatically selected when cutter radius compensation [} 167] is
selected.To deselect length correction, D0 has to be programmed. It is again here necessary to at
least mention the axis concerned in order to move to the new position.

4.4.3 Cartesian Tool Translation

Cartesian tool displacement refers to an offset between the reference point of the tool carrier and the
reference point of the tool itself. In many cases, these reference points have the same location, so that a 0
can be entered for the tool displacement.

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Parameter

The parameters for a translation are entered into the tool data [} 162] in the same way as the tool length etc.
Parameters 8 to 10 are available for this purpose. Here
• P8 always describes the X-component
• P9 always describes the Y-component
• P10 always describes the Z-component

independently of the choice of level.

Selecting and deselecting Cartesian tool displacement

As in the case of length compensation, tool displacement is switched on with D<n> (n>0). In order to travel to
the translated location, the axes must at least be named. This means that the displacement affects the
positioning when the axis is called for the first time. It is also possible for a new final position to be entered
for the axis.

The function is switched off with D0. Here again, it is necessary for the axes at least to be named, if the axes
are to travel to their new co-ordinates.

Sample 1:
N10 G17 G01 X0 Y0 Z0 F6000
N20 D1 X10 Y10 Z (Z-Axis is repositioned)
N30 ...
N90 M30

Sample 2:
N10 G17 G01 X0 Y0 Z0 F6000
N20 D1 X10 Y10 (Z-Axis is not moved)
N30 ...
N90 M30

Using tool displacement and rotation

If the Cartesian tool displacement is used in combination with rotation [} 129], then the
compensation will only be correct if the aggregate (the tool carrier) is also rotated through
Note the same angle.

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Application sample

It often happens that a processing machine's tool carrier contains a number of tools. The appropriate tool is
pneumatically activated according to the kind of machining required. Since, however, the tools are located at
different positions, Cartesian tool displacement is required.

Tool parameters

Parameter Value
0 0..65535
1 10
2 40
5 0
8 100.0
9 0.0
10 50

Behavior with incremental dimension notation

Default behavior

If a new tool offset (and also length compensation) is selected in incremental dimensions (G91), then the
compensation is applied once the axis is named.

Sample 3:
(Tooloffset D1: X10 Y20 Z30)
N10 G01 D1 X100 Y0 Z0 F6000
N20 G91 (incremental dimension)
N30 D2 (Tooloffset D2: X100
Y200 Z300)
N30 Z10
N40 ...

Command Description
ToolOffsetIncOn The tool displacements and length compensations
are also applied under G91 once the axis is named
ToolOffsetIncOff The tool displacement and length compensation are
not applied under G91

Sample 4:
(Tooloffset D1: X10 Y20 Z30)
N05 ToolOffsetIncOff
N10 G01 D1 X100 Y0 Z0 F6000
N20 G91 (incremental dimension)
N30 D2 (Tooloffset D2: X100
Y200 Z300)
N30 Z10
N40 ...

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In N10 the Tooloffset is applied to all 3 axes. I.e. the axes move in the machine coordinate system (MCS) to
X110 Y10 Z30.

In N30 the new Tooloffset of the Z-axis is not applied. This results in MCS X110 Y10 Z40.

See also ZeroShiftIncOn/Off [} 124]

4.4.4 Cutter Radius Compensation

4.4.4.1 Miller/Cutter Radius Compensation Off

Miller/Cutter Radius Compensation Off

Command G40
Cancellation G41 [} 167] or G42 [} 168]

The G40 function switches the miller/cutter radius compensation off. The length radius compensation [} 164]
will still remain active until it is switched off with D0. Between G40 and end of program it is madatory to
program at least one geometry element.

4.4.4.2 Miller/cutter radius compensation left

Miller/cutter radius compensation left

Command G41
Cancellation G40 [} 167]

The function G41 switches on the miller/cutter radius compensation. The tool is located to the left of the
workpiece in the direction of movement.

As has already been seen for the length compensation [} 164], the cutter radius compensation can only be
activated when G0 [} 118] or G1 [} 119] is in effect. The axes of the plane must be driven when the cutter
radius compensation is selected.

Sample:
N10 G17 G01 X0 Y0 Z0 F6000
N20 G41 X10 Y20 Z D1
N30 X30
N40 G40 X10 Y10 Z
N50 M30

Cutter radius compensation does not apply to full circles

The cutter radius compensation does not support full circles. Full circles have to be split
into semicircles, for sample.
Note

Notes:

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• The cutter radius compensation should be deactivated before the end of the NC program, in order to
close it properly. Between G40 and end of program it is mandatory to program at least one geometry
element.
• If a decoder stop [} 150] is programmed, cutter radius compensation has to be disabled first.
• For arcs, radius compensation can lead to a change in the path velocity at the contour. See also 'Path
velocity in arcs [} 172]'.
• See Orthogonal contour approach/departure [} 172].

4.4.4.3 Miller/cutter radius compensation right

Miller/cutter radius compensation right

Command G42
Cancellation G40 [} 167]

The function G42 switches on the miller/cutter radius compensation. The tool is located to the right of the
workpiece in the direction of movement.

Cutter radius compensation does not apply to full circles

The cutter radius compensation does not support full circles. Full circles have to be split
into semicircles, for sample.
Note

NOTE! If a change is to be made from G41 to G42, then a G40 should be programmed between the
two movements.

4.4.4.4 Departure and approach behavior of the miller/cutter radius

compensation
This chapter describes the approach and departure behavior when the miller/cutter radius compensation is
switched on or off. This behavior depends on the start position and cannot be influenced in any other way.

After the radius compensation is switched on, it must be applied. This means the cutter is at one point P1
(without radius compensation) and travels to P2', with the cutter radius being compensated at point P2'.

Point P2' depends on the start position P1 within the plain. A distinction is made between 3 basic cases.
These cases are exemplified below during application of the radius compensation with a programmed G42
(right compensation).

Similar rules apply for the deactivation of the compensation, except that the tangent t is determined at the
end of the path segment, with similar conditions being derived.

Case 1: P1 to the right of the path tangent t

If the starting point P1 is to the right of the path tangent t, P2' is orthogonal to the tangent. This start-up
behavior applies to the range hatched in green.

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Case 2: P1 the right of the normal n and to the left of the path tangent t

If the start position P1 is to the right of the normal n and to the left of the path tangent t, P2' is moved. P2'
results from the intersection of the parallel of P1P2 and the offset distance P2P3. Both straight lines are
offset by radius R.

This behavior applies to the range hatched in green.

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Case 3: P1 to the left of the normal n and to the left of the path tangent t

If the start position P1 is to the left of the normal n and also to the left of the path tangent t, an additional
circle segment is inserted during approaching of P2'. In order to avoid free cutting at P2, P2' is not orthogonal
to the start tangent of the section P2P3.

The additional circle segment is inserted for all start positions within the hatched green region.

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A circle segment follows after the offset

The radius compensation is invariably applied via a straight line. (This must be set in the part program, since
otherwise a runtime error will be generated). The contour can then start with a circle. The rules for starting
and stopping are the same as before, i.e. here too the path tangent of the contour for P2 is determined, and
a distinction is made between the three cases described.

If P2' is always to be approached orthogonal to the path tangent of P2, independent of the starting point, this
can be realized with an additional command (see Orthogonal contour approach/departure [} 172]).

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4.4.5 Orthogonal Contour Approach/Departure

Command NORM
Cancellation End of block
Programmable with G40 [} 167]
G41 [} 167]
G42 [} 167]

The 'NORM' command has the effect that the contour is approached orthogonally when cutter radius
compensation is switched on. The actual position of the cutter is irrelevant. When de-selecting, the last
segment with active compensation is also left orthogonally.

Sample:
N10 G17
N20 G01 X0 Y0 Z0 F6000
N30 G42 NORM X100 Y0 D5
N40 X200
N50 G40 NORM X220 Y0
N60 M30

NOTE! The Norm command has hitherto only been implemented for straight line/straight line
transitions.

4.4.6 Path Velocity in Arcs

When the cutter radius compensation [} 167] is active, the programmed radius changes for arcs. This in turn
alters the velocity. The following commands are used to specify whether the feed value refers to the contour
or the tool center point.

Constant Feed at the Contour

Command CFC
Cancellation CFIN or CFTCP

With CFC (constant feed contour) the feedrate at the contour is held constant.

Constant Feed at the Internal Radius

Command CIN
Cancellation CFC or CFTCP

With CFIN (constant feed internal radius) the feedrate at internal radii is reduced. This results in a constant
velocity at the contour. The velocity at external radii is not increased.

Constant Feed of the Tool Centre Point

Command CFTCP
Cancellation CFC or CFIN

With CFTCP (constant feed tool center point) the feedrate of the tool’s center point is kept constant. This
means that at internal radii the velocity at the contour is increased, and that it is correspondingly reduced at
external radii.

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4.4.7 Bottle Neck Detection

If the cutter radius is not considered when a part program is created, the cutter may inadvertently process
the opposite side of the workpiece. This leads to a contour collision with the workpiece, or, in other words, a
bottleneck was programmed.

Command CDON
Cancellation CDOF

In this form, this behavior can only occur in combination with cutter radius compensation (G41/G42). In order
to prevent such contour collisions, monitoring can be switched on from the part program via CDON. For it to
be active, cutter radius compensation must also be selected.

The response of the NCI when a bottleneck is detected can be parameterized via the PLC. 3 cases are
distinguished:
• Error and abort
If a bottleneck is detected, TwinCAT generates a runtime error and aborts the program execution.
• Notification and modification of the contour
If a bottleneck is detected, the contour is modified such that a contour collision is avoided (see Figure
1: blue line). However, this also means that segments may be left out, depending on the program.
Furthermore, a note is entered in the application viewer to say that a bottleneck was detected.
• Notification and contour collision
If a bottleneck is detected, the contour is not changed and no error is generated. Only a message is
entered in the application viewer.

Significant computing resources are required for contour collision monitoring. It should therefore only be
selected if it is actually required. Furthermore, the amount of look-ahead for the bottleneck detection should
be specified. This requires the number of future segments to be determined that are monitored relative to the
n-th segment, in order to check for bottlenecks. The selected number of segments should not be too large,
since this would put unnecessary strain on the system. The value for the look-ahead is also parameterized
from the PLC.

Function blocks for parameterizing the bottleneck detection:

• ItpSetBottleNeckModeEx [} 219]
• ItpGetBottleNeckModeEx [} 195]
• ItpSetBottleNeckLookAheadEx [} 218]

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• ItpGetBottleNeckLookAheadEx [} 195]

Sample:
N10 G0 X0 Y0 Z0
N20 CDON
N30 G01 G41 D3 X100 F6000 (cutter radius 30mm)
...
N40 G01 X200
N50 G02 X220 Y-74.641 I0 J-40
N60 G01 X300 Y-104
N70 G01 X230 Y120
N80 G40 D0 Y200
N90 CDOF
...
M30

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4.5 Command overview

4.5.1 General command overview

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Command Description block-by-block / Default

modal
ANG [} 128] Contour line programming s
(angle)
AROT [} 129] Rotation additive m
CalcInvRot [} 129] Calculates the inverse s
rotation of a vector
CalcRot [} 129] Calculates the rotation of s
a vector
CDOF [} 173] Bottleneck detection off m Default
CDON [} 173] Bottleneck detection on m
CFC [} 172] Constant velocity at the m Default
contour
CFIN [} 172] Constant velocity in the m
interior circle
CFTCP [} 172] Constant velocity of tool m
center point
CIP [} 119] Circular interpolation s
CPCOF [} 119] Centre point correction off m
CPCON [} 119] Centre point correction on m Default
DelDTG [} 140] Delete Distance to Go s
DYNOVR [} 156] Dynamic Override m
FCONST [} 123] Constant feed m Default
programming
FLIN [} 123] Linear feed programming m
G00 [} 118] Rapid traverse m
G01 [} 119] Straight line interpolation m Default
G02 [} 119] Clockwise circular m
interpolation
G03 [} 119] Anticlockwise circular m
interpolation
G04 [} 122] Dwell time s
G09 [} 123] Accurate stop s
G17 [} 111] Plane selection XY m Default
G18 [} 111] Plane selection ZX m
G19 [} 111] Plane selection YZ m
G40 [} 167] No miller/cutter radius m Default
compensation
G41 [} 167] Miller/cutter radius m
compensation left
G42 [} 167] Miller/cutter radius m
compensation right
G53 [} 124] Zero shift suppression m Default
G54 [} 124] 1st adjustable zero shift m
G55 [} 124] 2nd adjustable zero shift m
G56 [} 124] 3rd adjustable zero shift m
G57 [} 124] 4th adjustable zero shift m
G58 [} 124] 1st programmable zero m
shift

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Command Description block-by-block / Default

modal
G59 [} 124] 2nd programmable zero m
shift
G60 [} 123] Accurate stop m
G70 [} 113] Dimensions inch m
G71 [} 113] Dimensions metric m Default
G74 [} 117] Programmed traverse to s
reference point
G90 [} 111] Reference dimension m Default
notation
G91 [} 111] Incremental dimension m
notation
G700 [} 113] Dimensions in inches with m
calculation of the feed
G710 [} 113] Dimensions metric with m
calculation of the feed
Mirror [} 132] Mirroring coordinate m
system
MOD [} 140] Modulo movement s
MSG [} 161] Messages from the NC s
program
NORM [} 172] orthogonal approach of s
and departure from the
contour
P+ [} 111] Feed direction positive m Default
P- [} 111] Feed direction negative m
paramAutoAccurateStop Automatic Accurate Stop m
[} 139]
paramAxisDynamics Parameterization of the m
[} 156] axis dynamics
paramC1ReductionFactor C1 reduction factor m
[} 158]
paramC2ReductionFactor C2 reduction factor m
[} 158]
paramCircularSmoothing Circular smoothing m
[} 138]
paramDevAngle [} 158] C0 reduction - deflection m
angle
paramGroupVertex [} 138] Circular smoothing (old) m
paramGroupDynamic Pathway dynamics (old) m
[} 156]
paramPathDynamics Pathway dynamics m
[} 156]
paramRadiusPrec [} 120] Circular accuracy m
paramSplineSmoothing Smoothing with Bezier m
[} 136] Splines
paramVertexSmoothing Smoothing of Segment m
[} 133] Transitions
paramVeloJump [} 158] C0 reduction - max. step m
change in velocity

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Command Description block-by-block / Default

modal
paramVeloMin [} 159] Minimum velocity m
paramZeroShift [} 124] Parameterization of the m
configurable zero shift
PathAxesPos [} 160] Reads the actual position s
ROT [} 129] Absolute rotation m
RotExOff [} 129] Extended rotation function m Default
off
RotExOn [} 129] Extended rotation function m
on
RotVec [} 129] Calculation routine for s
rotating a vector
RParam [} 115] Initialization of R- s
parameters
RToDwordGetBit [} 115] Converts an R-parameter m
to DWord and checks
whether a defined bit is
set
SEG [} 128] Contour line programming s
(segment length)
skip VirtualMovements Skip virtual movements m
[} 161]
ToolOffsetIncOff [} 164] Cartesian tool m
displacement and length
compensation is not
applied under G91
ToolOffsetIncOn [} 164] Cartesian tool m Default
displacement and length
compensation is applied
under G91
ToolParam [} 162] Writing and reading of tool m
parameters
TPM [} 126] Target position monitoring s
ZeroShiftIncOff [} 124] Zero shift is not applied m
under G91
ZeroShiftIncOn [} 124] Zero shift is applied under m Default
G91

Address Description
Q<n> [} 141] Axis label for auxiliary axis ( 1 <= n <= 5)

4.5.2 @-Command Overview

Several variations of these commands are often possible, since K for a constant, R for an R-parameter or P
for an R-parameter used as a pointer can be used for parameters. For example, the notation K/R/Pn should
be understood to mean "either a number or an R-parameter or a pointer".

The following @-commands are available:

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Command Versions Function

@40 [} 115] @40 Kn Rn Rm .... Save register on the stack
@41 [} 115] @41 Rn Rm Save register on the stack
@42 [} 115] @42 Kn .... Rm Rn Restore register from stack
@43 [} 115] @43 Rm Rn Restore register from stack
@100 [} 151] @100 K±n @100 Rm Unconditional jump
@111 [} 151] @111 Rn K/Rn Km ... Case block
@121 [} 151] @121 Rn K/Rn Kn Jump if unequal
@122 [} 151] @122 Rn K/Rn Kn Jump if equal
@123 [} 151] @123 Rn K/Rn Kn Jump if less or equal
@124 [} 151] @124 Rn K/Rn Kn Jump if less
@125 [} 151] @125 Rn K/Rn Kn Jump if greater or equal
@126 [} 151] @126 Rn K/Rn Kn Jump if greater
@131 [} 153] @131 Rn K/Rn Kn Loop while equal
@132 [} 153] @132 Rn K/Rn Kn Loop while unequal
@133 [} 153] @133 Rn K/Rn Kn Loop while greater
@134 [} 153] @134 Rn K/Rn Kn Loop while greater or equal
@135 [} 153] @135 Rn K/Rn Kn Loop while less
@136 [} 153] @136 Rn K/Rn Kn Loop while less or equal
@141 [} 153] @141 Rn K/Rn Kn Repeat until equal
@142 [} 153] @142 Rn K/Rn Kn Repeat until unequal
@143 [} 153] @143 Rn K/Rn Kn Repeat until greater
@144 [} 153] @144 Rn K/Rn Kn Repeat until greater or equal
@145 [} 153] @145 Rn K/Rn Kn Repeat until less
@146 [} 153] @146 Rn K/Rn Kn Repeat until less or equal
@151 [} 153] @151 Rn K/Rn Kn FOR_TO loop
@161 [} 153] @161 Rn K/Rn Kn FOR_DOWNTO loop
@200 @200 Rn Delete a variable
@202 @202 Rn Rm Swap two variables
@302 @302 K/R/Pn K/R/Pn R/Pn Read machine data bit
@361 [} 160] @361 Rn Km Read machine-related actual axis
value
@372 @372 Rn Set number of the NC channel in
variable
@402 [} 119] @402 K/R/Pn K/R/Pn K/R/Pn Write machine data bit
@610 @610 Rn Rn Find absolute value of a variable
@613 @613 Rn Rn Find square root of a variable
@614 @614 Rn Rm Rm Find square root of the sum of the
squares of two variables x =
sqrt( a^2 + b^2)
@620 [} 153] @620 Rn Increment variable
@621 @621 Rn Decrement variable
@622 @622 Rn Find integer part of a variable
@630 [} 115] @630 Rn Rm Find sine of a variable
@631 [} 115] @631 Rn Rm Find cosine of a variable
@632 [} 115] @632 Rn Rm Find tangent of a variable

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Command Versions Function

@633 [} 115] @633 Rn Rm Find cotangent of a variable
@634 [} 115] @634 Rn Rm Find arcsine of a variable
@635 [} 115] @635 Rn Rm Find arccosine of a variable
@636 [} 115] @636 Rn Rm Find arctangent of a variable
@714 [} 150] @714 Decoder stop
@716 [} 150] @716 Decoder stop with rescan of the
axis positions
@717 [} 150] @717 Decoder stop with external trigger
event

Machine data

Access to the following machine data is supported:

Byte Bit Action

5003 [} 119] 5 0: IJK words specify the distance
between the center of the circle
and the starting point. IJK are
absolute data giving the center of
the circle.

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5 PLC NCI Libraries

Requirements

Overview of PLC NCI libraries Description

PLC Library: Tc2_NCI [} 181] Function blocks for the configuration of the
interpolation group (e.g. formation of the 3D group)
and for operating the interpreter (G-Code (DIN
66025)) such as loading and starting the NC
program.
PLC Library: Tc2_PlcInterpolation [} 276] Programming of multi-dimensional movements from
the PLC (alternative to using G-Code (DIN 66025))

5.1 PLC Library: Tc2_NCI

5.1.1 Configuration
The library Tc2_NCI provides function blocks for general NC axis configuration. This makes it possible to
configure or to reconfigure axes in a simple way directly from the PLC.

Function Block Description

CfgBuild3DGroup [} 181] Groups up to 3 PTP axes into a 3D group
CfgBuildExt3DGroup [} 182] Groups up to 3 PTP axes and 5 auxiliary axes into a
3D group
CfgAddAxisToGroup [} 183] Configures a single axis at a particular location within
a group (PTP, 3D, FIFO)
CfgReconfigGroup [} 184] Removes 3D (or FIFO) axis allocations and returns of
the axes to their personal PTP group
CfgReconfigAxis [} 185] Returns a single axis from, for example, a 3D group,
to its personal PTP group
CfgRead3DAxisIds [} 186] Reads the axis IDs (axis allocation) of a 3D group
CfgReadExt3DAxisIds [} 187] Reads the axis IDs (axis allocation) of a 3D group
with auxiliary axes

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.1.1 CfgBuild3DGroup

This function block configures a 3D group with up to 3 PTP axes (X, Y and Z).

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nGroupId : UDINT;
nXAxisId : UDINT;

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nYAxisId : UDINT;
nZAxisId : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nGroupId: ID of the 3D group

nXAxisId: ID of the PTP axes

nYAxisId: ID of the PTP axes

nZAxisId: ID of the PTP axes

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.1.2 CfgBuildExt3DGroup

This function block configures a 3D group with up to 3 path axes (X, Y and Z). Additionally, up to 5 auxiliary
axes (Q1..Q5) can be configured.

The axis IDs of the PTP axes that are to be included in the interpolation group are applied at the inputs
nXAxisId to nQ5AxisId.

NOTE! The assignment of the auxiliary axes must start with nQ1AxisId. No gaps between auxiliary
axes are permitted. For example, if nQ3AxisId is to be assigned, nQ2AxisId must also be assigned a
valid Axis ID.

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VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nGroupId : UDINT;
nXAxisId : UDINT;
nYAxisId : UDINT;
nZAxisId : UDINT;
nQ1AxisId : UDINT;
nQ2AxisId : UDINT;
nQ3AxisId : UDINT;
nQ4AxisId : UDINT;
nQ5AxisId : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is executed when a positive edge is encountered.

nGroupId: ID of the 3D group

nXAxisId: Axis IDs of the PTP axes to be included in the interpolation group

nYAxisId: Axis IDs of the PTP axes to be included in the interpolation group

nZAxisId: Axis IDs of the PTP axes to be included in the interpolation group

nQ1AxisId: Axis IDs of the PTP axes to be included in the interpolation group

nQ2AxisId: Axis IDs of the PTP axes to be included in the interpolation group

nQ3AxisId: Axis IDs of the PTP axes to be included in the interpolation group

nQ4AxisId: Axis IDs of the PTP axes to be included in the interpolation group

nQ5AxisId: Axis IDs of the PTP axes to be included in the interpolation group

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.1.3 CfgAddAxisToGroup

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The CfgAddAxisToGroup function block configures a single axis at a particular location within an existing
group (PTP, 3D, FIFO).

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nGroupId : UDINT;
nAxisId : UDINT;
nIndex : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nGroupId: ID of the target group

nAxisId: ID of the axis to be configured

nIndex: Position of the axis within the group; can have values between 0 and n-1. Depending on the type of
group, n has the following significance: PTP: n = 1, 3D: n = 3, FIFO: n = 8

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.1.4 CfgReconfigGroup

The CfgReconfigGroup function block removes the axis allocation of an existing group (NCI or FIFO),
returning the axes to their personal PTP groups.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nGroupId : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

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nGroupId: ID of the group to be resolved

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.1.5 CfgReconfigAxis

The CfgReconfigAxis function block returns a single axis from, for example, a 3D group, to its personal PTP
group.

Interface
VAR_INPUT
bExecute : BOOL;
nAxisId : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nAxisId: ID of the axis to be returned

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

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nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.1.6 CfgRead3DAxisIds

The function block CfgRead3DAxisIds reads the axis configuration of a 3D group.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nGroupId : UDINT;
pAddr : PVOID;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nGroupId: ID of the 3D group

pAddr: Address of the variable into which the function block writes the axis IDs of the group assignment
(array with three elements of type UDINT)

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Sample:
VAR
(* instance *)
ReadAxIds : CfgRead3DAxisIds;
AxIds : ARRAY[1..3] OF UDINT;
END_VAR
ReadAxIds( bExecute := TRUE,
nGroupId := 4,
pAddr := ADR( AxIds ),
tTimeOut := T#1s );

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AxIds now contains the three axis IDs for the 3D group with the group ID 4.

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.1.7 CfgReadExt3DAxisIds

The function block CfgReadExt3DAxisIds reads the axis configuration of the extended 3D group.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nGroupId : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nGroupId: ID of the 3D group

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
stExt3dGroup : NCI_EXT3DGROUP;
END_VAR

stExt3dGroup: Instance of the structure NCI_EXT3DGROUP (enter axis IDs of the current interpolation
group here)

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).
TYPE NCI_EXT3DGROUP :
STRUCT
nXAxisId : UDINT;
nYAxisId : UDINT;
nZAxisId : UDINT;
nQ1AxisId : UDINT;
nQ2AxisId : UDINT;
nQ3AxisId : UDINT;
nQ4AxisId : UDINT;

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nQ5AxisId : UDINT;
END_STRUCT
END_TYPE

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2 NCI POUs

The TwinCAT library Tc2_NCI contains function blocks for operating the NC interpreter from the PLC.

The following function blocks are included in the library Tc2_NCI.

188 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

Function Block Description

ItpConfirmHsk [} 190] Acknowledges an M-function of type handshake
ItpDelDtgEx [} 191] Triggers “Delete Distance to go” in the NC
ItpEnableDefaultGCode [} 192] Executes a user-defined standard G-Code before the
start of each NC program
ItpEStopEx [} 193] Triggers the NCI EStop
ItpGetBlockNumber [} 194] Provides the block number of the NC program for the
cyclic interface
ItpGetBottleNeckLookAheadEx [} 195] Provides the value of the look-ahead for bottleneck
detection
ItpGetBottleNeckModeEx [} 195] Provides the response mode for bottleneck detection
ItpGetChannelId [} 196] Provides the channel ID
ItpGetChannelType [} 197] Provides the channel type of the cyclic interface
ItpGetCyclicLRealOffsets [} 198] Provides the index offset of the LREAL variables
used in the cyclic channel interface
ItpGetCyclicUdintOffsets [} 199] Provides the index offset of the UDINT variables
used in the cyclic channel interface
ItpGetError [} 200] Provides the error number
ItpGetGeoInfoAndHParamEx [} 200] Reads information of the currently active segment
and past and future segments.
ItpGetGroupAxisIds [} 202] Provides the axis IDs that were configured for the
group
ItpGetGroupId [} 202] Provides the group ID
ItpGetHParam [} 203] Provides the current H-parameter from the NC
ItpGetHskMFunc [} 203] Provides the current M-function number of type
handshake
ItpGetItfVersion [} 204] Provides the current version of the cyclic interface
ItpGetOverridePercent [} 204] Provides the channel override in percent
ItpGetSetPathVelocity [} 205] Returns the current set path velocity
ItpGetSParam [} 205] Provides the current S-parameter from the NC
ItpGetStateInterpreter [} 206] Provides the current interpreter status
ItpGetTParam [} 206] Provides the current T-parameter from the NC
ItpGoAheadEx [} 207] Triggers the GoAhead function (decoder stop with
external trigger event)
ItpHasError [} 208] Determines whether an error is present
ItpIsFastMFunc [} 208] Determines whether the M-function number provided
is present in the form of a fast M-function
ItpIsEStopEx [} 209] Determines whether an EStop is executed or pending
ItpIsHskMFunc [} 210] Determines whether an M-function of type handshake
is present
ItpLoadProgEx [} 210] Loads an NC program using program names
ItpReadCyclicLRealParam1 [} 212] Reads the first LReal parameter from the cyclic
channel interface
ItpReadCyclicUdintParam1 [} 212] Reads the first UDINT parameter from the cyclic
channel interface
ItpReadRParamsEx [} 213] Reads calculation parameters
ItpReadToolDescEx [} 214] Reads the tool description from the NC
ItpReadZeroShiftEx [} 215] Reads the zero shift from the NC
ItpResetEx2 [} 216] Carries out a reset of the interpreter or of the NC
channel

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PLC NCI Libraries

Function Block Description

ItpResetFastMFuncEx [} 217] Resets a fast signal bit
ItpSetBottleNeckLookAheadEx [} 218] Sets the value of the look-ahead for bottleneck
detection
ItpSetBottleNeckModeEx [} 219] Sets the response mode when bottleneck detection is
switched on
ItpSetCyclicLRealOffsets [} 220] Sets the index offsets of the LREAL variables used in
the cyclic channel interface
ItpSetCyclicUdintOffsets [} 221] Sets the index offsets of the UDINT variables used in
the cyclic channel interface
ItpSetOverridePercent [} 222] Sets the channel override in percent
ItpSetSubroutinePathEx [} 223] Optionally sets the search path for subroutines
ItpSetToolDescNullEx [} 224] Sets all tool parameters (including number and type)
to zero
ItpSetZeroShiftNullEx [} 225] Set all zero shifts to null
ItpSingleBlock [} 226] Enables or disables the single block mode in the NCI.
ItpStartStopEx [} 227] Starts or stops the interpreter (NC channel)
ItpStepOnAfterEStopEx [} 228] Enables further processing of the parts program after
an NCI EStop
ItpWriteRParamsEx [} 229] Writes calculation parameters
ItpWriteToolDescEx [} 230] Writes the tool description into the NC
ItpWriteZeroShiftEx [} 231] Writes the zero shift into the NC
Block search (for description of the functionality see Blocksearch [} 232])
ItpBlocksearch [} 233] Sets the interpreter to a user-defined location, so that
NC program execution continues from this point.
ItpGetBlocksearchData [} 236] Reads the current state after an NC program
interruption.
ItpStepOnAfterBlocksearch [} 237] Starts the motion after a block search.
Retrace
ItpEnableFeederBackup [} 237] Enables the backup list for retracing
ItpIsFeederBackupEnabled [} 238] Reads whether the backup list for retracing is active
ItpIsFirstSegmentReached [} 240] Reads whether the start position is reached during
retracing
ItpIsFeedFromBackupList [} 239] Reads whether feeder entries were sent from the
backup list
ItpIsMovingBackwards [} 240] Reads whether backward movement occurs on the
current path
ItpRetraceMoveBackward [} 241] Performs a backward movement on the path
ItpRetraceMoveForward [} 242] Performs a forward movement on the path. This is
called to cancel retracing.

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.1 ItpConfirmHsk

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 PLC NCI Libraries

The ItpConfirmHsk function block confirms the currently present M-function.

If the channel override is set to 0 or an E-stop is active, no M-functions are acknowledged during this time.
The busy signal of ItpConfirmHsk therefore remains active and must continue to be called.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
sPlcToNci : PLCTONC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

sPlcToNci: The structure of the cyclic channel interface from the PLC to the NCI. (Type:
PLCTONC_NCICHANNEL_REF [} 308])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.2 ItpDelDtgEx

The function block ItpDelDtgEx triggers residual distance deletion. There is a more detailed description in the
Interpreter [} 140]documentation.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

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PLC NCI Libraries

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.3 ItpEnableDefaultGCode

The function block ItpEnableDefaultGCode enables execution of a user-defined G-Code before the start of
each NC program from the PLC. The default program is executed before the loaded program when the
actual NC program starts.

This function block enables rotation of the coordinate system for all NC programs to be executed, for
example.

The standard G-Code must be stored as “DefaultGCode<Channel-Number>.def” in the TwinCAT\Mc\Nci

directory.

VAR_IN
VAR_IN
bExecute : BOOL;
bUseDefaultGCode : BOOL;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

bUseDefaultGCode: If this variable is TRUE, the default G-Code is activated through a rising edge at
bExecute. If the variable is FALSE, the default G-Code is deactivated.

tTimeOut: ADS Timeout-Delay

192 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.4 ItpEStopEx

The function block ItpEStopEx triggers the NCI EStop and enables a controlled stop on the path. The limit
values for the deceleration and the jerk are transferred as parameters. If these should be smaller than the
currently active dynamic parameters, the transferring parameters are rejected.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
fDec : LREAL;
fJerk : LREAL;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

fDec: Max. deceleration during stopping. If fDec is smaller than the currently active deceleration, fDec is
rejected. This ensures that the deceleration occurs with the standard ramp as a minimum.

fJerk: Max. jerk during stopping. If fJerk is smaller than the currently active jerk, fJerk is rejected.

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

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PLC NCI Libraries

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

See also ItpStepOnAfterEStopEx [} 228].

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.5 ItpGetBlockNumber

ItpGetBlockNumber is a function that returns the block number of the NC program for the cyclic interface.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

Return value

ItpGetBlockNumber: Block number of the active geometry segment

Sample
VAR
nBlockNumber : UDINT;
sNciToPlc AT%I* : NCTOPLC_NCICHANNEL_REF;
END_VAR
nBlockNumber := ItpGetBlockNumber(sNciToPlc);

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

194 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

5.1.2.6 ItpGetBottleNeckLookAheadEx

The function block ItpGetBottleNeckLookAheadEx determines the maximum size of the look-ahead for the
bottleneck detection (contour collision monitoring).

There is a more detailed description in the Interpreter [} 173] documentation.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
nLookAhead : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. If the function block has a timeout error, ‘Error’ is TRUE
and ‘nErrId’ is 1861 (hexadecimal 0x745). Is reset to FALSE by the execution of a command at the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

nLookAhead: Value of the look-ahead for bottleneck detection

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.7 ItpGetBottleNeckModeEx

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PLC NCI Libraries

The function block ItpGetBottleNeckModeEx reads the behavior in the event of a contour collision
(bottleneck).

There is a more detailed description in the Interpreter [} 173] documentation.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
eBottleNeckMode : E_ItpBnMode
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation or in the NC error documentation (error codes above 0x4000).

eBottleNeckMode: Enum for the behavior in the event of a contour collision

TYPE E_ItpBnMode:
(
ItpBnm_Abort := 0,
ItpBnm_Adjust := 1,
ItpBnm_Leave := 2
);
END_TYPE

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.8 ItpGetChannelId

ItpGetChannelId is a function that determines the channel ID from the cyclic interface.

196 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

Return value

ItpGetChannelId: Channel ID (type: UDINT)

Sample
VAR
nChnId : UINT;
sNciToPlc AT%I*: NCTOPLC_NCICHANNEL_REF;
END_VAR
nChnId := ItpGetChannelId( sNciToPlc );

see also: ItpGetGroupId [} 202]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.9 ItpGetChannelType

ItpGetChannelType is a function that returns the channel type of the cyclic interface.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

Return value

ItpGetChannelType: Channel type (type: E_ItpChannelType)

TYPE E_ItpChannelType :
(
ItpChannelTypeNone,
ItpChannelTypeInterpreter,
ItpChannelTypeKinematic,
ItpChannelType_InvalidItfVer := 16#4B14 (*ErrTcNciItp_ItfVersion the cyclic channel inter-
face does not match to the requested function/fb *)
);
END_TYPE

Sample
VAR
nChannelType : E_ItpChannelType;
sNciToPlc AT%I* : NCTOPLC_NCICHANNEL_REF;
END_VAR
nChannelType := ItpGetChannelType( sNciToPlc );

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PLC NCI Libraries

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.10 ItpGetCyclicLrealOffsets

The function block ItpGetCyclicLRealOffsets is used to read the current configuration of the cyclic channel
interface for LREAL variables.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
nIndexOffsetParam1 : UDINT;
nIndexOffsetParam2 : UDINT;
nIndexOffsetParam3 : UDINT;
nIndexOffsetParam4 : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

nIndexOffsetParam1: Group state (index offset) for parameter 1

nIndexOffsetParam2: Group state (index offset) for parameter 2

nIndexOffsetParam3: Group state (index offset) for parameter 3

nIndexOffsetParam4: Group state (index offset) for parameter 4

198 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

see also:
• ItpReadCyclicLRealParam1 [} 212]
• ItpSetCyclicLRealOffsets [} 220]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.11 ItpGetCyclicUDintOffsets

The function block ItpGetCyclicUDintOffsets is used to read the current configuration of the cyclic channel
interface for UDINT variables.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
nIndexOffsetParam1 : UDINT;
nIndexOffsetParam2 : UDINT;
nIndexOffsetParam3 : UDINT;
nIndexOffsetParam4 : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

nIndexOffsetParam1: Group state (index offset) for parameter 1

TF5100 TwinCAT 3 NC I Version: 1.2 199

PLC NCI Libraries

nIndexOffsetParam2: Group state (index offset) for parameter 2

nIndexOffsetParam3: Group state (index offset) for parameter 3

nIndexOffsetParam4: Group state (index offset) for parameter 4

see also:
• ItpReadCyclicUDintParam1 [} 212]
• ItpSetCyclicUdintOffsets [} 221]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.12 ItpGetError

ItpGetError is a function that returns the error number. A description of the NC error codes can be found here
[} 313].

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

Return value

ItpGetError: Error number

NOTE! ItpGetError evaluates the variable 'nItpErrCode' from the cyclic interface.

Sample
VAR
bItpError : BOOL;
nErrId : UINT;
sNciToPlc AT%I*: NCTOPLC_NCICHANNEL_REF;
END_VAR
bItpError := ItpHasError( sNciToPlc );
IF bItpError THEN
nErrId := ItpGetError( sNciToPlc );
…
END_IF

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.13 ItpGetGeoInfoAndHParamEx

200 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

The function block ItpGetGeoInfoAndHParamEx reads informations of the currently active segment and
past and future segments. These include block number, H-parameter and residual path length on the
segment.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
stTab : ST_ItpPreViewTabEx;
nErrId : UDINT;
END_VAR

stTab: Structure containing the segment data. See ST_ItpPreViewTabEx [} 201].

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in nErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).
TYPE ST_ItpPreViewTabEx :
STRUCT
nDcTime : UDINT := 0
nReserved : UDINT := 0;
arrLines : ARRAY[1..NCI_MAX_PREVIEWTABLINES] OF ST_ItpPreViewTabLine;
END_STRUCT
END_TYPE

nDcTime: Current time stamp in ns. This time stamp can be used e.g. in interplay with the Tc2_NciXFC
library.

arrLines: Array of segment-related information (size 20). The entry at position 11 of the array corresponds to
the currently active segment. Segments that have already been processed are displayed at positions 1-10 of
the array, future segments at positions 12-20. See ST_ItpPreViewTabLine [} 201].
TYPE ST_ItpPreViewTabLine :
STRUCT
fLength : LREAL := 0.0;
nBlockNo : UDINT := 0;
nHParam : UDINT := 0;
nEntryID : UDINT := 0;
nReserved : UDINT := 0;
END_STRUCT
END_TYPE

fLength: Remaining segment length. For segments that are not yet active this corresponds to the total
segment length. For past segments the distance moved since the end of the segment is specified.

nBlockNo: Block number programmed by the user

nHParam: Value of the H-parameter [} 149] that is active from the start of the next segment

nEntryID: Command ID generated by the system

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

TF5100 TwinCAT 3 NC I Version: 1.2 201

PLC NCI Libraries

5.1.2.14 ItpGetGroupAxisIds

ItpGetGroupAxisIds is a function that returns an array of axes IDs that were configured for the group.

VAR_IN_OUT
FUNCTION ItpGetGroupAxisIds

VAR_IN_OUT
sNciToPlc AT%I* : NCTOPLC_NCICHANNEL_REF;
nNciAxisIds : ARRAY[1..8] OF DWORD;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

sNciAxisIds: Array of axis IDs

Return value

ItpGetGroupAxisIds: Error number

NOTE! ItpGetGroupAxisIds evaluates the information of the variable 'nAcsAxisIDs[8]' from the
cyclic interface.

Sample
VAR
nNciAxisIds : ARRAY[1..8] OF DWORD;
sNciToPlc AT%I* : NCTOPLC_NCICHANNEL_REF;
nVersionErr : DWORD;
END_VAR
nVersionErr := ItpGetGroupAxisIds(nNciAxisIds, sNciToPlc );

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.15 ItpGetGroupId

ItpGetGroupId is a function that determines the group ID from the cyclic interface.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

Return value

ItpGetGroupId: Group ID

202 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

Sample
VAR
nGrpId : UINT;
sNciToPlc AT%I*: NCTOPLC_NCICHANNEL_REF;
END_VAR
nGrpId := ItpGetGroupId( sNciToPlc );

See also: ItpGetChannelId [} 196]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.16 ItpGetHParam

ItpGetHParam is a function that returns the current H-parameter.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

Return value

ItpGetHParam: H parameter

NOTE! ItpGetHParam evaluates the variable 'nHFuncValue' from the cyclic interface.

Sample
VAR
nHParam : DINT;
sNciToPlc AT%I*: NCTOPLC_NCICHANNEL_REF;
END_VAR
nHParam := ItpGetHParam( sNciToPlc );

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.17 ItpGetHskMFunc

ItpGetHskMFunc supplies the number of the M-function of type handshake.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

TF5100 TwinCAT 3 NC I Version: 1.2 203

PLC NCI Libraries

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

Return value

ItpGetHskMFunc: Number of the M-function

NOTE! ItpGetHskMFunc evaluates the variable 'nHskMFuncNo' from the cyclic interface.

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.18 ItpGetItfVersion

ItpGetItfVersion is a function that determines the version number of the cyclic interface.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

Return value

ItpGetItfVersion: Version number of the cyclic interface

Sample
VAR
nItfVer : UINT;
sNciToPlc AT%I*: NCTOPLC_NCICHANNEL_REF;
END_VAR
nItfVer := ItpGetItfVersion( sNciToPlc );

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.19 ItpGetOverridePercent

The ItpGetOverridePercent function returns the axis channel override as a percentage. It is essential to
remember that this is not a value from the NC. The value, which is transferred as set value to the NC, is
evaluated.

VAR_IN_OUT
VAR_IN_OUT
sPlcToNci : PLCTONC_NCICHANNEL_REF;
END_VAR

204 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

sPlcToNci: Structure of cyclic channel interface between PLC and NCI (type: PLCTONC_NCICHANNEL_REF
[} 308])

Return value

ItpGetOverridePercent: Override in percent

Sample
VAR
sPlcToNci AT%Q*: PLCTONC_NCICHANNEL_REF;
fOverride : LREAL;
END_VAR
fOverride := ItpGetOverridePercent( sPlcToNci );

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.20 ItpGetSetPathVelocity

ItpGetSetPathVelocity is a function that reads the current set bath velocity from the cyclic interface.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

Return value

ItpGetSetPathVelocity: Current set bath velocity

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.21 ItpGetSParam

ItpGetSParam is a function that returns the current S-parameter.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

TF5100 TwinCAT 3 NC I Version: 1.2 205

PLC NCI Libraries

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

Return value

ItpGetSParam: S parameter

NOTE! ItpGetSParam evaluates the variable 'nSpindleRpm' from the cyclic interface.

Sample
VAR
nSParam : UINT;
sNciToPlc AT%I*: NCTOPLC_NCICHANNEL_REF;
END_VAR
nSParam := ItpGetSParam( sNciToPlc );

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.22 ItpGetStateInterpreter

ItpGetStateInterpreter is a function that returns the interpreter status.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

Return value

ItpGetStateInterpreter: Current interpreter status

NOTE! ItpGetStateInterrpreter evaluates the variable 'nItpState' from the cyclic interface.

Sample
VAR
nItpState : UDINT;
sNciToPlc AT%I*: NCTOPLC_NCICHANNEL_REF;
END_VAR
nItpState := ItpGetStateInterpreter( sNciToPlc );

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.23 ItpGetTParam

206 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

ItpGetTParam is a function that returns the current T-parameter.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

Return value

ItpGetTParam: T parameter

NOTE! ItpGetTParam evaluates the variable 'nTool' from the cyclic interface.

Sample
VAR
nTParam : UINT;
sNciToPlc AT%I*: NCTOPLC_NCICHANNEL_REF;
END_VAR
nTParam := ItpGetTParam( sNciToPlc );

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.24 ItpGoAheadEx

The ItpGoAheadEx function block may only be used in association with the decoder stop '@717' [} 150].
There is a more detailed description of this decoder stop in the interpreter documentation [} 107].

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

TF5100 TwinCAT 3 NC I Version: 1.2 207

PLC NCI Libraries

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.25 ItpHasError

ItpHasError is a function that determines whether the interpreter is in an error state.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

Return value

If there is an error, the function returns TRUE.

NOTE! ItpHasError evaluates the variable 'nItpErrCode' from the cyclic interface. If this value does
not equal 0, TRUE is returned.

Sample
VAR
bItpError : BOOL;
sNciToPlc AT%I*: NCTOPLC_NCICHANNEL_REF;
END_VAR
bItpError := ItpHasError( sNciToPlc );

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.26 ItpIsFastMFunc

ItpIsFastMFunc is a function that determines whether the fast M-function is set for the supplied M-function
number.

208 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

VAR_IN
FUNCTION ItpIsFastMFunc

VAR_IN
nFastMFuncNo : INT;
END_VAR

nFastMFuncNo: Number of the M-function that is to be checked.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

Return value

The function returns TRUE if the fast bit of the M-function is set.

NOTE! ItpIsFastMFunc evaluates the variable 'nFastMFuncMask' from the cyclic interface.

Sample
(*this enum is defined by the user *)

TYPE FastMFuncs:
(
M10_CoolingFluidOn := 10, (*fast M-Funktion M10*)
M11_CoolingFluidOff := 11,
M12_FanOn := 12,
M13_FanOff := 13
);
END_TYPE
VAR
sNciToPlc AT%I*: NCTOPLC_NCICHANNEL_REF
enFastMFuncs : FastMFuncs;
bTurnFanOn : BOOL;
END_VAR
bTurnFanOn := ItpIsFastMFunc( M12_FanOn,sNciToPlc );

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.27 ItpIsEStopEx

The function ItpIsEStopEx indicates whether an EStop command was triggered.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

TF5100 TwinCAT 3 NC I Version: 1.2 209

PLC NCI Libraries

Return value

If the return value is TRUE, the function was preceded by an EStop (e.g. ItpEStopEx). The flag does not
provide information as to whether the axes have already stopped or are still on the braking ramp.

After execution of ItpStepOnAfterEStopEx, ItpIsEStopEx returns FALSE again.

NOTE! ItpIsEStopEx evaluates the cyclic interface.

see also:

ItpEStopEx [} 193]

ItpStepOnAfterEStopEx [} 228]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.28 ItpIsHskMFunc

ItpIsHskMFunc determines whether an M-function of type handshake is present.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

Return value

The function returns TRUE if an M-function of type handshake is present.

NOTE! ItpIsHskFunc evaluates the variable 'nHskMFuncReq' from the cyclic interface.

Sample
VAR
bMFuncRequest : BOOL;
sNciToPlc AT%I* : NCTOPLC_NCICHANNEL_REF;
END_VAR
bMFuncRequest := ItpIsHskMFunc( sNciToPlc );

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.29 ItpLoadProgEx

210 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
sPrg : STRING(255);
nLength : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The function block reads the NC program when a rising edge is encountered

sPrg: Name of the NC program that is loaded

nLength: String length of the program name

tTimeOut: ADS Timeout-Delay

The NC program is looked up in directory "TwinCAT\Mc\Nci", if no further information is available. It is

however also possible to give an absolute path.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Sample
VAR
in_stItpToPlc AT %I* : NCTOPLC_NCICHANNEL_REF;
fbLoadProg : ItpLoadProgEx;
sProgramPath : STRING (255):= 'TestIt.nc';
END_VAR
fbLoadProg(
bExecute := TRUE,
sPrg := sProgramPath,
nLength := LEN(sProgramPath),
tTimeOut := t#200ms,
sNciToPlc := in_stItpToPlc
);

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

TF5100 TwinCAT 3 NC I Version: 1.2 211

PLC NCI Libraries

5.1.2.30 ItpReadCyclicLRealParam1

This function reads the first LREAL parameter from the cyclic channel interface. This parameter is configured
previously with ItpSetCyclicLRealOffsets [} 220].

Parameter 2 to 4 are read via the same mechanism (e.g. ItpReadCyclicLRealParam2).

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

Return value

Parameter 1 of type LREAL.

See also:
• ItpReadCyclicUdintParam1 [} 212]
• ItpSetCyclicLRealOffsets [} 220]
• ItpGetCyclicLRealOffsets [} 198]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.31 ItpReadCyclicUdintParam1

This function reads the first UDINT parameter from the cyclic channel interface. This parameter is configured
previously with ItpSetCyclicUdintOffsets [} 221].

Parameter 2 to 4 are read via the same mechanism (e.g. ItpReadCyclicUdintParam2).

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

Return value

Parameter 1 of type UDINT.

See also:
• ItpReadCyclicLRealParam1 [} 212]
• ItpSetCyclicUdintOffsets [} 221]

212 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

• ItpGetCyclicUdintOffsets [} 199]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.32 ItpReadRParamsEx

The ItpReadRParamsEx function block reads the NC’s calculation parameters, also known as R-parameters.
A more detailed description of the calculation parameters can be found here [} 115]. A total of 1000 R-
parameters are available, of which the first 900 (0..899) are local, so that they are only visible in the current
NC channel. The other 100 (900..999) R-parameters are global, and are thus visible from anywhere in the
NC.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
pAddr : PVOID;
nIndex : DINT;
nCount : DINT;
tTimeOut : TIME;
END_VAR

bExecute: A rising edge starts the read operation.

pAddr: Address of the target variables of the data to be read. Data are written directly from the specified
address, i.e. nIndex is not to be interpreted as offset from pAddr. The data are usually stored in an array of
type LREAL, which has to be defined by the user.

nIndex: Describes the index of the R-parameter to be read from an NC perspective.

nCount: Number of R-parameters to be read

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

TF5100 TwinCAT 3 NC I Version: 1.2 213

PLC NCI Libraries

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.33 ItpReadToolDescEx

The ItpReadToolDescEx function block reads the tool parameters for the supplied D-word.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nDNo : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nDNo: D-word for which the tool parameters are to be read. nDNo can have values between 1 and 255.

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
sToolDesc : ToolDesc;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading.

sToolDesc: A structure into which the tool parameters of nDNo are written. The meaning of the parameters
depends on the tool type, and can be found in the tool data [} 162]. (type: NCTOPLC_NCICHANNEL_REF
[} 306])
TYPE ToolDesc:
STRUCT
nToolNumber : UDINT; (*valid range from 0 .. 65535*)
nToolType : UDINT;
fParam : ARRAY [2..15] OF LREAL;
END_STRUCT
END_TYPE

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

214 Version: 1.2 TF5100 TwinCAT 3 NC I

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bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

See also:

ItpWriteToolDescEx [} 230]

ItpSetToolDescNullEx [} 224]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.34 ItpReadZeroShiftEx

The ItpReadZeroShiftEx function block reads the zero shift components X, Y and Z for the given zero shift.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nZsNo : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nZsNo: Number of the zero shift. G54 to G59 are zero shifts at the NC. The valid range of values for 'nZsNo'
is therefore from 54 to 59.

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCITOPLC_NCICHANNEL_REF;
sZeroShiftDesc : ZeroShiftDesc;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

sZeroShiftDesc: The structure containing the components of the zero shift.

TYPE ZeroShiftDesc:
STRUCT
fShiftX : LREAL;
fShiftY : LREAL;
fShiftZ : LREAL;
END_STRUCT
END_TYPE

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VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

NOTE! For reasons of compatibility, there are two entries (coarse and fine) for each axis in each
zero shift (e.g. G54). These two entries must be added together. This function block evaluates both
the entries and adds them together automatically.

See also:

ItpWriteZeroShiftEx [} 231]

ItpSetZeroShiftNullEx [} 225]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.35 ItpResetEx2

The function block 'ItpResetEx2' executes a channel reset, which deletes all existing tables of the NC
channel. In contrast to the outdated function block ItpReset, an active channel is stopped first, before the
reset is executed. This simplifies programming in the PLC, since no explicit check is necessary to ascertain
whether the axes are still in motion.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

tTimeOut: ADS timeout delay (the bBusy signal can be active for longer than tTimeOut)

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

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VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.36 ItpResetFastMFuncEx

The fast M-function nMFuncNo [} 145] is reset with a rising edge at input bExecute. In the event of the M-
function not being available, no error is returned.

This function block represents an alternative to Auto-reset or reset with another M-function (reset list during
parameterization of the M-function). For reasons of transparency, mixed resets using an M-function and this
function block should be avoided.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nMFuncNo : UINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nMFuncNo: Flying M-function that is to be reset

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

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bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.37 ItpSetBottleNeckLookAheadEx

The function block ItpSetBottleNeckLookAheadEx determines the maximum number of segments the system
may look ahead for bottleneck detection (contour collision monitoring). Note that segments, which were
added as a result of radius compensation (e.g. additional segments at acute angles) are taken into account.

There is a more detailed description in the Interpreter [} 173] documentation.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nLookAhead : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nLookAhead: Specifies the look-ahead value

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

218 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.38 ItpSetBottleNeckModeEx

The function block ItpSetBottleNeckModeEx specifies the behavior in the event of a contour collision
(bottleneck).

There is a more detailed description in the Interpreter [} 173] documentation.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
eBottleNeckMode: E_ItpBnMode
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

eBottleNeckMode: Enum for the behavior in the event of a contour collision

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])
TYPE E_ItpBnMode:
(
ItpBnm_Abort := 0,
ItpBnm_Adjust := 1,
ItpBnm_Leave := 2
);
END_TYPE

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

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PLC NCI Libraries

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.39 ItpSetCyclicLrealOffsets

The function block ItpSetCyclicLrealOffsets is used to describe the cyclic channel interface for the 4 freely
configurable LREAL variables. Variables (index offsets) can be selected from the group state [} 396].

The functionality is only active if nIndexOffsetParam1 is not equal 0.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
tTimeOut : TIME;
nIndexOffsetParam1 : UDINT;
nIndexOffsetParam2 : UDINT;
nIndexOffsetParam3 : UDINT;
nIndexOffsetParam4 : UDINT;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

tTimeOut: ADS Timeout-Delay

nIndexOffsetParam1: Group state (index offset) for parameter 1

nIndexOffsetParam2: Group state (index offset) for parameter 2

nIndexOffsetParam3: Group state (index offset) for parameter 3

nIndexOffsetParam4: Group state (index offset) for parameter 4

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

220 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

See also:
• ItpReadCyclicLRealParam1 [} 212]
• ItpGetCyclicLRealOffsets [} 198]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.40 ItpSetCyclicUDintOffsets

The function block ItpSetCyclicUDintOffsets is used to describe the cyclic channel interface for the 4 freely
configurable UDINT variables. Variables (index offsets) can be selected from the group state [} 396].

The functionality is only active if nIndexOffsetParam1 is not equal 0.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
tTimeOut : TIME;
nIndexOffsetParam1 : UDINT;
nIndexOffsetParam2 : UDINT;
nIndexOffsetParam3 : UDINT;
nIndexOffsetParam4 : UDINT;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

tTimeOut: ADS Timeout-Delay

nIndexOffsetParam1: Group state (index offset) for parameter 1

nIndexOffsetParam2: Group state (index offset) for parameter 2

nIndexOffsetParam3: Group state (index offset) for parameter 3

nIndexOffsetParam4: Group state (index offset) for parameter 4

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

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PLC NCI Libraries

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

See also:
• ItpReadCyclicUDintParam1 [} 212]
• ItpGetCyclicUdintOffsets [} 199]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.41 ItpSetOverridePercent

The function ItpSetOverridePercent writes the axes channel override into the cyclic interface of the NCI. The
override is passed as a percentage.

VAR_INPUT
FUNCTION ItpSetOverridePercent

VAR_INPUT
fOverridePercent : LREAL;
END_VAR

fOverridePercent: Axis channel override as a percentage

VAR_IN_OUT
VAR_IN_OUT
sPlcToNci : PLCTONC_NCICHANNEL_REF;
END_VAR

sPlcToNci: Structure of cyclic channel interface between PLC and NCI (type: PLCTONC_NCICHANNEL_REF
[} 308])

Return value

ItpSetOverridePercent: always TRUE

222 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

Sample
VAR
sPlcToNci AT%Q*: PLCTONC_NCICHANNEL_REF;
fOverride : LREAL;
END_VAR
fOverride := 47.11;
ItpSetOverridePercent( fOverride, sPlcToNci );

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.42 ItpSetSubroutinePathEx

With ItpSetSubroutinePathEx function block, the search path for subroutines can optionally be set.

If a subroutine still has to be integrated, the file is searched in the following order:

1. optional search path (ItpSetSubroutinePath)

2. path from which the main program was loaded
3. TwinCAT\Mc\Nci directory

Only one optional path can take effect, which remains active until it is overwritten with another path or an
empty string.

After a TwinCAT restart, the path has to be re-assigned.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
sPath : STRING;
nLength : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

sPath: Optional path for subroutines. Is deactivated with an empty string

nLength: String length

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

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PLC NCI Libraries

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.43 ItpSetToolDescNullEx

FB ItpSetToolDescNullEx overwrites all tool parameters (incl. number & type) of the channel with zero.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
tTimeOut : TIME;
END_VAR

bExecute: A rising edge results in overwriting of all tool parameters of the NC channel with zero.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

See also:

ItpWriteToolDescEx [} 230]

224 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

ItpReadToolDescEx [} 214]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.44 ItpSetZeroShiftNullEx

The function block ItpSetZeroShiftNullEx overwrites all zero shifts of the channel with zero.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
tTimeOut : TIME;
END_VAR

bExecute: A rising edge results in overwriting of all zero shifts of the NC channel with zero.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

See also:
• ItpWriteZeroShiftEx [} 231]
• ItpReadZeroShiftEx [} 215]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

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5.1.2.45 ItpSingleBlock

The ItpSingleBlock function block activates or deactivates single block mode in the NCI. Block relaying can
be triggered directly from the PLC with the input 'bTriggerNext'. Alternatively the Start button of the
interpreter (F5) can be used in the XAE .

A more detailed description can be found in the interpreter documentation [} 114].

VAR_INPUT
VAR_INPUT
bExecuteModeChange : BOOL;
nMode : E_ItpSingelBlockMode;
bTriggerNext : BOOL
tTimeOut : TIME;
END_VAR

bExecuteModeChange: Single block mode (nMode) is activated through a rising edge at this input.

nMode: Operation mode for single block (cf. single block mode):
• ItpSingleBlockOff: single block off
• ItpSingleBlockNck: single block in NC kernel
• ItpSingleBlockIntp: single block in interpreter

bTriggerNext: Block relaying is triggered by a rising edge at this input.

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])
TYPE E_ItpSingleBlockMode:
(
ItpSingleBlockOff := 0,
ItpSingleBlockNck := 1,
ItpSingleBlockIntp := 16#4000
);
END_TYPE

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

226 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.46 ItpStartStopEx

The function block ItpStartStopEx starts or stops the NC channel.

VAR_INPUT
VAR_INPUT
bStart : BOOL;
bStop : BOOL;
tTimeOut : TIME;
END_VAR

bStart: A positive edge starts the NC channel

bStop: A positive edge stops the NC channel. A stop command deletes all the tables in the NC and brings
the axes to a controlled halt.

NOTE! The bStop input has a higher priority than the bStart input, so that if both inputs receive a
positive edge, a channel stop will be executed.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

TF5100 TwinCAT 3 NC I Version: 1.2 227

PLC NCI Libraries

5.1.2.47 ItpStepOnAfterEStopEx

The function block ItpStepOnAfterEStopEx enables further processing of the parts program after a
programmed EStopEx.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

See also:

ItpEStopEx [} 193]

ItpIsEStopEx [} 209]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

228 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

5.1.2.48 ItpWriteRParamsEx

The function block ItpWriteRParamsEx writes R-parameters into the NC.

VAR_INPUT

VAR_INPUT
bExecute : BOOL;
pAddr : DWORD;
nIndex : DINT;
nCount : DINT;
tTimeOut : TIME;
END_VAR

bExecute: A rising edge starts the write operation.

pAddr: Address of the variables containing the data to be written. Data are used directly from the specified
address, i.e. nIndex is not to be interpreted as offset from pAddr. The data are usually read from an array of
type LREAL, which has to be defined by the user.

nIndex: Describes the index of the R-parameter to be written from an NC perspective.

nCount: Number of R-parameters to be written

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Sample
VAR
arrfRParam90to99 : ARRAY[0..9] OF LREAL;
fbWriteRParamEx : ItpWriteRParamsEx;
n : INT := 0;
bWriteParam : BOOL := FALSE;
sNciToPlc AT%I* : NCTOPLC_NCICHANNEL_REF;
END_VAR

TF5100 TwinCAT 3 NC I Version: 1.2 229

PLC NCI Libraries

FOR n:=0 TO 9 DO
arrfRParam90to99[n] := 90 + n;
END_FOR

fbWriteRParam(
bExecute := bWriteParam,
pAddr := ADR( arrfRParam90to99[0] ),
nIndex := 90,
nCount := 10,
tTimeOut := T#200ms,
sNciToPlc := sNciToPlc );

In this example the parameters R90 to R99 are written from an NC perspective.

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.49 ItpWriteToolDescEx

The function block ItpWriteToolDescEx writes a block of tool parameters.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nDNo : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nDNo: D-word for which the tool parameters are to be read. nDNo can have values between 1 and 255.

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
sToolDesc : ToolDesc;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

sToolDesc: The structure that contains the new tool parameters. This structure is only accessed for reading.
The meaning of the parameters depends on the tool type, and can be found in the tool data [} 162].
TYPE ToolDesc:
STRUCT
nToolNumber : UDINT; (*valid range from 0 .. 65535*)
nToolType : UDINT;
fParam : ARRAY [2..15] OF LREAL;
END_STRUCT
END_TYPE

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

230 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

See also:

ItpReadToolDescEx [} 214]

ItpSetToolDescNullEx [} 224]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.50 ItpWriteZeroShiftEx

The function block ItpWriteZeroShiftEx writes the shift components X, Y and Z for the specified zero shift.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nZsNo : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nZsNo: Number of the zero shift.

G54 to G59 are zero shifts at the NC. G58 and G59 can only be edited from the NC program. The valid
range of values for 'nZsNo' is therefore from 54 to 57.

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc AT%I*: NCTOPLC_NCICHANNEL_REF;
sZeroShiftDesc : ZeroShiftDesc;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

sZeroShiftDesc: The structure containing the components of the zero shift. This structure is only accessed
for reading.
TYPE ZeroShiftDesc:
STRUCT
fShiftX : LREAL;
fShiftY : LREAL;

TF5100 TwinCAT 3 NC I Version: 1.2 231

PLC NCI Libraries

fShiftZ : LREAL;
END_STRUCT
END_TYPE

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

NOTE! For reasons of compatibility every zero shift that can be set has two parameters (coarse and
fine) for each axis. When using this function block to write a new zero shift, the new value is written
into the 'fine parameter'. A value of 0.0 is entered into the 'coarse parameter'.

This makes it possible to use a function block such as ItpReadZeroShiftEx [} 215] to read and modify a zero
shift and to send it back to the NC.

See also:
• ItpReadZeroShiftEx [} 215];
• ItpSetZeroShiftNullEx [} 225]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.51 Blocksearch
Block search can be used to interrupt a program for a tool change or at the end of a shift. After the
interruption the program can continue at the previous position.

The diagram illustrates how the block search is used.

232 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

5.1.2.51.1 ItpBlocksearch

The function block ItpBlocksearch sets the interpreter to the point defined at the inputs. The input values can
be taken from function block ItpGetBlocksearchData [} 236] or set manually. Once the interpreter has been
set to the defined location with ItpBlocksearch, the motion can continue with ItpStepOnAfterBlocksearch
[} 237] at the position indicated at output sStartPosition.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nBlockId : UDINT;
eBlockSearchMode : E_ItpBlockSearchMode;
eDryRunMode : E_ItpDryRunMode;
fLength : LREAL;
sPrgName : STRING(255);
nPrgLength : UDINT;
tTimeOut : TIME;
sAxesList : ST_ItpAxes;
sOptions : ST_ItpBlockSearchOptions;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nBlockId: Block number or EntryCounter of the segment in the NC program used as starting point.

eBlockSearchMode: Defines whether the specified nBlockId is a block number (e.g. N4711) or continuous
EntryCounter. A prerequisite for using the block number is that it is unique. See E_ItpBlockSearchMode
[} 234]

eDryRunMode: Defines which program lines are executed and which are skipped. See E_ItpDryRunMode
[} 234]

TF5100 TwinCAT 3 NC I Version: 1.2 233

PLC NCI Libraries

fLength: Remaining length within the segment selected with nBlockId in percent.

sPrgName: Name or path of the program to be executed.

nPrgLength: Indicates the length of string sPrgName.

tTimeOut: ADS timeout delay

sAxesList: Definition of the axes in the NCI group. See ST_ItpAxes [} 235]

sOptions: Provides information on retrace.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
bDone : BOOL;
sStartPosition : ST_ItpBlockSearchStartPosition;
END_VAR

bBusy: Remains TRUE until the function block has executed a command request, but no longer than the
time specified at the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the inputs.

bErr: Becomes TRUE if an error occurs during command execution. The command-specific error code is
contained in ‘nErrId’. Is reset to FALSE by the execution of a command at the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

bDone: The output becomes TRUE when the command was executed successfully.

sStartPosition: Indicates the start position from which the NC program continues. The individual axes
should be moved to this position before ItpStepOnAfterBlocksearch [} 237] is executed. See
ST_ItpBlockSearchStartPosition [} 235]

E_ItpBlockSearchMode

E_ItpBlockSearchMode is used to define in which way the block search is executed.

TYPE E_ItpBlockSearchMode :
(
ItpBlockSearchMode_Disable := 0,
ItpBlockSearchMode_BlockNo := 1,
ItpBlockSearchMode_EntryCounter := 2
);
END_TYPE

ItpBlockSearchMode_Disable: Block search disabled (initial value).

ItpBlockSearchMode_BlockNo: The block search is executed via the block number (e.g. N4711)
programmed by the user in the NC program. A prerequisite is that the user-defined block number is unique.

ItpBlockSearchMode_EntryCounter: The block search is executed via a unique EntryCounter. This

EntryCounter is implicitly unique, but it is not visible to the user in the NC program.

E_ItpDryRunMode

E_ItpDryRunMode defines how blocks are handled, which are located before the block in which the block
search is started, when the program is executed.

234 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

TYPE E_ItpDryRunMode :
(
ItpDryRunMode_Disable := 0,
ItpDryRunMode_SkipAll := 1,
ItpDryRunMode_SkipMotionOnly := 2,
ItpDryRunMode_SkipDwellAndMotion := 3
);
END_TYPE

ItpDryRunMode_Disable: DryRun disabled (initial value).

ItpDryRunMode_SkipAll: All previous blocks are skipped. R-parameters are written.

ItpDryRunMode_SkipMotionOnly: Only movement blocks are skipped. R-parameters are written, and dwell
times and M-functions are executed.

ItpDryRunMode_SkipDwellAndMotion: Movement blocks and dwell times are skipped. R-parameters are
written and M-functions are executed.

ST_ItpAxes

The structure ST_ItpAxes contains the axes that were in the NCI group during program execution.
TYPE ST_ItpAxes :
STRUCT
nAxisIds : ARRAY[1..8] OF UDINT;
END_STRUCT
END_TYPE

nAxisIds: Array of axes that were in the NCI group. The order is nAxisIds[1]=X, nAxisIds[2]=Y,
nAxisIds[3]=Z, nAxisIds[4]=Q1, nAxisIds[5]=Q2… The axis ID can be read from the cyclic axis interface.

St_ItpBlockSearchOptions

The structure contains information on the retrace functionality.

TYPE ST_ItpBlockSearchOptions :
STRUCT
bIsRetrace : BOOL:= FALSE;
bRetraceBackward : BOOL:= FALSE;
END_STRUCT
END_TYPE

bIsRetrace: Indicates whether the retrace functionality is active.

bRetraceBackward: Indicates whether backward movement took place on the path.

ST_ItpBlockSearchStartPosition

The structure indicates the position at which the NC program continues after a block search. The user is
responsible for moving the axes to the corresponding positions.
TYPE ST_ItpBlockSearchStartPosition :
STRUCT
fStartPosition : ARRAY[1..8] OF LREAL;
END_STRUCT
END_TYPE

fStartPosition: Array of axis positions at which the NC program continues.

The order is fStartPosition[1]=X, fStartPosition [2]=Y, fStartPosition [3]=Z, fStartPosition [4]=Q1,

fStartPosition [5]=Q2…

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

TF5100 TwinCAT 3 NC I Version: 1.2 235

PLC NCI Libraries

5.1.2.51.2 ItpGetBlocksearchData

The function block ItpGetBlocksearchData reads the current position on the path. Usually this command is
called at standstill. Subsequently ItpBlockSearch [} 233] can be used to set the interpreter to the position
stored in sBlockSearchData.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

bTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
sBlockSearchData : ST_ItpBlockSearchData;
END_VAR

bBusy: Remains TRUE until the function block has executed a command request, but no longer than the
time specified at the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the inputs.

bErr: Becomes TRUE if an error occurs during command execution. The command-specific error code is
contained in ‘nErrId’. Is reset to FALSE by the execution of a command at the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

sBlockSearchData: Contains information on the current position on the path.

TYPE ST_ItpBlockSearchData :
STRUCT
fLength : LREAL;(* remaining distance of actual movement block in percent*)
nBlockNo : UDINT;(* number of the actual block *)
nBlockCounter : UDINT;(* counter value of the actual block *)
bIsRetrace : BOOL;(* e.g. by activ Retrace *)
bRetraceBackward : BOOL;(* e.g. by activ Retrace Backward *)
END_STRUCT
END_TYPE

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

236 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

5.1.2.51.3 ItpStepOnAfterBlocksearch

Starts the motion after a block search.

The axes first have to be moved to the positions output by ItpBlocksearch [} 233].

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

bTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.52 Retrace

5.1.2.52.1 ItpEnableFeederBackup

TF5100 TwinCAT 3 NC I Version: 1.2 237

PLC NCI Libraries

The function block ItpEnableFeederBackup enables storing of the path for retracing. It has to be activated
once before the NC program (G-Code) is started. If the Blocksearch [} 232] functionality is used,
ItpEnableFeederBackup has to be activated before ItpBlocksearch [} 233] is called. Feeder backup is
executed as long as a TwinCAT restart or bEnable = FALSE is triggered with a rising edge at bExecute.

If feeder backup is not enabled, retracing does not work. This can be verified via ItpIsFeederBackupEnabled
[} 238].

VAR_INPUT
VAR_INPUT
bEnable : BOOL;
bExecute : BOOL;
tTimeOut : TIME;
END_VAR

bEnable: TRUE: enables feeder backup, FALSE: disables feeder backup

bExecute: The command is triggered by a rising edge at this input.

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.52.2 ItpIsFeederBackupEnabled

The function block ItpIsFeederBackupEnabled indicates whether feeder backup is enabled. Feeder backup
must be enabled before reversing can take place. This activates storing of the path.

238 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bEnabled : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: The bBusy output remains TRUE until the function block has executed a command, with the
maximum duration specified by the time associated with the ‘Timeout’ input. While bBusy = TRUE, no new
instruction will be accepted at the inputs. Please note that it is not the execution of the service but its
acceptance whose time is monitored.

bEnabled: TRUE: Backup list for tracing is enabled, FALSE: Backup list for tracing is disabled

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. If the function block has a timeout error, ‘Error’ is TRUE
and ‘nErrId’ is 1861 (hexadecimal 0x745). Is reset to FALSE by the execution of a command at the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.52.3 ItpIsFeedFromBackupList

The function ItpIsFeedFromBackupList becomes TRUE when the feed entries (SAF & SVB) were sent from
the backup list. During backward movement all entries are sent from the backup list. If the program is
executed in forward mode, the first entries usually also originate from the backup list. This is dependent of
the number of retraced entries and the number of entries in the SVB and SAF tables at the time at which
tracing was called. All further commands originate from the ‚original’ code.

While the NCI is processing the backup list, not all functions are available or meaningful. Here are a few
examples:
• Decoder stops such as @714 are not evaluated
• Modifications of R-parameters do not take effect as long as the motion takes place on the backup path
(forward or backward). R-parameters modifications take effect again as soon as the path data no
longer come from the backup list.

TF5100 TwinCAT 3 NC I Version: 1.2 239

PLC NCI Libraries

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.52.4 ItpIsFirstSegmentReached

ItpIsFirstSegmentReached is a function that determines whether the program start position is reached
during retracing, based on the cyclic channel interface.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

Return value

The function returns TRUE when the start position of the G-Code program is reached. If the version number
of the cyclic channel interface is less than 6, the return value is always FALSE.

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.52.5 ItpIsMovingBackwards

ItpIsMovingBackwards is a function that determines whether backward movement takes place on the path
of the current G-Code program, based on the cyclic channel interface.

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

Return value

The function returns TRUE when backward movement takes place on the path. If the version number of the
cyclic channel interface is less than 6, the return value is always FALSE.

240 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.52.6 ItpRetraceMoveBackward

The function block ItpRetraceMoveBackward deals with the geometric entries at the actual position at the
start of the part program (G-Code).

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Procedure
1. Activate feeder backup list (see ItpEnableFeederBackup [} 237])
ð The NC program is stopped with ItpEStopEx [} 193]
2. Wait and ensure that all axes in the group are at standstill
3. Call ItpRetraceMoveBackward
4. Stop backward movement with ItpEStop, otherwise the program returns to the start
5. Call ItpRetraceMoveForward [} 242] to move forward again
6. Call ItpEStopEx and ItpRetraceMoveBackward etc., if required.

TF5100 TwinCAT 3 NC I Version: 1.2 241

PLC NCI Libraries

NOTE! Do not use in conjunction with vertex blending. M-functions are suppressed during
backward movement.

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.2.52.7 ItpRetraceMoveForward

The function block ItpRetraceMoveForward transfers all entries from the current block (e.g. position) in
forward travel direction to the NC kernel. It is called to reverse the direction after ItpRetraceMoveBackward
[} 241] was called.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

see also: ItpRetraceMoveBackward [} 241]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

242 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

5.1.3 Parts program generator

The function blocks ItpPpg* provide an option for creating a parts program (G-Code file) from the PLC.
During program generation a distinction is made between a main program (ItpPpgCreateMain [} 248]) and a
subroutine (ItpPpgCreateSubroutine [} 249]).

Subsequently ItpPpgAppend* can be used to add various NC lines. The following function blocks are
available:
• ItpPpgAppendGeoLine [} 246] adds a linear motion.
• ItpPpgAppendGeoCircleByRadius [} 245] adds a circle with radius specification.
• ItpPpgAppendGenericBlock [} 244] inserts a self-defined line, such as activation of rounding or M-
functions.

Once the parts program is complete, it is closed with the routines ItpPpgCloseMain [} 247] or
ItpPpgCloseSubroutine [} 247].

The following function blocks can be used:

Function Block Description

ItpPpgAppendGenericBlock [} 244] Appends a generic NC line to a specified parts
program
ItpPpgAppendGeoCircleByRadius [} 245] Adds a circle to a specified parts program
ItpPpgAppendGeoLine [} 246] Adds a linear motion to a specified parts program
ItpPpgCloseMain [} 247] Closes a previously opened parts program
ItpPpgCloseSubroutine [} 247] Closes a previously opened subroutine
ItpPpgCreateMain [} 248] Opens or generates a parts program
ItpPpgCreateSubroutine [} 249] Opens or generates a subroutine

TF5100 TwinCAT 3 NC I Version: 1.2 243

PLC NCI Libraries

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.3.1 ItpPpgAppendGenericBlock

The function block ItpPpgAppendGenericBlock adds a generic line to the parts program. It can be used to
activate an M-function or rounding, for example.

Before the actual call, call ItpPpgCreateMain [} 248] or ItpPpgCreateSubroutine [} 249].

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
sPathName : STRING;
sBlock : STRING;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

sPathName: Name of the parts program including path name

sBlock: Generic line to be added to the parts program

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

244 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

5.1.3.2 ItpPpgAppendGeoCircleByRadius

The function block ItpPpgAppendGeoCircleByRadius adds a circular motion to the parts program. The circle
is parameterized by the radius.

Before the actual call, call ItpPpgCreateMain [} 248] or ItpPpgCreateSubroutine [} 249].

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
sPathName : STRING;
bClockWise : BOOL;
fTargetXPos : LREAL;
fTargetYPos : LREAL;
fTargetZPos : LREAL;
fRadius : LREAL;
fPathVelo : LREAL;
nBlockNo : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

sPathName: Name of the parts program including path name

bClockwise: If TRUE, the movement along the circle is clockwise, otherwise counter-clockwise

fTargetXPos: Target position of the X axis

fTargetYPos: Target position of the Y axis

fTargetZPos: Target position of the Z axis

fRadius: Circle radius

fPathVelo: Path velocity

nBlockNo: Line number in the parts program

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

TF5100 TwinCAT 3 NC I Version: 1.2 245

PLC NCI Libraries

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.3.3 ItpPpgAppendGeoLine

The function block ItpPpgAppendGeoLine adds a linear motion to the parts program. In addition to the actual
target position, the path velocity and the line number are transferred.

Before the actual call, call ItpPpgCreateMain [} 248] or ItpPpgCreateSubroutine [} 249].

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
sPathName : STRING;
fTargetXPos : LREAL;
fTargetYPos : LREAL;
fTargetZPos : LREAL;
fPathVelo : LREAL;
nBlockNo : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

sPathName: Name of the parts program including path name

fTargetXPos: Target position of the X axis

fTargetYPos: Target position of the Y axis

fTargetZPos: Target position of the Z axis

fPathVelo: Path velocity

nBlockNo: Line number in the parts program

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

246 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.3.4 ItpPpgCloseMain

The function block ItpPpgCloseMain completes the main program with the corresponding code for the
interpreter (M02).

Before the actual call, call ItpPpgCreateMain [} 248].

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
sPathName : STRING;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

sPathName: Name of the parts program including path name

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.3.5 ItpPpgCloseSubroutine

The function block ItpPpgCloseSubroutine completes the subroutine with the corresponding code for the
interpreter (M17).

TF5100 TwinCAT 3 NC I Version: 1.2 247

PLC NCI Libraries

Before the actual call, call ItpPpgCreateSubroutine [} 249].

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
sPathName : STRING;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

sPathName: Name of the parts program including path name

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.3.6 ItpPpgCreateMain

The function block ItpPpgCreateMain generates a new file, which can later be processed as main program. If
the file does not yet exist, it is created, otherwise it is overwritten.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
sPathName : STRING;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

sPathName: Name of the parts program including path name

tTimeOut: ADS Timeout-Delay

248 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.3.7 ItpPpgCreateSubroutine

The function block ItpPpgCreateSubroutine generates a new file, which can later be processed as
subroutine. If the file does not yet exist, it is created, otherwise it is overwritten.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
sPathName : STRING;
nSubroutineId : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

sPathName: Name of the subroutine including path name

nSubroutineId: Number of the subroutine

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

TF5100 TwinCAT 3 NC I Version: 1.2 249

PLC NCI Libraries

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.4 Blocks for compatibility with existing programs

Function blocks for compatibility
The purpose of the function blocks listed is to ensure compatibility with existing projects. It
is not advisable to use these function blocks for new projects. Instead, the equivalent func-
Note tion blocks shown in the table above should be used.

Function Block Description

ItpDelDtg [} 251] Triggers “Delete Distance to go” in the NC
ItpEStop [} 251] Triggers the NCI EStop
ItpGetBottleNeckLookAhead [} 252] Provides the value of the look-ahead for bottleneck
detection
ItpGetBottleNeckMode [} 253] Provides the response mode for bottleneck detection
ItpGetGeoInfoAndHParam [} 254] Reads information of the currently active segment
and past and future segments.
ItpGoAhead [} 255] Triggers the GoAhead function
ItpIsEStop [} 256] Determines whether an EStop is executed or pending
ItpLoadProg [} 257] Loads an NC program using program names
ItpReadRParams [} 258] Reads calculation parameters
ItpReadToolDesc [} 259] Reads the tool description from the NC
ItpReadZeroShift [} 260] Reads the zero shift from the NC
ItpReset [} 261] Carries out a reset of the interpreter or of the NC
channel
ItpResetEx [} 262] Carries out a reset of the interpreter or of the NC
channel.
ItpResetFastMFunc [} 263] Resets a fast signal bit
ItpSetBottleNeckLookAhead [} 264] Sets the value of the look-ahead for bottleneck
detection
ItpSetBottleNeckMode [} 265] Sets the response mode when bottleneck detection is
switched on
ItpSetSubroutinePath [} 266] Optionally sets the search path for subroutines
ItpSetToolDescNull [} 267] Sets all tool parameters (including number and type)
to zero
ItpSetZeroShiftNull [} 268] Sets all origins to zero
ItpStartStop [} 269] Starts or stops the interpreter (NC channel)
ItpStepOnAfterEStop [} 269] Enables further processing of the parts program after
an NCI EStop
ItpWriteRParams [} 270] Writes calculation parameters
ItpWriteToolDesc [} 272] Writes the tool description into the NC
ItpWriteZeroShift [} 273] Writes the zero shift into the NC

250 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

5.1.4.1 ItpDelDtg

The ItpDelDtg function block triggers deletion of the remaining travel. There is a more detailed description in
the Interpreter [} 140]documentation.

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpDelDtgEx [} 191].
Note

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nChnId : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nChnId: Channel ID

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.4.2 ItpEStop

The function block ItpEStop triggers the NCI EStop and enables a controlled stop on the path. The limit
values for the deceleration and the jerk are transferred as parameters. If these are smaller than the currently
active dynamic parameters, the transferred parameters are rejected.

TF5100 TwinCAT 3 NC I Version: 1.2 251

PLC NCI Libraries

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpEStopEx [} 193].
Note

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nGrpId : UDINT;
fDec : LREAL;
fJerk : LREAL;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nGrpId: group ID

fDec: Max. deceleration during stopping. If fDec is smaller than the currently active deceleration, fDec is
rejected. This ensures that the deceleration occurs with the standard ramp as a minimum.

fJerk: Max. jerk during stopping. If fJerk is smaller than the currently active jerk, fJerk is rejected.

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

See also:

ItpStepOnAfterEStop [} 269]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.4.3 ItpGetBottleNeckLookAhead

The function block ItpGetBottleNeckLookAhead determines the maximum size of the look-ahead for the
bottleneck detection (contour collision monitoring).

There is a more detailed description in the Interpreter [} 173] documentation.

252 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpGetBottleNeckLookAheadEx [} 195].
Note

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nChnId : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nChnId: Channel ID

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
nLookAhead : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. If the function block has a timeout error, ‘Error’ is TRUE
and ‘nErrId’ is 1861 (hexadecimal 0x745). Is reset to FALSE by the execution of a command at the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

nLookAhead: Value of the look-ahead for bottleneck detection

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.4.4 ItpGetBottleNeckMode

The function block ItpGetBottleNeckMode reads the behavior in the event of a contour collision (bottleneck).

There is a more detailed description in the Interpreter [} 173] documentation.

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpGetBottleNeckModeEx [} 195].
Note

TF5100 TwinCAT 3 NC I Version: 1.2 253

PLC NCI Libraries

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nChnId : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nChnId: Channel ID

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
eBottleNeckMode: E_ItpBnMode
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. If the function block has a timeout error, ‘Error’ is TRUE
and ‘nErrId’ is 1861 (hexadecimal 0x745). Is reset to FALSE by the execution of a command at the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

eBottleNeckMode: Enum for the behavior in the event of a contour collision

TYPE E_ItpBnMode:
(
ItpBnm_Abort := 0,
ItpBnm_Adjust := 1,
ItpBnm_Leave := 2
);
END_TYPE

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.4.5 ItpGetGeoInfoAndHParam

The function block ItpGetGeoInfoAndHParam reads information of the currently active segment and past and
future segments. These include block number, H-parameter and residual path length on the segment.

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpGetGeoInfoAndHParamEx [} 200].
Note

VAR_IN_OUT
VAR_IN_OUT
sNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

254 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

sNciToPlc: The structure of the cyclic channel interface from the NCI to the PLC. This structure is only
accessed for reading. (type: NCTOPLC_NCICHANNEL_REF [} 306])

VAR_OUTPUT
VAR_OUTPUT
stTab : ST_ItpPreViewTabEx;
nErrId : UDINT;
END_VAR

stTab: Structure containing the segment data.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.4.6 ItpGoAhead

The function block ItpGoAhead may only be used in association with the decoder stop '@717' [} 150]. There
is a more detailed description of this decoder stop in the interpreter documentation [} 107].

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpGoAheadEx [} 207].
Note

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nChnId : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nChnId: Channel ID

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

TF5100 TwinCAT 3 NC I Version: 1.2 255

PLC NCI Libraries

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.4.7 ItpIsEStop

Via bEStop, the function block ItpIsEStop provides information as to whether an EStop command was
triggered. If bEStop is TRUE, then an EStop was initiated (e.g. ItpEStop). The flag does not provide
information as to whether the axes have already stopped or are still on the braking ramp.

After the execution of ItpStepOnAfterEStop, ItpIsEStop will once again return FALSE.

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpIsEStopEx [} 209].
Note

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nGrpId : UDINT
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nGrpId: group ID

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bEStop : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bEStop: TRUE: EStop command was executed, FALSE: No EStop present

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

See also:

256 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

ItpEStop [} 251]

ItpStepOnAfterEStop [} 269]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.4.8 ItpLoadProg

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpLoadProgEx [} 210].
Note

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nChnId : UDINT;
sPrg : STRING;
nLength : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: A rising edge at this input triggers execution of the NC program

nChnId: Channel ID

sPrg: Name of the NC program that is executed

nLength: String length of the program name

tTimeOut: ADS Timeout-Delay

NOTE! The NC program is looked up in directory "TwinCAT\Mc\Nci", if no further information is

available. It is however also possible to give an absolute path.

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

TF5100 TwinCAT 3 NC I Version: 1.2 257

PLC NCI Libraries

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.4.9 ItpReadRParams

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpReadRParamsEx [} 213].
Note

The ItpReadRParams function block reads the NC’s calculation parameters, also known as R-parameters. A
more detailed description of the calculation parameters can be found here [} 115]. A total of 1000 R-
parameters are available, of which the first 900 (0..899) are local, so that they are only visible in the current
NC channel. The other 100 (900..999) R-parameters are global, and are thus visible from anywhere in the
NC.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nChnId : UDINT;
pAddr : PVOID;
nIndex : DINT;
nCount : DINT;
tTimeOut : TIME;
END_VAR

bExecute: A rising edge starts the read operation

nChnId: ID of the NC channel whose R-parameters are to be read

pAddr: Address of the target variables of the data to be read. The data are written by the NC directly from
the specified address. i.e. nIndex is not to be interpreted as offset from pAddr. The data are usually in an
array of type LREAL, which has to be defined by the user.

nIndex: Describes the index of the R-parameter to be read from an NC perspective.

nCount: Number of R-parameters to be read

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

258 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

See also:

ItpWriteRParams [} 270]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.4.10 ItpReadToolDesc

The ItpReadToolDesc function block reads the tool parameters for the supplied D-word.

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpReadToolDescEx [} 214].
Note

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nChnId : UDINT;
nDNo : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nChnId: Channel ID

nDNo: D-word for which the tool parameters are to be read. nDoNo can have values between 1 and 255.

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sToolDesc : ToolDesc;
END_VAR

sToolDesc: A structure into which the tool parameters of nDNo are written. The meaning of the parameters
depends on the tool type, and can be found in the tool data [} 162].
TYPE ToolDesc:
STRUCT
nToolNumber : UDINT; (*valid range from 0 .. 65535*)
nToolType : UDINT;
fParam : ARRAY [2..15] OF LREAL;
END_STRUCT
END_TYPE

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

TF5100 TwinCAT 3 NC I Version: 1.2 259

PLC NCI Libraries

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

see also:

ItpWriteToolDesc [} 272]; ItpSetToolDescNull [} 267]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.4.11 ItpReadZeroShift

The ItpReadZeroShift function block reads the offset shift components X, Y and Z for the given zero shift.

NOTE! For reasons of compatibility, there are two entries (coarse and fine) for each axis in each
zero shift (e.g. G54). These two entries must be added together. This function block evaluates both
the entries and adds them together automatically.

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpReadZeroShiftEx [} 215].
Note

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nChnId : UDINT;
nZsNo : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nChnId: Channel ID

nZsNo: Number of the zero shift; on the NC side G54 to G59 are zero shifts. The valid range of values for
'nZsNo' is therefore from 54 to 59.

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sZeroShiftDesc : ZeroShiftDesc;
END_VAR

sZeroShiftDesc: The structure containing the components of the zero shift.

260 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

TYPE ZeroShiftDesc:
STRUCT
fShiftX : LREAL;
fShiftY : LREAL;
fShiftZ : LREAL;
END_STRUCT
END_TYPE

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

see also:

ItpWriteZeroShift [} 273]; ItpSetZeroShiftNull [} 268]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.4.12 ItpReset

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpResetEx2 [} 216].
Note

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nChnId : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: A rising edge at this input triggers a reset of the NC channel

nChnId: Channel ID

tTimeOut: ADS Timeout-Delay

NOTE! A reset deletes all tables in the NC. The axes are halted immediately. For this reason a reset
should only be carried out either in the event of an error or when the axes are stationary.

TF5100 TwinCAT 3 NC I Version: 1.2 261

PLC NCI Libraries

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.4.13 ItpResetEx

The function block 'ItpResetEx' executes a channel reset, which deletes all existing tables of the NC channel.
In contrast to the conventional ItpReset [} 261], an active channel is stopped first, before the reset is
executed. This simplifies programming in the PLC, since no explicit check is necessary to ascertain whether
the axes are still in motion.

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpResetEx2 [} 216].
Note

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nGrpId : UDINT;
nChnId : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nGrpId: group ID

nChnId: Channel ID

tTimeOut: ADS timeout delay (the bBusy signal can be active for longer than tTimeOut)

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

262 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

see also: ItpStartStop [} 269]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.4.14 ItpResetFastMFunc

This function block represents an alternative to Auto-reset or reset with another M-function (reset list during
parameterization of the M-function). For the sake of clarity, mixed operation involving resetting with an M-
function and this function block should be avoided.

The fast M-function [} 145] nMFuncNo is reset with a rising edge at input bExecute. In the event of the M-
function not being available, no error is returned.

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpResetFastMFuncEx [} 217].
Note

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nChnId : UDINT;
nMFuncNo : UINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nChnId: Channel ID

nMFuncNo: Flying M-function that is to be reset

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

TF5100 TwinCAT 3 NC I Version: 1.2 263

PLC NCI Libraries

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.4.15 ItpSetBottleNeckLookAhead

The function block ItpSetBottleNeckLookAhead determines the maximum number of segments the system
may look ahead for bottleneck detection (contour collision monitoring). Note that segments, which were
added as a result of radius compensation (e.g. additional segments at acute angles) are taken into account.

There is a more detailed description in the Interpreter [} 173] documentation.

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpSetBottleNeckLookAheadEx [} 218].
Note

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nChnId : UDINT;
nLookAhead : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nChnId: Channel ID

nLookAhead: Specifies the look-ahead value

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

264 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.4.16 ItpSetBottleNeckMode

The function block ItpSetBottleNeckMode specifies the behavior in the event of a contour collision
(bottleneck).

There is a more detailed description in the Interpreter [} 173] documentation.

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpSetBottleNeckModeEx [} 219].
Note

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nChnId : UDINT;
eBottleNeckMode: E_ItpBnMode
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nChnId: Channel ID

eBottleNeckMode: Enum for the behavior in the event of a contour collision

tTimeOut: ADS Timeout-Delay

TYPE E_ItpBnMode:
(
ItpBnm_Abort := 0,
ItpBnm_Adjust := 1,
ItpBnm_Leave := 2
);
END_TYPE

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

TF5100 TwinCAT 3 NC I Version: 1.2 265

PLC NCI Libraries

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.4.17 ItpSetSubroutinePath

With ItpSetSubroutinePath function block, the search path for subroutines can optionally be set.

If a subroutine still has to be integrated, the file is searched in the following order:
• optional search path (ItpSetSubroutinePath)
• path from which the main program was loaded
• TwinCAT\Mc\Nci directory

Only one optional path can be active at any one time. It remains active until it is
• overwritten with another path or
• with an empty string

After a TwinCAT restart, the path has to be re-assigned.

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpSetSubroutinePathEx [} 223].
Note

Interface
VAR_INPUT
bExecute : BOOL;
nChnId : UDINT;
sPath : STRING;
nLength : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nChnId: Channel ID

sPath: Optional path for subroutines; is disabled with an empty string.

nLength: String length

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

266 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.4.18 ItpSetToolDescNull

FB ItpSetToolDescNull overwrites all tool parameters (incl. number & type) of the channel with zero.

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpSetToolDescNullEx [} 224].
Note

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nChnId : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: A rising edge results in overwriting of all tool parameters of the NC channel with zero.

nChnId: ID of the NC channel

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

See also:

TF5100 TwinCAT 3 NC I Version: 1.2 267

PLC NCI Libraries

• ItpWriteToolDesc [} 272],
• ItpReadToolDesc [} 259]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.4.19 ItpSetZeroShiftNull

FB ItpSetZeroShiftNull overwrites all zero shifts of the channel with zero.

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpSetZeroShiftNullEx [} 225].
Note

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nChnId : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: A rising edge results in overwriting of all zero shifts of the NC channel with zero.

nChnId: ID of the NC channel

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

See also:
• ItpWriteZeroShift [} 273]
• ItpReadZeroShift [} 260]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

268 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

5.1.4.20 ItpStartStop

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpStartStopEx [} 227].
Note

Interface
VAR_INPUT
bStart : BOOL;
bStop : BOOL;
nChnId : UDINT;
tTimeOut : TIME;
END_VAR

bStart: A positive edge starts the NC channel

bStop: A positive edge stops the NC channel. A stop command deletes all the tables in the NC and brings
the axes to a controlled halt.

nChnId: Channel ID

tTimeOut: ADS Timeout-Delay

NOTE! The bStop input has a higher priority than the bStart input, so that if both inputs receive a
positive edge, a channel stop will be executed.

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.4.21 ItpStepOnAfterEStop

The function block ItpStepOnAfterEStop enables further processing of the parts program after a programmed
EStop.

TF5100 TwinCAT 3 NC I Version: 1.2 269

PLC NCI Libraries

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpStepOnAfterEStopEx [} 228].
Note

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nGrpId : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nGrpId: group ID

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

See also:
• ItpEStop [} 251]
• ItpIsEStop [} 256]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.4.22 ItpWriteRParams

The ItpWriteRParams function block writes R-parameters into the NC.

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpWriteRParamsEx [} 229].
Note

270 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nChnId : UDINT;
pAddr : PVOID;
nIndex : DINT;
nCount : DINT;
tTimeOut : TIME;
END_VAR

bExecute: A rising edge starts the write operation.

nChnId: ID of the NC channel whose R-parameters are to be written.

pAddr: Address of the variables containing the data to be written. Data are used directly from the specified
address, i.e. nIndex is not to be interpreted as offset from pAddr. The data are usually in an array of type
LREAL, which has to be defined by the user.

nIndex: Describes the index of the R-parameter to be written from an NC perspective.

nCount: Number of R-parameters to be written

tTimeOut: ADS Timeout-Delay

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

Sample

In this example the parameters R90 to R99 are written from an NC perspective.
VAR
arrfRParam90to99 : ARRAY[0..9] OF LREAL;
fbWriteRParam : ItpWriteRParams;
n : INT := 0;
bWriteParam : BOOL := FALSE;
END_VAR
FOR n:=0 TO 9 DO
arrfRParam90to99[n] := 90 + n;
END_FOR

fbWriteRParam(
bExecute := bWriteParam,
nChnId := 2,
pAddr := ADR( arrfRParam90to99[0] ),
nIndex := 90,
nCount := 10,
tTimeOut := T#200ms );

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

TF5100 TwinCAT 3 NC I Version: 1.2 271

PLC NCI Libraries

5.1.4.23 ItpWriteToolDesc

The ItpWriteToolDesc function block writes a block of tool parameters.

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpWriteToolDescEx [} 230].
Note

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nChnId : UDINT;
nDNo : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nChnId: Channel ID

nDNo: D-word for which the tool parameters are to be read. nDoNo can have values between 1 and 255.

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sToolDesc : ToolDesc;
END_VAR

sToolDesc: The structure that contains the new tool parameters. This structure is only accessed for reading.
The meaning of the parameters depends on the tool type, and can be found in the tool data [} 162].
TYPE ToolDesc:
STRUCT
nToolNumber : UDINT; (*valid range from 0 .. 65535*)
nToolType : UDINT;
fParam : ARRAY [2..15] OF LREAL;
END_STRUCT
END_TYPE

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

See also:

272 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

• ItpReadToolDesc [} 259]
• ItpSetToolDescNull [} 267]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.4.24 ItpWriteZeroShift

The function block ItpWriteZeroShift writes the shift components X, Y and Z for the specified zero shift.

For reasons of compatibility every zero shift that can be set has two parameters (coarse and fine) for each
axis. When using this function block to write a new zero shift, the new value is written into the 'fine
parameter'. A value of 0.0 is entered into the 'coarse parameter'. This makes it possible to use a function
block such as ItpReadZeroShift [} 260] to read and modify a zero shift and to send it back to the NC.

Outdated version
The sole purpose of the function block is to ensure compatibility with existing projects. For
new projects please use the function block ItpWriteZeroShiftEx [} 231].
Note

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
nChnId : UDINT;
nZsNo : UDINT;
tTimeOut : TIME;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

nChnId: Channel ID

nZsNo: Number of the zero shift.

On the NC side G54 to G59 are zero shifts; G58 and G59 can only be edited from the NC program. The valid
range of values for 'nZsNo' is therefore from 54 to 57.

tTimeOut: ADS Timeout-Delay

VAR_IN_OUT
VAR_IN_OUT
sZeroShiftDesc : ZeroShiftDesc;
END_VAR

sZeroShiftDesc: The structure containing the components of the zero shift. This structure is only accessed
for reading.
TYPE ZeroShiftDesc:
STRUCT
fShiftX : LREAL;
fShiftY : LREAL;
fShiftZ : LREAL;
END_STRUCT
END_TYPE

TF5100 TwinCAT 3 NC I Version: 1.2 273

PLC NCI Libraries

VAR_OUTPUT
VAR_OUTPUT
bBusy : BOOL;
bErr : BOOL;
nErrId : UDINT;
END_VAR

bBusy: This output remains TRUE until the function block has executed a command, but at the longest for
the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the
inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bErr: This output is switched to TRUE as soon as an error occurs during the execution of a command. The
command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at
the inputs.

nErrId: Contains the command-specific error code of the most recently executed command. Is reset to 0 by
the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

See also:
• ItpReadZeroShift [} 260]
• ItpSetZeroShiftNull [} 273]

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.5 Obsolete

5.1.5.1 F_GetVersionTcNciUtilities

This function returns part of the three-part version number of the TwinCAT 2 PLC library TcNciUtilities.lib as
UINT.

Outdated version
The sole purpose of this function is to ensure compatibility with existing projects. For new
projects please use the global structure stLibVersion_Tc2_NCI.
Note

VAR_INPUT
FUNCTION F_GetVersionNciUtilities

VAR_INPUT
nVersionElement : UINT;
END_VAR

nVersionElement: Part of the version number to be read (range: [1..3])

Return value

F_GetVersionNciUtilities: Version number

274 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.5.2 Get_TcNcCfg_Version

This function returns the version number of the TwinCAT 2 PLC library TcNcCfg.lib as string.

Outdated version
The sole purpose of this function is to ensure compatibility with existing projects. For new
projects please use the global structure stLibVersion_Tc2_NCI.
Note

Return value

Get_TcNcCfg_Version Version number

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.1.5.3 ItpGetVersion

ItpGetVersion is a function that returns the version number of the TwinCAT PLC library TcNC.lib as string.

Outdated version
The sole purpose of this function is to ensure compatibility with existing projects. For new
projects please use the global structure stLibVersion_Tc2_NCI.
Note

VAR_INPUT
FUNCTION ItpGetVersion

VAR_INPUT
END_VAR

Return value

ItpGetVersion: Version number

Sample
VAR
strVersion: STRING(20);
END_VAR
strVersion := ItpGetVersion();

TF5100 TwinCAT 3 NC I Version: 1.2 275

PLC NCI Libraries

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_NCI

5.2 PLC Library: Tc2_PlcInterpolation

The TcPlcInterpolation library offers an alternative to the application of G-Code (DIN 66025). This library can
be used to execute interpolated movement commands directly from the PLC, without using G-Code.

In a first step a table of different movement commands and additional functions is written. To this end
structures such as ST_NciGeoLine are transferred to the FB NciFeedTablePreparation. This appends the
movement command to the table. Once the table is full or all required entries have been added,
NciFeedTable is called in order to transfer the table content to the NC kernel. The data transfer directly starts
the execution.

Function blocks that are required for grouping of axes (or for channel control (channel override) can be found
in the PLC Library: Tc2_NCI [} 181].

Function Block Description

FB_NciFeedTablePreparation [} 278] Fills a table with NCI movements in the PLC
FB_NciFeedTable [} 279] Transfers a previously written table to the NC kernel
and starts the motion

The following structures can be used as input parameters for the function block NciFeedTablePreparation:

276 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

Structures Enum Description

Organization
E_NciEntryTypeNone No function
ST_NciGeoStart [} 281] E_NciEntryTypeGeoStart Sets the start position for the first
geometry entry
ST_NciEndOfTables [} 292] E_NciEntryTypeEndOfTables Indicates the end of the geometry
table
Movement commands
ST_NciGeoLine [} 282] E_NciEntryTypeGeoLine Describes a straight line
ST_NciGeoCirclePlane [} 282] E_NciEntryTypeGeoCirclePlane Describes a circle in the main plane
(center point programming)
ST_NciGeoCircleCIP [} 284] E_NciEntryTypeGeoCircleCIP Describes a circle anywhere in the
space
ST_NciGeoBezier3 [} 284] E_NciEntryTypeGeoBezier3 Describes a 3rd order Bezier with
control points
ST_NciGeoBezier5 [} 285] E_NciEntryTypeGeoBezier5 Describes a 5th order Bezier with
control points
ST_NciDwellTime [} 290] E_NciEntryTypeDwellTime Describes a dwell time
Path parameters
ST_NciBaseFrame [} 289] E_NciEntryTypeBaseFrame Describes a zero shift and rotation
ST_NciVertexSmoothing [} 288] E_NciEntryTypeVertexSmoothing Activates blending at segment
transitions
ST_NciTangentialFollowingDesc E_NciEntryTypeTfDesc Activates tangential following of the
[} 291] tool
Dynamics
ST_NciDynOvr [} 288] E_NciEntryTypeDynOvr Modifies the dynamic override
ST_NciAxisDynamics [} 290] E_NciEntryTypeAxisDynamics Limits the axis dynamics
ST_NciPathDynamics [} 289] E_NciEntryTypePathDynamics Limits the path dynamics
ST_NciFeedrateIpol [} 290] E_NciEntryTypeFeedrateIpol Sets the feed interpolation type
Parameter commands
ST_NciHParam [} 287] E_NciEntryTypeHParam Sets an H-parameter (DINT)
ST_NciSParam [} 288] E_NciEntryTypeSParam Sets an S-parameter (WORD)
ST_NciTParam [} 288] E_NciEntryTypeTParam Sets a T-parameter (WORD)
ST_NciMFuncFast [} 286] E_NciEntryTypeMFuncFast Parameterizes a fast M-function (no
handshake)
ST_NciMFuncHsk [} 286] E_NciEntryTypeMFuncHsk Parameterizes an M-function with
handshake
ST_NciMFuncResetAllFast [} 287] E_NciEntryTypeResetAllFast Resets all fast M-functions

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_PlcInterpolation

TF5100 TwinCAT 3 NC I Version: 1.2 277

PLC NCI Libraries

5.2.1 FB_NciFeedTablePreparation

The function block FB_NciFeedTablePreparation appends an entry of a specific type to the feed table
(stFeedGropupTable). An appended entry can generate more than one row in the table. If the table has not
enough free rows, an error is returned and no entry is added to the table. In this case the entry either has to
be added to another table or to the same table, after FB_NciFeedTable was executed. This function block
deals with modal functions, such as tangential following. It is therefore important to always use the same
instance of this function block. The function block can be called repeatedly in a PLC cycle.

VAR_INPUT
VAR_INPUT
nEntryType : E_NciEntryType;
pEntry : POINTER TO ST_NciGeoLine;
bResetTable : BOOL;
bResetAll : BOOL;
END_VAR

nEntryType: Specifies the entry type, e.g. line, circle, tangential following

pEntry: Pointer to entry structure – must match nEntryType

bResetTable: If bResetTable is TRUE, the table ‚stFeedGroupTable’ is set to zero and nFilledRows is also
set to zero. If nErrorId = ErrNciFeedTableFull, this error is reset. All modal flags (such as tangential
following) remain constant.

bResetAll: Like bResetTable. In addition, all modal flags are set to their default values, and all error IDs are
reset.

VAR_IN_OUT
VAR_IN_OUT
stFeedGroupTable : ST_NciFeedGroupTable
END_VAR

stFeedGroupTable: Table containing the rows for the NC kernel.

VAR_OUTPUT
VAR_OUTPUT
nFilledRows : INT;
bError : BOOL;
nErrorId : UDINT;
END_VAR

nFilledRows: Number of filled rows.

bError: Becomes TRUE as soon as an error has occurred.

nErrorId: Contains the command-specific error code of the most recently executed command. Is reset to 0
by the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313] (error codes above 0x4000).

NOTE! If bResetTable, bResetAll, or bError is true, no further entries are accepted.

NOTE! The error code 0x4B72 indicates that the table is full and the last entry was not accepted.

Sample:
stGeoLine.nDisplayIndex := 1;
stGeoLine.fEndPosX := 0;
stGeoLine.fEndPosY := 400;
stGeoLine.fEndPosZ := 100;

278 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

stGeoLine.fEndPosQ1 :=-90;
stGeoLine.fVelo := 1000; (*mm per sec*)

fbFeedTablePrep(
nEntryType := E_NciEntryTypeGeoLine,
pEntry := ADR(stGeoLine),
bResetTable:= FALSE,
stFeedGroupTable:= stNciFeedGroupTable,
nFilledRows=> nFilledRows,
bError => bError,
nErrorId => nErrorId);

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_PlcInterpolation

5.2.2 FB_NciFeedTable

The function block FB_NciFeedTable transfers a given table to the NC kernel. If the override is set and the
approvals are enabled, execution is started immediately. bFeedingDone becomes TRUE when the transfer is
complete. This signal can be used for overwriting the table with NciFeedTablePreparation [} 278]. In
NciFeedTablePreparation the table first has to be reset.

bChannelDone indicates complete execution of the tables in the NC kernel. The identifier ST_NciEndOfTables
[} 280] must therefore be placed at the end of the last table.

VAR_INPUT
VAR_INPUT
bExecute : BOOL;
bReset : BOOL;
bLogFeederEntries : BOOL;
END_VAR

bExecute: The command is triggered by a rising edge at this input.

bReset: Triggers a channel reset and also resets the function block

bLogFeederEntries: If TRUE, a log file 'PlcItpFeed.log' is written in the TwinCAT\Mc\Nci folder. It contains
all entries that are sent to the NC kernel via ADS. If bLogFeederEntries = TRUE, more time is required until
bFeedingDone becomes TRUE.

VAR_IN_OUT
VAR_IN_OUT
stFeedGroupTable : ST_NciFeedGroupTable;
stNciToPlc : NCTOPLC_NCICHANNEL_REF;
END_VAR

stFeedGroupTable: Table containing the rows for the NC kernel.

stNciToPlc: The structure of the cyclic channel interface between NCI and PLC.

VAR_OUTPUT
VAR_OUTPUT
bFeedingDone : BOOL;
bChannelDone : BOOL;
bFeedBusy: : BOOL;
bResetBusy: : BOOL;

TF5100 TwinCAT 3 NC I Version: 1.2 279

PLC NCI Libraries

bError : BOOL;
nErrorId : UDINT;
END_VAR

bFeedingDone: Becomes TRUE once all table rows have been sent to the NC kernel.

bChannelDone: Becomes TRUE once all entries of the table in the NC kernel were executed and
ST_NciEndOfTables was detected.

bFeedBusy: Becomes TRUE when the function block sends entries to the NC kernel.

bResetBusy: Becomes TRUE when a reset is executed.

bError: Becomes TRUE as soon as an error has occurred.

nErrorId: Contains the command-specific error code of the most recently executed command. Is reset to 0
by the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error
documentation [} 308] or in the NC error documentation [} 313].

Requirements

Development environment Target platform PLC libraries to be linked

TwinCAT v3.1.0 PC or CX (x86 or x64) Tc2_PlcInterpolation

5.2.3 Types and Enums

E_NciEntryType
TYPE E_NciEntryType :
(
E_NciEntryTypeNone := 0,
E_NciEntryTypeGeoStart := 1,
E_NciEntryTypeGeoLine := 2,
E_NciEntryTypeGeoCirclePlane := 3,
E_NciEntryTypeGeoCircleCIP := 4,
E_NciEntryTypeGeoBezier3 := 10,
E_NciEntryTypeGeoBezier5 := 11,
E_NciEntryTypeMFuncHsk := 20,
E_NciEntryTypeMFuncFast := 21,
E_NciEntryTypeMFuncResetAllFast := 23,
E_NciEntryTypeHParam := 24,
E_NciEntryTypeSParam := 25,
E_NciEntryTypeTParam := 26,
E_NciEntryTypeDynOvr := 50,
E_NciEntryTypeVertexSmoothing := 51,
E_NciEntryTypeBaseFrame := 52,
E_NciEntryTypePathDynamics := 53,
E_NciEntryTypeAxisDynamics := 55,
E_NciEntryTypeDwellTime := 56,
E_NciEntryTypeFeedrateIpol := 57,
E_NciEntryTypeTfDesc := 100,
E_NciEntryTypeEndOfTables := 1000
);
END_TYPE

280 Version: 1.2 TF5100 TwinCAT 3 NC I

 PLC NCI Libraries

Structures Enum Description

Organization
E_NciEntryTypeNone No function
ST_NciGeoStart [} 281] E_NciEntryTypeGeoStart Sets the start position for the first
geometry entry
ST_NciEndOfTables [} 292] E_NciEntryTypeEndOfTables Indicates the end of the geometry
table
Movement commands
ST_NciGeoLine [} 282] E_NciEntryTypeGeoLine Describes a straight line
ST_NciGeoCirclePlane [} 282] E_NciEntryTypeGeoCirclePlane Describes a circle in the main plane
(center point programming)
ST_NciGeoCircleCIP [} 284] E_NciEntryTypeGeoCircleCIP Describes a circle anywhere in the
space
ST_NciGeoBezier3 [} 284] E_NciEntryTypeGeoBezier3 Describes a 3rd order Bezier with
control points
ST_NciGeoBezier5 [} 285] E_NciEntryTypeGeoBezier5 Describes a 5th order Bezier with
control points
ST_NciDwellTime [} 290] E_NciEntryTypeDwellTime Describes a dwell time
Path parameters
ST_NciBaseFrame [} 289] E_NciEntryTypeBaseFrame Describes a zero shift and rotation
ST_NciVertexSmoothing [} 288] E_NciEntryTypeVertexSmoothing Activates blending at segment
transitions
ST_NciTangentialFollowingDesc E_NciEntryTypeTfDesc Activates tangential following of the
[} 291] tool
Dynamics
ST_NciDynOvr [} 288] E_NciEntryTypeDynOvr Modifies the dynamic override
ST_NciAxisDynamics [} 290] E_NciEntryTypeAxisDynamics Limits the axis dynamics
ST_NciPathDynamics [} 289] E_NciEntryTypePathDynamics Limits the path dynamics
ST_NciFeedrateIpol [} 290] E_NciEntryTypeFeedrateIpol Sets the feed interpolation type
Parameter commands
ST_NciHParam [} 287] E_NciEntryTypeHParam Sets an H-parameter (DINT)
ST_NciSParam [} 288] E_NciEntryTypeSParam Sets an S-parameter (WORD)
ST_NciTParam [} 288] E_NciEntryTypeTParam Sets a T-parameter (WORD)
ST_NciMFuncFast [} 286] E_NciEntryTypeMFuncFast Parameterizes a fast M-function (no
handshake)
ST_NciMFuncHsk [} 286] E_NciEntryTypeMFuncHsk Parameterizes an M-function with
handshake
ST_NciMFuncResetAllFast [} 287] E_NciEntryTypeResetAllFast Resets all fast M-functions

ST_NciGeoStart

Sets the start position for the first geometry entry. This is necessary, if the first geometry entry is a circle or if
tangential following in the first segment is ON. This structure can optionally be written at each start of the first
table.
TYPE ST_NciGeoStart :
STRUCT
nEntryType: E_NciEntryType := E_NciEntryTypeGeoStart; (*do not override this parameter *)
fPosX: LREAL;
fPosY: LREAL;
fPosZ: LREAL;
fPosQ1: LREAL;
fPosQ2: LREAL;
fPosQ3: LREAL;
fPosQ4: LREAL;

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fPosQ5: LREAL;
END_STRUCT
END_TYPE

nEntryType: Do not override this parameter (type: E_NciEntryType [} 280])

fPosX: Start position X

fPosY: Start position Y

fPosZ: Start position Z

fPosQ1: Start position Q1

fPosQ2: Start position Q2

fPosQ3: Start position Q3

fPosQ4: Start position Q4

fPosQ5: Start position Q5

ST_NciGeoLine

Describes a straight line with specified velocity.

TYPE ST_NciGeoLine :
STRUCT
nEntryType: E_NciEntryType := E_NciEntryTypeGeoLine; (*do not override this parameter *)
nDisplayIndex: UDINT;
fEndPosX: LREAL;
fEndPosY: LREAL;
fEndPosZ: LREAL;
fEndPosQ1: LREAL;
fEndPosQ2: LREAL;
fEndPosQ3: LREAL;
fEndPosQ4: LREAL;
fEndPosQ5: LREAL;
fVelo: LREAL;
bRapidTraverse: BOOL;
bAccurateStop: BOOL; (* VeloEnd := 0 *)
END_STRUCT
END_TYPE

nEntryType: Do not override this parameter (type: E_NciEntryType [} 280])

nDisplayIndex: For display purposes, such as block number in G-Code

fEndPosX: Target position X

fEndPosY: Target position Y

fEndPosZ: Target position Z

fEndPosQ1: Target position Q1

fEndPosQ2: Target position Q2

fEndPosQ3: Target position Q3

fEndPosQ4: Target position Q4

fEndPosQ5: Target position Q5

fVelo: Target path velocity, like F in G-Code, but in basic units per second (e.g. mm/s)

bRapidTraverse: TRUE has the same effect as G0, FALSE treats this entry like G01

bAccurateStop: Accurate stop (TRUE has the same effect as G09)

ST_NciGeoCirclePlane

Describes a circle in the main plane. The center point is specified in absolute coordinates.

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The orthogonal component at the center is assigned internally. If a circle is programmed in the XY plane, for
example, ,fCenterZ‘ is assigned internally. If the user has assigned the value explicitly, the value is
nevertheless overwritten by the function block. A helix can be described by programming the height. If helix
is programmed in the XY plane, for example, the lifting height of the helix is specified absolutely with
‚fEndPosZ‘.
TYPE ST_NciGeoCirclePlane :
STRUCT
nEntryType: E_NciEntryType := E_NciEntryTypeGeoCirclePlane; (*do not override this parameter *)
nDisplayIndex: UDINT;
fEndPosX: LREAL;
fEndPosY: LREAL;
fEndPosZ: LREAL;
fCenterX: LREAL;
fCenterY: LREAL;
fCenterZ: LREAL;
fEndPosQ1: LREAL;
fEndPosQ2: LREAL;
fEndPosQ3: LREAL;
fEndPosQ4: LREAL;
fEndPosQ5: LREAL;
fVelo: LREAL;
bClockwise: BOOL;
bAccurateStop: BOOL; (* VeloEnd := 0 *)
nPlane: E_NciGeoPlane := E_NciGeoPlaneXY;
END_STRUCT
END_TYPE

nEntryType: Do not override this parameter (type: E_NciEntryType [} 280])

nDisplayIndex: For display purposes, such as block number in G-Code

fEndPosX: Target position X

fEndPosY: Target position Y

fEndPosZ: Target position Z

fCenterX: Centre position X in absolute coordinates

fCenterY: Centre position Y in absolute coordinates

fCenterZ: Centre position Z in absolute coordinates

fEndPosQ1: Target position Q1

fEndPosQ2: Target position Q2

fEndPosQ3: Target position Q3

fEndPosQ4: Target position Q4

fEndPosQ5: Target position Q5

fVelo: Target path velocity in basic units per second (e.g. mm/s), like F in G-Code

bClockwise: If TRUE, the circle is drawn clockwise, otherwise counter-clockwise (similar to G02, G03)

bAccurateStop: accurate stop [} 123] (TRUE has the same effect as G09)

nPlane: Specifies the plane: XY, YZ, or ZX (similar to G17..G19) (type: E_NciGeoPlane [} 283])

Circle segment as start segment

If the first geometry segment is a circle, the start position must set with ST_NciGeoStart
[} 281].
Note

E_NciGeoPlane
TYPE E_NciGeoPlane :
(
E_NciGeoPlaneXY := 17,
E_NciGeoPlaneZX := 18,

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E_NciGeoPlaneYZ := 19
);
END_TYPE

ST_NciGeoCircleCIP

The CIP circle can be used to describe a circle anywhere in space. It does not have to be in the main plane.
In order for the circle to be described unambiguously, not all 3 points (the starting point is specified implicitly)
may lie on straight line. It is thus not possible to program a full circle in this way.
TYPE ST_NciGeoCircleCIP :
STRUCT
nEntryType: E_NciEntryType := E_NciEntryTypeGeoCircleCIP; (* do not overwrite this parameter *)
nDisplayIndex: UDINT;
fEndPosX: LREAL;
fEndPosY: LREAL;
fEndPosZ: LREAL;
fCIPPosX: LREAL;
fCIPPosY: LREAL;
fCIPPosZ: LREAL;
fEndPosQ1: LREAL;
fEndPosQ2: LREAL;
fEndPosQ3: LREAL;
fEndPosQ4: LREAL;
fEndPosQ5: LREAL;
fVelo: LREAL;
bAccurateStop: BOOL; (* VeloEnd := 0 *)
END_STRUCT
END_TYPE

nEntryType: Do not override this parameter (type: E_NciEntryType [} 280])

nDisplayIndex: For display purposes, such as block number in G-Code

fCIPPosX: X position in absolute coordinates (point on circular path)

fCIPPosY: Y position in absolute coordinates (point on circular path)

fCIPPosZ: Z position in absolute coordinates (point on circular path)

fEndPosX: Target position X

fEndPosY: Target position Y

fEndPosZ: Target position Z

fEndPosQ1: Target position Q1

fEndPosQ2: Target position Q2

fEndPosQ3: Target position Q3

fEndPosQ4: Target position Q4

fEndPosQ5: Target position Q5

fVelo: Target path velocity in basic units per second (e.g. mm/s), like F in G-Code

bAccurateStop: accurate stop [} 123] (TRUE has the same effect as G09)

Circle segment as start segment

If the first geometry segment is a circle, the start position must set with ST_NciGeoStart
[} 281].
Note

ST_NciGeoBezier3

Describes a 3rd-order Bézier curve with the aid of control points. The start position results from the previous
segment. The third control point is determined by the target position.
TYPE ST_NciGeoBezier3:
STRUCT
nEntryType: E_NciEntryType := E_NciEntryTypeGeoBezier3; (*do not override this parameter *)

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nDisplayIndex: UDINT;
fControlPoint1X: LREAL;
fControlPoint1Y: LREAL;
fControlPoint1Z: LREAL;
fControlPoint2X: LREAL;
fControlPoint2Y: LREAL;
fControlPoint2Z: LREAL;
fEndPosX: LREAL;
fEndPosY: LREAL;
fEndPosZ: LREAL;
fEndPosQ1: LREAL;
fEndPosQ2: LREAL;
fEndPosQ3: LREAL;
fEndPosQ4: LREAL;
fEndPosQ5: LREAL;
fVelo: LREAL;
bAccurateStop: BOOL; (* VeloEnd := 0 *)
END_STRUCT
END_TYPE

nEntryType: Do not override this parameter (type: E_NciEntryType [} 280])

nDisplayIndex: For display purposes, such as block number in G-Code

fControlPoint1X: X component control point 1

fControlPoint1Y: Y component control point 1

...

fControlPoint2Z: Z component control point 2

fEndPosX: Target position X

fEndPosY: Target position Y

fEndPosZ: Target position Z

fEndPosQ1: Target position Q1

fEndPosQ2: Target position Q2

fEndPosQ3: Target position Q3

fEndPosQ4: Target position Q4

fEndPosQ5: Target position Q5

fVelo: Target path velocity in basic units per second (e.g. mm/s), like F in G-Code

bAccurateStop: accurate stop [} 123] (TRUE has the same effect as G09)

ST_NciGeoBezier5

Describes a 5th-order Bézier curve with the aid of control points. The start position results from the previous
segment. The fifth control point is determined by the target position.
TYPE ST_NciGeoBezier5:
STRUCT
nEntryType: E_NciEntryType := E_NciEntryTypeGeoBezier5; (*do not override this parameter *)
nDisplayIndex: UDINT;
fControlPoint1X: LREAL;
fControlPoint1Y: LREAL;
fControlPoint1Z: LREAL;
fControlPoint2X: LREAL;
fControlPoint2Y: LREAL;
fControlPoint2Z: LREAL;
fControlPoint3X: LREAL;
fControlPoint3Y: LREAL;
fControlPoint3Z: LREAL;
fControlPoint4X: LREAL;
fControlPoint4Y: LREAL;
fControlPoint4Z: LREAL;
fEndPosX: LREAL;

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fEndPosY: LREAL;
fEndPosZ: LREAL;
fEndPosQ1: LREAL;
fEndPosQ2: LREAL;
fEndPosQ3: LREAL;
fEndPosQ4: LREAL;
fEndPosQ5: LREAL;
fVelo: LREAL;
bAccurateStop: BOOL; (* VeloEnd := 0 *)
END_STRUCT
END_TYPE

nEntryType: Do not override this parameter (type: E_NciEntryType [} 280])

nDisplayIndex: For display purposes, such as block number in G-Code

fControlPoint1X: X component control point 1

fControlPoint1Y: Y component control point 1

...

fControlPoint4Z: Z component control point 4

fEndPosX: Target position X

fEndPosY: Target position Y

fEndPosZ: Target position Z

fEndPosQ1: Target position Q1

fEndPosQ2: Target position Q2

fEndPosQ3: Target position Q3

fEndPosQ4: Target position Q4

fEndPosQ5: Target position Q5

fVelo: Target path velocity in basic units per second (e.g. mm/s), like F in G-Code

bAccurateStop: accurate stop [} 123] (TRUE has the same effect as G09)

ST_NciMFuncHsk

Describes an M-function [} 145] of type handshake. The M-function number is between 0 and 159.
TYPE ST_NciMFuncHsk :
STRUCT
nEntryType: E_NciEntryType := E_NciEntryTypeMFuncHsk; (*do not override this parameter *)
nDisplayIndex: UDINT;
nMFunc: INT;
END_STRUCT
END_TYPE

nEntryType: Do not override this parameter (type: E_NciEntryType [} 280])

nDisplayIndex: For display purposes, such as block number in G-Code

nMFunc: M-function number (0..159)

M-functions in the PlcInterpolation library

If M-functions are used in the PlcInterpolation library, they do not have to be entered in the
user interface of the XAE. An M-function always takes effect at the programmed location.
Note

ST_NciMFuncFast

Parameterizes up to 8 fast M-functions [} 145]. The first M-function must be assigned nMFuncIn0, the
second nMFuncIn1 etc. -1 indicates the end of the assignments.

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TYPE ST_NciMFuncFast :
STRUCT
nEntryType: E_NciEntryType := E_NciEntryTypeMFuncFast; (*do not override this parameter *)
nDisplayIndex: UDINT;
nMFuncIn0: INT;
nMFuncIn1: INT;
nMFuncIn2: INT;
nMFuncIn3: INT;
nMFuncIn4: INT;
nMFuncIn5: INT;
nMFuncIn6: INT;
nMFuncIn7: INT;
END_STRUCT
END_TYPE

nEntryType: Do not override this parameter (type: E_NciEntryType [} 280])

nDisplayIndex: For display purposes, such as block number in G-Code

nMFuncIn0: fast M-function number (0..159)

nMFuncIn1: Fast M-function number (0..159); -1 indicates the end of the list.

nMFuncIn2: Fast M-function number (0..159); -1 indicates the end of the list.

nMFuncIn3: Fast M-function number (0..159); -1 indicates the end of the list.

nMFuncIn4: Fast M-function number (0..159); -1 indicates the end of the list.

nMFuncIn5: Fast M-function number (0..159); -1 indicates the end of the list.

nMFuncIn6: Fast M-function number (0..159); -1 indicates the end of the list.

nMFuncIn7: Fast M-function number (0..159); -1 indicates the end of the list.

M-functions in the PlcInterpolation library

If M-functions are used in the PlcInterpolation library, they do not have to be entered in the
user interface of the XAE. An M-function always takes effect at the programmed location.
Note

ST_NciMFuncResetAllFast

Resets all fast M-functions [} 145].

TYPE ST_NciMFuncResetAllFast :
STRUCT
nEntryType: E_NciEntryType := E_NciEntryTypeMFuncResetAllFast; (*do not override this parameter *)
nDisplayIndex: UDINT;
END_STRUCT
END_TYPE

nEntryType: Do not override this parameter (type: E_NciEntryType [} 280])

nDisplayIndex: For display purposes, such as block number in G-Code

ST_NciHParam

Sets an H-parameter [} 149] in the cyclic channel interface.

TYPE ST_NciHParam :
STRUCT
nEntryType: E_NciEntryType := E_NciEntryTypeHParam; (*do not override this parameter *)
nDisplayIndex: UDINT;
nHParam: UDINT;
END_STRUCT
END_TYPE

nEntryType: Do not override this parameter (type: E_NciEntryType [} 280])

nDisplayIndex: For display purposes, such as block number in G-Code

nHParam: H-parameter from NC to PLC

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ST_NciSParam

Sets an S-parameter [} 149] in the cyclic channel interface.

TYPE ST_NciSParam :
STRUCT
nEntryType: E_NciEntryType := E_NciEntryTypeSParam; (*do not override this parameter *)
nDisplayIndex: UDINT;
nSParam: UINT;
END_STRUCT
END_TYPE

nEntryType: Do not override this parameter (type: E_NciEntryType [} 280])

nDisplayIndex: For display purposes, such as block number in G-Code

nSParam: S-parameter from NC to PLC

ST_NciTParam

Sets an T-parameter [} 149] in the cyclic channel interface.

TYPE ST_NciTParam :
STRUCT
nEntryType: E_NciEntryType := E_NciEntryTypeTParam; (*do not override this parameter *)
nDisplayIndex: UDINT;
nTParam: UINT;
END_STRUCT
END_TYPE

nEntryType: Do not override this parameter (type: E_NciEntryType [} 280])

nDisplayIndex: For display purposes, such as block number in G-Code

nTParam: T-parameter from NC to PLC

ST_NciDynOvr

Modal functions for changing the path dynamics.

See DynOvr [} 156] in the interpreter documentation [} 107].

TYPE ST_NciDynOvr :
STRUCT
nEntryType: E_NciEntryType := E_NciEntryTypeDynOvr; (*do not override this parameter*)
nDisplayIndex: UDINT;
fDynOvr: LREAL;
END_STRUCT
END_TYPE

nEntryType: Do not override this parameter (type: E_NciEntryType [} 280])

nDisplayIndex: For display purposes, such as block number in G-Code

fDynOvr: Value for dynamic override (1 < fDynOvr <= 1)

ST_NciVertexSmoothing

Modal function for activating blending at the segment transition. Blending is active until it is cancelled by
setting the radius to 0.

A more detailed description of the parameter can be found in the interpreter documentation [} 107].
(paramVertexSmoothing [} 133]).
TYPE ST_NciVertexSmoothing :
STRUCT
nEntryType: E_NciEntryType := E_NciEntryTypeVertexSmoothing; (*do not override this parameter *)
nDisplayIndex: UDINT;
nType: UDINT; (*type of smoothing, e.g. parabola, bi-quad *)
nSubtype: UDINT; (*e.g. adaptive, constant radius *)
fRadius: LREAL; (*max. radius for tolerance ball *)
END_STRUCT
END_TYPE

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nEntryType: Do not override this parameter (type: E_NciEntryType [} 280])

nDisplayIndex: For display purposes, such as block number in G-Code

nType: Blending type: 2: parabola, 3: Bi-quadratic, 4: Bezier 3rd order, 5: 5th order Bezier

nSubtype: 1: constant tolerance radius, 2: distance between intersection and vertex, 3: Adaptive tolerance
radius

fRadius: Radius of the blending sphere in basic units (e.g. mm)

ST_NciBaseFrame

The structure ST_NciBaseFrame describes a modal zero shift and rotation. The operating principle is the
same as for zero shift and rotation in the interpreter, i.e. the point of rotation is the current origin (see
rotation [} 129] in the interpreter documentation [} 107]).
TYPE ST_NciBaseFrame:
STRUCT
nEntryType: E_NciEntryType := E_NciEntryTypeBaseFrame; (*Do not override this parameter *)
nDisplayIndex: UDINT;
fShiftX: LREAL;
fShiftY: LREAL;
fShiftZ: LREAL;
fRotX: LREAL;
fRotY: LREAL;
fRotZ: LREAL;
fShiftQ1: LREAL;
fShiftQ2: LREAL;
fShiftQ3: LREAL;
fShiftQ4: LREAL;
fShiftQ5: LREAL;
END_STRUCT
END_TYPE

nEntryType: Do not override this parameter (type: E_NciEntryType [} 280])

nDisplayIndex: For display purposes, such as block number in G-Code

fShiftX: Zero shift in X direction

fShiftY: Zero shift in Y direction

fShiftZ: Zero shift in Z direction

fRotX: Rotation of the X axis

fRotY: Rotation of the Y axis

fRotZ: Rotation of the Z axis

fShiftQ1: Offset of the Q1 axis

fShfitQ2: Offset of the Q2-axis

fShiftQ3: Offset of the Q3-axis

fShiftQ4: Offset of the Q4-axis

fShiftQ5: Offset of the Q5-axis

ST_NciPathDynamics

The structure ST_NciPathDynamics sets the path dynamics (acceleration, deceleration, jerk). The operating
principle is the same as for paramPathDynamics in the interpreter (see paramPathDynamics [} 156] in the
interpreter documentation [} 107]).
TYPE ST_NciPathDynamics:
STRUCT
nEntryType: E_NciEntryType := E_NciEntryTypePathDynamics; (*do not override this parameter *)
nDisplayIndex: UDINT;
fAcc: LREAL;

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fDec: LREAL;
fJerk: LREAL;
END_STRUCT
END_TYPE

nEntryType: Do not override this parameter (type: E_NciEntryType [} 280])

nDisplayIndex: For display purposes, such as block number in G-Code

fAcc: Maximum permitted path acceleration

fDec: Maximum permitted path deceleration

fJerk: Maximum permitted path jerk

ST_NciAxisDynamics

The structure ST_NciAxisDynamics sets the path axis dynamics (acceleration, deceleration, jerk). The
operating principle is the same as for paramAxisDynamics in the interpreter (see paramAxisDynamics [} 156]
in the interpreter documentation [} 107])
TYPE ST_NciAxisDynamics:
STRUCT
nEntryType: E_NciEntryType := E_NciEntryTypeAxisDynamics; (*Do not override this parameter*)
nDisplayIndex: UDINT;
nAxis: UDINT;
fAcc: LREAL;
fDec: LREAL;
fJerk: LREAL;
END_STRUCT
END_TYPE

nEntryType: Do not override this parameter (type: E_NciEntryType [} 280])

nDisplayIndex: For display purposes, such as block number in G-Code

nAxis: Axis in interpolation group X:0 Y:1 Z:2 Q1:3 ... Q5:7

fAcc: Maximum permitted axis acceleration

fDec: Maximum permitted axis deceleration

fJerk: Maximum permitted axis jerk

ST_NciDwellTime

The structure ST_NciDwellTime is used to activate a dwell time in seconds (see dwell time [} 122] in the
interpreter documentation [} 107])
TYPE ST_NciDwellTime:
STRUCT
nEntryType: E_NciEntryType := E_NciEntryTypeDwellTime; (*Do not override this parameter *)
nDisplayIndex: UDINT;
fDwellTime: LREAL;
END_STRUCT
END_TYPE

nEntryType: Do not override this parameter (type: E_NciEntryType [} 280])

nDisplayIndex: For display purposes, such as block number in G-Code

fDwellTime: Dwell time in seconds

ST_NciFeedrateIpol

The structure ST_NciFeedrateIpol can be used to set the feed interpolation (see Feed interpolation [} 123]).
TYPE ST_NciFeedrateIpol :
STRUCT
nEntryType: E_NciEntryType := E_NciEntryTypeFeedrateIpol;(*Do not overwrite this parameter*)
nDisplayIndex: UDINT;
eFeedrateIpol: E_NciFeedrateIpol;(*E_NciFeedrateIpolConstant = FCONST, E_NciFeedrateIpolLinear=FLIN

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*)
END_STRUCT
END_TYPE

nEntryType: Do not override this parameter (type: E_NciEntryType [} 280])

eFeedrateIpol: specifies the feed interpolation.

TYPE E_NciFeedRateIpol :(
E_NciFeedrateIpolConstant,
E_NciFeedrateIpolLinear
)
END_TYPE

ST_NciTangentialFollowingDesc

This is a modal command for switching tangential following on or off.

TYPE ST_NciTangentialFollowingDesc :
STRUCT
nEntryType: E_NciEntryType := E_NciEntryTypeTfDesc; (*do not override this parameter *)
bTangOn: BOOL;
nTangAxis: E_NciAxesInGroup; (*axis used for tangential following *)
nPathAxis1: E_NciAxesInGroup; (*describing the plane e.g. x*)
nPathAxis2: E_NciAxesInGroup; (*e.g. y ==> g17, xy plane*)
fOffset: LREAL; (*geo tangent is 0 degree, counting is mathmatical positive *)
fCriticalAngle1: LREAL;
nTfBehavior: E_TangentialFollowingBehavior; (*what to do if angle becomes bigger than critical angle
1 *)
END_STRUCT
END_TYPE

nEntryType: Do not override this parameter (type: E_NciEntryType [} 280])

bTangOn: If TRUE, tangential following is switched on.

nTangAxis: Axis (Q1..Q5) that is used as tangential axis (type: E_NciAxesInGroup [} 291]).

nPathAxis1: First path axis describing the plane and orientation for calculating the tangent.

nPathAxis2: Second path axis describing the plane and orientation for calculating the tangent.

fOffset: Offset of the tangential axis

fCriticalAngle1: Critical angle 1. The response in cases where the angle between two segments is greater
than fCriticalAngle1 is specified with nTfBehavior.

nTfBehavior: see fCriticalAngle1 (type: E_TangentialFollowingBehavior [} 291])

E_NciAxesInGroup
TYPE E_NciAxesInGroup :
(
NoneAxis := 0,
XAxis,
YAxis,
ZAxis,
Q1Axis,
Q2Axis,
Q3Axis,
Q4Axis,
Q5Axis
);
END_TYPE

E_TangentialFollowingBehavior
TYPE E_TangentialFollowingBehavior :
(
E_TfIngoreAll, (*ignore critical angle *)
E_TfErrorOnCritical1 (*if angle becomes bigger than critical angle 1 ==> error *)
);
END_TYPE

E_TfIngoreAll: The critical angle is ignored.

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E_TfErrorOnCritical1: An error is returned if the critical angle is exceeded.

ST_NciEndOfTables

Indicates the last entry of the last table. Is used for signaling the bChannelDone flag in FB_NciFeedTable
[} 279].
TYPE ST_NciEndOfTables :
STRUCT
nEntryType: E_NciEntryType := E_NciEntryTypeEndOfTables; (*do not override this parameter *)
END_STRUCT
END_TYPE

nEntryType: Do not override this parameter (type: E_NciEntryType [} 280])

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 Samples

6 Samples
NCI: NCISimpleSample

Download:

https://infosys.beckhoff.com/content/1033/TF5100_TC3_NC_I/Resources/zip/9007202693487883.zip

The example NCISimpleSample shows how an G-Code program is loaded from the PLC and processing is
started.

You need to copy the enclosed parts program TestIt.nc into the TwinCAT\Mc\Nci directory. Otherwise the
parts program will not be found during loading. Alternatively you can adjust the path in the PLC program.

PLC interpolation: PlcInterpolationSimpleSample

Download:

https://infosys.beckhoff.com/content/1033/TF5100_TC3_NC_I/Resources/zip/18014401453622155.zip

The sample shows how a movement can be affected with the library Tc2_PlcInterpolation directly from the
PLC.

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Appendix

7 Appendix

7.1 Display of the parts program

Reading of the current NC line via ADS

This ADS Read command returns a maximum of three lines of the current parts program, i.e. the current line
of code and perhaps two previously processed lines.

Function ADS-Read
Port 500 (dec)
Index Group 0x2300 + channel ID
Index Offset 0x2000 0001
Data string (30 bytes min.)

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Reading of the current program name

This ADS Read command returns the program name of the current main NC program (in this case 1_1.nc).

Function ADS-Read
Port 500 (dec)
Index Group 0x2100 + channel ID
Index Offset 0x7
Data string, 100 characters max.

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Reading of the current file information

In contrast to the 'Reading the current NC line' function, in this case not the line itself is read, but associated
line information. The return value is the current program name (e.g. file name of the subroutine) and a file
offset. Based on this information, the user interface can open the associated file and highlight the respective
line. The display is no longer limited to 3 rows, i.e. any number of lines can be displayed.

In the event of an NCI load or runtime error, information about the associated line of code can be obtained
via this route.

Function ADS-Read
Port 500 (dec)
Index Group 0x2100 + channel ID
Index Offset 0x12
Data UINT32 Current display of
1: SAF-
2: Interpreter
3: Error offset
UINT32 File offset
char[260] path + program name

7.2 Display of technology data

The currently active technology data such as G functions, zero shifts and rotation can be read via ADS.

Activation for reading the technology data

In order to read the above-mentioned parameters, activation via ADS is required first.

The function must be activated before the start of the NC program, or earlier. It remains active until either a
TwinCAT restart is performed or the function is reset explicitly.

Function ADS-Write
Port 500 (dec)
Index Group 0x2000 + channel ID
Index Offset 0x0053
Data DWORD
0: disable (default)
1: enable

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Reading the currently active zero shift

This command reads the active zero shift of the segment currently in block execution (SAF). If no zero shift is
active (G53), the structure for the individual components contains a zero vector. These data can be used for
switching the display between machine coordinates and programming coordinates, for example.

The data, which are read with the function block 'ItpReadZeroShift', for example, may differ from these
values, since the interpreter data are read with the function block, which may already take into account new
offsets.

Function ADS-Read
Port 500 (dec)
Index Group 0x2100 + channel ID
Index Offset 0x0014
Data {
UINT32 block counter
UINT32 dummy
LREAL[3] zero shift G54..G57
LREAL[3] zero shift G58
LREAL[3] zero shift G59
}

Reading the currently active rotation

This command reads the active rotation of the segment currently in block execution (SAF).

Function ADS-Read
Port 500 (dec)
Index Group 0x2100 + channel ID
Index Offset 0x0015
Data {
UINT32 block counter
UINT32 dummy
LREAL[3] rotation of X, Y & Z in degrees
}

Reading the currently active G-Code

The G-Code is subdivided into groups. For example, the geometries types with modal effect (G01, G02...)
and the plane selection (G17..G19) form separate groups. When the G-Code information is read, the
enumerator for the groups is also read. These can then be displayed in an application-specific manner.

Since the read command comes with a parameter to be read, not all groups have to be read. The memory
provided is always filled by group 1. If, for example, the transferred memory size is 3x8 bytes, the data for
the block counter, group 1 and 2 are returned.

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Function ADS-Read
Port 500 (dec)
Index Group 0x2100 + channel ID
Index Offset 0x0013
Data {
UINT32 block counter
UINT32 Group 1: ModalGeoTypes
UINT32 Group 2: BlockwiseGeoTypes
UINT32 Group 3: ModalPlaneSelection
UINT32 Group 4: ModalToolCompensation
UINT32 Group 5: ModalToolFeedDirection
UINT32 Group 6: ModalZeroShift
UINT32 Group 7: ModalAccurateStop
UINT32 Group 8: BlockwiseAccurateStop
UINT32 Group 9: ModalDesignationAbsInc
UINT32 Group 10:
ModalDesignationInchMetric
UINT32 Group 11: ModalFeedRateInCurve
UINT32 Group 12: ModalCenterpointCorr
UINT32 Group 13: ModalCircleCpAbsInc
UINT32 Group 14: ModalCollisionDetection
UINT32 Group 15: ModalRotation
UINT32 Group 16: ModalCalcExRot
UINT32 Group 17: ModalDiam
UINT32 Group 18: ModalFeedrateIpol
UINT32 Group 19: ModalMirror
}
#define GCodeOffset 0x1000
#define CommonIdentOffset 0x2000 // used for non-g-code commands, like rot, cfc...

Group 1: ModalGeoTypes
enum GCodeGroup_ModalGeoTypes
{
ModalGeoTypeUndefined = 0,
ModalGeoTypeG0 = 0 + GCodeOffset, // line - rapid traverse
ModalGeoTypeG01 = 1 + GCodeOffset, // straight line
ModalGeoTypeG02 = 2 + GCodeOffset, // circle clockwise
ModalGeoTypeG03 = 3 + GCodeOffset // circle anticlockwise
};

Group 2: BlockwiseGeoTypes
enum GCodeGroup_BlockwiseGeoTypes
{
BlockwiseGeoTypeNone = 0,
BlockwiseGeoTypeG04 = 4 + GCodeOffset, // dwell time
BlockwiseGeoTypeG74 = 74 + GCodeOffset, // homing
BlockwiseGeoTypeCip = 1 + CommonIdentOffset // circle parametrized with 3 points
};

Group 3: ModalPlaneSelection
enum GCodeGroup_ModalPlaneSelection
{
ModalPlaneSelectUndefined = 0,
ModalPlaneSelectG17 = 17 + GCodeOffset, // xy-plane
ModalPlaneSelectG18 = 18 + GCodeOffset, // zx-plane
ModalPlaneSelectG19 = 19 + GCodeOffset // yz-plane
};

Group 4: ModalToolCompensation

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enum GCodeGroup_ModalToolCompensation
{
ModalToolCompUndefined = 0,
ModalToolCompG40 = 40 + GCodeOffset, // tool compensation off
ModalToolCompG41 = 41 + GCodeOffset, // tool compensation left
ModalToolCompG42 = 42 + GCodeOffset // tool compensation right
};

Group 5: ModalToolFeedDirection
enum GCodeGroup_ModalToolFeedDirection
{
ModalToolFeedDirUndefined = 0,
ModalToolFeedDirPos = 2 + CommonIdentOffset, // tool feed direction positive
ModalToolFeedDirNeg = 3 + CommonIdentOffset // tool feed direction negative
};

Group 6: ModalZeroShift
enum GCodeGroup_ModalZeroShift
{
ModalZeroShiftUndefined = 0,
ModalZeroShiftG53 = 53 + GCodeOffset, // zero shift off
ModalZeroShiftG54G58G59 = 54 + GCodeOffset, // zero shift G54 + G58+ G59
ModalZeroShiftG55G58G59 = 55 + GCodeOffset, // zero shift G55 + G58+ G59
ModalZeroShiftG56G58G59 = 56 + GCodeOffset, // zero shift G56 + G58+ G59
ModalZeroShiftG57G58G59 = 57 + GCodeOffset // zero shift G57 + G58+ G59
};

Group 7: ModalAccurateStop
enum GCodeGroup_ModalAccurateStop
{
ModalAccurateStopNone = 0,
ModalAccurateStopG60 = 60 + GCodeOffset // modal accurate stop
};

Group 8: BlockwiseAccurateStop
enum GCodeGroup_BlockwiseAccurateStop
{
BlockwiseAccurateStopNone = 0,
BlockwiseAccurateStopG09 = 9 + GCodeOffset, // common accurate stop
BlockwiseAccurateStopTpm = 4 + CommonIdentOffset // target position monitoring
};

Group 9: ModalDesignationAbsInc
enum GCodeGroup_ModalDesignationAbsInc
{
ModalDesignAbsIncUndefined = 0,
ModalDesignAbsIncG90 = 90 + GCodeOffset, // absolute designation
ModalDesignAbsIncG91 = 91 + GCodeOffset // incremental designation
};

Group 10: ModalDesignationInchMetric

enum
GCodeGroup_ModalDesignationInchMetric
{
ModalDesignInchMetricUndefined = 0,
ModalDesignInchMetricG70 = 70 + GCodeOffset, // designation inch
ModalDesignInchMetricG71 = 71 + GCodeOffset, // designation metric
ModalDesignInchMetricG700 = 700 + GCodeOffset, // designation inch & feedrate recalculated
ModalDesignInchMetricG710 = 710 + GCodeOffset // designation metric & feedrate recalculated
};

Group 11: ModalFeedRateInCurve

enum GCodeGroup_ModalFeedRateInCurve
{
ModalFeedRateInCurveUndefined = 0,
ModalFeedRateInCurveCfc = 5 + CommonIdentOffset, // constant feed contour
ModalFeedRateInCurveCfin = 6 + CommonIdentOffset, // constant feed inner contour
ModalFeedRateInCurveCftcp = 7 + CommonIdentOffset // constant feed tool center point
};

Group 12: ModalCenterpointCorr

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enum GCodeGroup_ModalCenterpointCorr
{
ModalCenterpointCorrUndefined = 0,
ModalCenterpointCorrOn = 8 + CommonIdentOffset, // circle centerpoint correction on
ModalCenterpointCorrOff = 9 + CommonIdentOffset // circle centerpoint correction off
};

Group 13: ModalCircleCpAbsInc

enum GCodeGroup_ModalCircleCpAbsInc
{
ModalCircleCpUndefined = 0,
ModalCircleCpIncremental = 10 + CommonIdentOffset, // circle centerpoint incremental to start point
ModalCircleCpAbsolute = 11 + CommonIdentOffset // circle centerpoint absolute
};

Group 14: ModalCollisionDetection

enum GCodeGroup_ModalCollisionDetection
{
ModalCollisionDetectionUndefined = 0,
ModalCollisionDetectionOn = 12 + CommonIdentOffset, //collision detection on
ModalCollisionDetectionOff = 13 + CommonIdentOffset //collision detection off
};

Group 15: ModalRotation

enum GCodeGroup_ModalRotation
{
ModalRotationUndefined = 0,
ModalRotationOn = 14 + CommonIdentOffset, // rotation is turned on
ModalRotationOff = 15 + CommonIdentOffset // rotation is turned off
};

Group 16: ModalCalcExRot

enum GCodeGroup_ModalCalcExRot
{
ModalCalcExRotUndefined = 0,
ModalCalcExRotOn = 16 + CommonIdentOffset, // extended calculation for rotation turned on
ModalCalcExRotOff = 17 + CommonIdentOffset // extended calculation for rotation turned off
};

Group 17: ModalDiam

enum GCodeGroup_ModalDiam
{
ModalDiamUndefined = 0,
ModalDiamOn = 18 + CommonIdentOffset, // diameter programming on
ModalDiamOff = 19 + CommonIdentOffset // diameter programming off
};

Group 18: ModalFeedrateIpol

enum GCodeGroup_ModalFeedrateIpol
{
ModalFeedrateIpolUndefined = 0,
ModalFeedrateIpolConst = 20 + CommonIdentOffset, // federate interpolation constant (default)
ModalFeedrateIpolLinear = 21 + CommonIdentOffset // federate interpoaltion linear to remaining path
};

Group 19: ModalMirror

enum GCodeGroup_ModalMirror
{
// value - (32+CommonIdentOffset) shows the bitmask for mirrored axes
// that's why the sequence seems to be strange...
//
ModalMirrorUndefined = 0,
ModalMirrorOff = 32 + CommonIdentOffset,
ModalMirrorX = 33 + CommonIdentOffset,
ModalMirrorY = 34 + CommonIdentOffset,
ModalMirrorXY = 35 + CommonIdentOffset,
ModalMirrorZ = 36 + CommonIdentOffset,
ModalMirrorZX = 37 + CommonIdentOffset,
ModalMirrorYZ = 38 + CommonIdentOffset,
ModalMirrorXYZ = 39 + CommonIdentOffset
};

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 Appendix

7.3 Displaying the remaining path length

If calculation of the remaining path length is switched active, it is calculated up to as far as the next accurate
stop, or as far as the last geometric segment in memory (block preparation). An accurate stop is, for
instance, generated by G09 or by G60. However, M-functions of type handshake, decoder stops and G04
implicitly generate an accurate stop.

Activation:

Index Group: 0x3000 + Group ID

Index Offset: 0x0508

see index offset specification for group parameters [} 391]

Reading the remaining path length:

Reading is again implemented through ADS, and can also be recorded with TwinCAT Scope.

Index Group: 0x3100 + Group ID

Index Offset: 0x0522

The remaining path length can be transferred with the cyclic channel interface to the PLC via
ItpSetCyclicLrealOffsets [} 220].
see index offset specification for group state [} 396]

7.4 Parameterisation
The parameterization of the NCI comprises the standard dynamic parameters (acceleration, deceleration,
jerk) and their online changes, along with the minimum velocity and the parameters for the reduction of the
path velocity including online change.

General characteristics at segment transitions

• Velocity: The segment set velocity VS changes at the segment transition from VS_in to VS_out. At the
segment transition the velocity is always reduced to the lower of the two values.
• Acceleration: The current path acceleration is always returned to a = 0 at segment transition.
• Jerk: The jerk unit J changes according to the geometry at the segment transition. This can cause a
significant step change in dynamics.
• It is possible to smooth segment transitions [} 110].

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Table 1: NCI group parameters

Parameter Meaning and boundary conditions

Curve velocity reduction mode [} 303] Coulomb, cosine or VELOJUMP
Minimum velocity [} 302] Path velocity which may not be less than this value
(except peaks with movement reversal): V_min ≥ 0.0
Reduction method for C1 transitions [} 303] Reduction factor for C1 transitions: C1 ≥ 0.0
VELOJUMP: C0 reduction factors C0X, C0Y, C0Z Reduction factors for C0 transitions for X, Y, Z axis:
C0X ≥ 0.0, C0Y ≥ 0.0, C0Z ≥ 0.0 (axis parameters,
online modification in interpreter [} 158] possible).
DEVIATIONANGLE: Reduction factor C0 C0 Path reduction factor for C0 transitions: 1.0 ≥ C0 ≥
0.0
DEVIATIONANGLE: Critical angle (low) φ_l Angle from which a velocity reduction is applied at
the segment transition: 0 ≤ φ_l < φ_h ≤ π
DEVIATIONANGLE: Critical angle (high) φ_h Angle from which the velocity at the segment
transition (v_link) is reduced to 0.0: 0 ≤ φ_l < φ_h ≤ π
Tolerance sphere radius [} 136] TBR Radius of the tolerance spheres: 1000.0 mm ≥TBR ≥
0.1 mm
C2 reduction factor [} 158] C2 Reduction factor for smoothed transitions: C2 ≥ 0.0
Global software limit positions for the path [} 304] Switches monitoring of the global software end
positions for the path axes

Minimum velocity

Each NCI group has a minimum path velocity V_min ≥ 0.0. The actual velocity should always exceed this
value. User-specified exceptions are: programmed stop at segment transition, path end and override
requests which lead to a velocity below the minimum value. A systemic exception is a motion reversal. With
the reduction method DEVIATIONANGLE the deflection angle is φ ≥ φ_h, in which case the minimum
velocity is ignored. V_min must be less than the set value for the path velocity (F word) of each segment.

The minimum velocity can be set to a new value V_min ≥ 0.0 in the NC program at any time. The unit is mm/
sec.

Classification of the segment transitions

In general, the transition from one segment to the next is not indefinitely smooth. Therefore, it is necessary to
reduce the velocity at the transition point in order to avoid dynamic instability. For this purpose, the
transitions are geometrically classified and the effective transition velocity - V_link - is determined in three
steps.

Segments - as geographical objects - are defined here as curves in terms of differential geometry and are
parameterized by the arc length.
A segment transition from a segment S_in to a segment S_out is classified in geometrical terms as type Ck,
where k is a natural number (including 0), if each segment has k continuous arc length differentials and the
kth derivatives at the transition point correspond.

C0 transitions have a knee-point at the transition point.

C1 transitions appear smooth, but are not smooth in dynamic terms. One example is the straight line-semi
circle transition in the stadium: at the transition point there is a step change in acceleration.

C2 transitions (and of course Ck transitions with k > 2) are dynamically smooth (jerk restricted).

Reduction method for C2 transitions

As at all transitions, at C2 transitions V_link is set to equal the minimum of both set segment velocities:
V_link = min(V_in,V_out). There is no further reduction.

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 Appendix

Reduction method for C1 transitions

First, V_link is set to the lower of the two segment target velocities: V_link = min(V_in,V_out). The
geometrically induced absolute step change in acceleration AccJump in the segment transition is calculated
depending on the geometry types G_in and G_out, and the plane selection G_in and G_out of the segments
to be connected, at velocity V_link. If this is greater than C1 times the path acceleration/(absolute)
deceleration AccPathReduced permissible for the geometries and planes, the velocity V_link is reduced until
the resulting step change in acceleration is equal to AccPathReduced. If this value is less than V_min, then
V_min takes priority.

NOTE! When changing the dynamic parameters, the permissible path acceleration for the
geometries and planes and thereby the reaction of the reduction changes automatically.

Interface: XAE [} 20] and interpreter [} 158]

Reduction modes for C0 transitions

Several reduction methods are available for C0 transitions. The reduction method VELOJUMP reduces the
velocity after permitted step changes in velocity for each axis. The reduction method DEVIATIONANGLE
reduces the velocity depending on the deflection angle φ (angle between the normalized end tangent T_in of
the incoming segment S_in and the normalized start tangent T_out of the outgoing segment S_out). The
cosine reduction method is a purely geometrical method (see curve velocity reduction method [} 22]).

The VELOJUMP method is recommended for mechanically independent axes, while for mechanically
coupled axes (the Y axis is attached to the X axis, for example) the DEVIATIONANGLE method is usually
recommended.

Reduction method for C0 transitions: VELOJUMP

If V_link = min(V_in,V_out), and for each axis V_jump[i] = C0[i] * min(A+[i],-A-[i]) * T is the permitted absolute
step change in velocity for the axis [i], wherein C0[i] is the reduction factor and A+[i], A-[i] are the
acceleration/deceleration limits for the axis [i], and T is the cycle time. The VELOJUMP reduction method
ensures that the path velocity is reduced at the segment transition V_link until the absolute step change in
the set axis velocity of axis [i] is at most V_jump[i]. V_min nevertheless has priority: if V_link is less than
V_min, V_link is set to V_min. In the case of movement reversal with no programmed stop, there will be a
step change in axis velocity.

NOTE! When changing the dynamic parameters, the maximum permissible step changes in axis
velocity automatically change at the same time.

Reduction method for C0 transitions: DEVIATIONANGLE

NOTE! When changing the dynamic parameters, the reduction factors do not automatically change
at the same time.

Changing the parameters for C0 transitions: DEVIATIONANGLE

Table 2: Parameter

Parameter Meaning and boundary conditions

DEVIATIONANGLE: Reduction factor C0C0 Path reduction factor for C0 transitions: 1.0 ≥ C0 ≥
0.0
DEVIATIONANGLE: Critical angle (low) φ_l Angle from which reduction takes effect: 0 ≤ φ_l <
φ_h ≤ π
DEVIATIONANGLE: Critical angle (high) φ_h Angle from which reduction to v_link = 0.0 takes
effect: 0 ≤ φ_l < φ_h ≤ π

Interface: Interpreter [} 158]

Cosine reduction method

See here [} 22].

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Appendix

Tolerance sphere radius and C2 reduction factor

These parameters are described under the heading Smoothing of segment transitions [} 110].

Global software limit positions for the path

The 'Global software limit position monitoring for the path' offers two different ways of monitoring the end
position.

Limit position monitoring by the SAF task

This type of end position monitoring is always active if the limit position for the axis has been switched to
active (axis parameter). The monitoring is carried out component for component by the SAF task. This
means that if the end position is exceeded, the path velocity is instantly set to 0, and the entire interpolation
group has an error.

This type of monitoring is activated through the axes parameters, and not by means of the group parameters
described here.

Software limit positions on the path

To prevent the path velocity being set to 0 immediately when a violation of the software end positions is
encountered, the function 'Global software end position monitoring of the path' must be enabled. If this is
active, the movement stops at the NC block in which the end positions were violated. The velocity is reduced
via a ramp.
• So that the monitoring is only executed for the desired path axes, the software limit positions for the
axis components must be selected (axis parameters).
• The monitoring is carried out for the standard geometry segments. These include
Straight line
Circle
Helix
• Curves with splines are not monitored. The set values associated with the splines are always within the
tolerance sphere. Otherwise the limit position monitoring will make use of the SAF task.
• Because meaningful and generally applicable monitoring of the end positions can only be carried out at
the NC program's run-time (before lookahead) it is possible that the path axes will move as far as (but
not including) the NC block in which the limit positions are exceeded.
• If for some reason the axes are located outside the software limit positions it is possible to move back
into the correct region in a straight line.

Parameterization:

XAE: Group parameters [} 20]

7.4.1 Path override (interpreter override types)

The path override is a velocity override. This means that changing the override creates a new velocity, but
does not affect the ramps (acceleration or jerk). The used override types only differ in terms of reference
velocity.

The parameterization takes place in the interpolation channel under the group parameters [} 22].

Option 'Reduced' - based on the reduced velocity (default)

Because of the relevant dynamic parameters (braking distance, acceleration etc.) it is not possible for the
programmed velocity (the blue line) be achieved in every segment. For this reason a velocity, possibly
reduced, (the red line) is calculated for each geometric segment. In the standard case, the override is made
with reference to this segment velocity.

The advantage of this override type is that if override values are small the machine operates with an
approximately linear reduction in velocity, and this is therefore the correct setting for most applications.

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 Appendix

v_res = v_max * Override

Option 'Original' - based on the programmed path velocity

The override value is based on the velocity programmed by the user. The maximum segment velocity only
has a limiting effect.

Selection 'Reduced [0 ... >100%]' - based on internally reduced velocity with the option to specify a
value greater than 100%

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Appendix

The override type behaves like 'Reduced' [} 304]. With this override type it is possible to travel along the path
more quickly than programmed in the G-Code. There is no limitation to 120%, for example. The maximum
possible path velocity is limited by the maximum velocities of the axis components (G0 velocity) and their
dynamics.

If limitation to a particular value, e.g. 120%, is required, this can be set in the PLC project.

7.5 Cyclical Channel Interface

The channel interface is responsible for the cyclic data exchange between the PLC and the NCI.

From the NCI to the PLC (160 bytes)

TYPE NCTOPLC_NCICHANNEL_REF :
STRUCT
BlockNo : UDINT;
FastMFuncMask : ARRAY [1..5] OF DWORD;
HskMFuncNo : UINT;
HskMFuncReq : WORD;
HFuncValue : UDINT;
SpindleRpm : UINT;
Tool : UINT;
ChnState : NCTOPLC_NCICHANNEL_REF_CHN_STATE;
IntParams : ARRAY [0..3] OF UDINT;
DoubleParams : ARRAY [0..3] OF LREAL;
PathVelo : LREAL;
LoadedProg : UDINT;
ItpMode : WORD;
ItpState : UINT;
ErrorCode : UDINT;
ChnId : UINT;
GrpId : UINT;
ItfVersion : UINT;
_reserved1 : UINT;
ChnOperationState : UDINT;
McsAxisIDs : ARRAY [0..7] OF USINT;
AcsAxisIDs : ARRAY [0..7] OF USINT;
_reserved2 : ARRAY [1..24] OF USINT;
END_STRUCT
END_TYPE

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 Appendix

Variable name Data type Description

BlockNo UDINT block number
FastMFuncMask ARRAY OF DWORD Bit mask for evaluation of the fast
M-functions [} 145]
HskMFuncNo UINT Number of synchronous M-function
present (M-function with
handshake)
HskMFuncReq WORD Flag indicating that a synchronous
M-function is present
0: no synchronous M-function is
present
1: a synchronous M-function is
present
HFuncValue DINT Value of the auxiliary function
SpindleRpm WORD Spindle rotation speed
Tool WORD Tool number
ChnState NCTOPLC_NCICHANNEL_REF_C DWORD with status information for
HN_STATE the channel (see status information
for the channel (ChnState) [} 307]
IntParams ARRAY [0..3] OF UDINT Data of the freely configurable
channel interface (see
ItpSetCyclicUDintOffsets [} 221])
DoubleParams ARRAY [0..3] OF LREAL Data of the freely configurable
channel interface (see
ItpSetCyclicLrealOffsets [} 220])
PathVelo LREAL Current path set velocity
LoadedProg UDINT Name of the currently executed NC
program. If the name is not a
UDINT, this value is 0.
ItpMode WORD Bit mask that indicates execution in
interpreter mode.
ItpState UINT Status [} 11] of the interpreter
ErrorCode UDINT Error code [} 313] of the interpreter
channel
ChnId UINT Channel ID
GrpId UINT group ID
ItfVersion UINT Version of this cyclic channel
interface
ChnOperationState UDINT Channel state for a channel of the
kinematic transformation; has no
purpose for an interpolation
channel.
McsAxisIDs ARRAY [0..7] OF USINT IDs of the MCS axes for a
kinematic transformation channel;
has no purpose for an interpolation
channel.
AcsAxisIDs ARRAY [0..7] OF USINT IDs of the ACS axes for a
kinematic transformation channel;
has no purpose for an interpolation
channel.

Channel status information (ChnState)

In the XAE the channel status information can only be read with a plain text name, from the PLC
only via the bit number.

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Appendix

Name Bit number (zero based) Description

bIsInterpolationChannel 0 Indicates that the linked channel is
an interpolation channel.
bIsKinematicChannel 1 Indicates that the structure is linked
to a channel for the kinematic
transformation.
bIsEStopRequested 8 Indicates that an ItpEStop was
called, without checking whether
the axes are already at standstill.
bIsFeedFromBackupList 10 For retracing the current entries
from the interpreter backup list are
sent.
bIsMovingBackward 11 Indicates that the current motion is
a reversing motion.
bRetraceStartPosReached 12 Indicates that the program start
was reached during reversing.

From PLC to NCI (128 bytes)

TYPE PLCTONC_NCICHANNEL_REF :
STRUCT
SkipLine : WORD; (* Mask to skip lines *)
ItpMode : WORD;
MFuncGranted : WORD; (* granted signal of the M-function *)
_reserved1 : UINT;
ChnAxesOvr : UDINT; (* Channel override in percent * 100 *)
ChnSpindleOvr : UDINT;
_reserved2 : ARRAY [1..112] OF USINT;
END_STRUCT
END_TYPE

Variable name Data type Description

SkipLine WORD Bit mask with which block skipping
[} 108] of the NCI is parameterized
from the PLC
ItpMode WORD Bit mask with which the interpreter
execution mode can be altered.
This is, for instance, required if the
interpreter is to operate in single
block [} 114] mode.
MFuncGranted WORD Flag with which an M-function of
type 'Handshake' is confirmed.
0: Not acknowledged
1: Acknowledgement
ChnAxesOvr UDINT Channel override for the axes from
0...1000000 (corresponds to 0 -
100%)
ChnSpindleOvr UDINT Channel override for the spindle
between 0 and 1000000
(corresponds to 0 - 100%);
currently not supported.

7.6 ADS Return Codes

Error codes: 0x000 [} 309]..., 0x500 [} 309]..., 0x700 [} 310]..., 0x1000 [} 312]...

308 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Global Error Codes

Hex Dec Description
0x0 0 no error
0x1 1 Internal error
0x2 2 No Rtime
0x3 3 Allocation locked memory error
0x4 4 Insert mailbox error
0x5 5 Wrong receive HMSG
0x6 6 target port not found
0x7 7 target machine not found
0x8 8 Unknown command ID
0x9 9 Bad task ID
0xA 10 No IO
0xB 11 Unknown ADS command
0xC 12 Win 32 error
0xD 13 Port not connected
0xE 14 Invalid ADS length
0xF 15 Invalid ADS Net ID
0x10 16 Low Installation level
0x11 17 No debug available
0x12 18 Port disabled
0x13 19 Port already connected
0x14 20 ADS Sync Win32 error
0x15 21 ADS Sync Timeout
0x16 22 ADS Sync AMS error
0x17 23 ADS Sync no index map
0x18 24 Invalid ADS port
0x19 25 No memory
0x1A 26 TCP send error
0x1B 27 Host unreachable
0x1C 28 Invalid AMS fragment

Router Error Codes

Hex Dec Name Description
0x500 1280 ROUTERERR_NOLOCKEDMEMORY No locked memory can be allocated
0x501 1281 ROUTERERR_RESIZEMEMORY The size of the router memory could not be changed
0x502 1282 ROUTERERR_MAILBOXFULL The mailbox has reached the maximum number of possible
messages. The current sent message was rejected
0x503 1283 ROUTERERR_DEBUGBOXFULL The mailbox has reached the maximum number of possible
messages.
The sent message will not be displayed in the debug monitor
0x504 1284 ROUTERERR_UNKNOWNPORTTYPE Unknown port type
0x505 1285 ROUTERERR_NOTINITIALIZED Router is not initialized
0x506 1286 ROUTERERR_PORTALREADYINUSE The desired port number is already assigned
0x507 1287 ROUTERERR_NOTREGISTERED Port not registered
0x508 1288 ROUTERERR_NOMOREQUEUES The maximum number of Ports reached
0x509 1289 ROUTERERR_INVALIDPORT Invalid port
0x50A 1290 ROUTERERR_NOTACTIVATED TwinCAT Router not active

TF5100 TwinCAT 3 NC I Version: 1.2 309

Appendix

General ADS Error Codes

310 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Hex Dec Name Description

0x700 1792 ADSERR_DEVICE_ERROR error class <device error>
0x701 1793 ADSERR_DEVICE_SRVNOTSUPP Service is not supported by server
0x702 1794 ADSERR_DEVICE_INVALIDGRP invalid index group
0x703 1795 ADSERR_DEVICE_INVALIDOFFSET invalid index offset
0x704 1796 ADSERR_DEVICE_INVALIDACCESS reading/writing not permitted
0x705 1797 ADSERR_DEVICE_INVALIDSIZE parameter size not correct
0x706 1798 ADSERR_DEVICE_INVALIDDATA invalid parameter value(s)
0x707 1799 ADSERR_DEVICE_NOTREADY device is not in a ready state
0x708 1800 ADSERR_DEVICE_BUSY device is busy
0x709 1801 ADSERR_DEVICE_INVALIDCONTEXT invalid context (must be in Windows)
0x70A 1802 ADSERR_DEVICE_NOMEMORY out of memory
0x70B 1803 ADSERR_DEVICE_INVALIDPARM invalid parameter value(s)
0x70C 1804 ADSERR_DEVICE_NOTFOUND not found (files, ...)
0x70D 1805 ADSERR_DEVICE_SYNTAX syntax error in command or file
0x70E 1806 ADSERR_DEVICE_INCOMPATIBLE objects do not match
0x70F 1807 ADSERR_DEVICE_EXISTS object already exists
0x710 1808 ADSERR_DEVICE_SYMBOLNOTFOUND symbol not found
0x711 1809 ADSERR_DEVICE_SYMBOLVERSIONINVAL symbol version invalid

0x712 1810 ADSERR_DEVICE_INVALIDSTATE server is in invalid state

0x713 1811 ADSERR_DEVICE_TRANSMODENOTSUPP AdsTransMode not supported
0x714 1812 ADSERR_DEVICE_NOTIFYHNDINVALID Notification handle is invalid

0x715 1813 ADSERR_DEVICE_CLIENTUNKNOWN Notification client not registered

0x716 1814 ADSERR_DEVICE_NOMOREHDLS no more notification handles
0x717 1815 ADSERR_DEVICE_INVALIDWATCHSIZE size for watch too big
0x718 1816 ADSERR_DEVICE_NOTINIT device not initialized
0x719 1817 ADSERR_DEVICE_TIMEOUT device has a timeout
0x71A 1818 ADSERR_DEVICE_NOINTERFACE query interface failed
0x71B 1819 ADSERR_DEVICE_INVALIDINTERFACE wrong interface required
0x71C 1820 ADSERR_DEVICE_INVALIDCLSID class ID is invalid
0x71D 1821 ADSERR_DEVICE_INVALIDOBJID object ID is invalid
0x71E 1822 ADSERR_DEVICE_PENDING request is pending
0x71F 1823 ADSERR_DEVICE_ABORTED request is aborted
0x720 1824 ADSERR_DEVICE_WARNING signal warning
0x721 1825 ADSERR_DEVICE_INVALIDARRAYIDX invalid array index
0x722 1826 ADSERR_DEVICE_SYMBOLNOTACTIVE symbol not active
0x723 1827 ADSERR_DEVICE_ACCESSDENIED access denied
0x724 1828 ADSERR_DEVICE_LICENSENOTFOUND missing license
0x725 1829 ADSERR_DEVICE_LICENSEEXPIRED license expired
0x726 1830 ADSERR_DEVICE_LICENSEEXCEEDED license exceeded
0x727 1831 ADSERR_DEVICE_LICENSEINVALID license invalid
0x728 1832 ADSERR_DEVICE_LICENSESYSTEMID license invalid system id
0x729 1833 ADSERR_DEVICE_LICENSENOTIMELIMIT license not time limited
0x72A 1834 ADSERR_DEVICE_LICENSEFUTUREISSUE license issue time in the future
0x72B 1835 ADSERR_DEVICE_LICENSETIMETOLONG license time period to long
0x72c 1836 ADSERR_DEVICE_EXCEPTION exception occured during system start
0x72D 1837 ADSERR_DEVICE_LICENSEDUPLICATED License file read twice
0x72E 1838 ADSERR_DEVICE_SIGNATUREINVALID invalid signature
0x72F 1839 ADSERR_DEVICE_CERTIFICATEINVALID public key certificate
0x740 1856 ADSERR_CLIENT_ERROR Error class <client error>
0x741 1857 ADSERR_CLIENT_INVALIDPARM invalid parameter at service
0x742 1858 ADSERR_CLIENT_LISTEMPTY polling list is empty
0x743 1859 ADSERR_CLIENT_VARUSED var connection already in use
0x744 1860 ADSERR_CLIENT_DUPLINVOKEID invoke ID in use
0x745 1861 ADSERR_CLIENT_SYNCTIMEOUT timeout elapsed
0x746 1862 ADSERR_CLIENT_W32ERROR error in win32 subsystem
0x747 1863 ADSERR_CLIENT_TIMEOUTINVALID Invalid client timeout value

TF5100 TwinCAT 3 NC I Version: 1.2 311

Appendix

Hex Dec Name Description

0x748 1864 ADSERR_CLIENT_PORTNOTOPEN ads-port not opened
0x750 1872 ADSERR_CLIENT_NOAMSADDR internal error in ads sync
0x751 1873 ADSERR_CLIENT_SYNCINTERNAL hash table overflow
0x752 1874 ADSERR_CLIENT_ADDHASH key not found in hash
0x753 1875 ADSERR_CLIENT_REMOVEHASH no more symbols in cache
0x754 1876 ADSERR_CLIENT_NOMORESYM invalid response received
0x755 1877 ADSERR_CLIENT_SYNCRESINVALID sync port is locked

RTime Error Codes

Hex Dec Name Description
0x1000 4096 RTERR_INTERNAL Internal fatal error in the TwinCAT real-time system
0x1001 4097 RTERR_BADTIMERPERIODS Timer value not vaild
0x1002 4098 RTERR_INVALIDTASKPTR Task pointer has the invalid value ZERO
0x1003 4099 RTERR_INVALIDSTACKPTR Task stack pointer has the invalid value ZERO
0x1004 4100 RTERR_PRIOEXISTS The demand task priority is already assigned
0x1005 4101 RTERR_NOMORETCB No more free TCB (Task Control Block) available. Maximum
number of TCBs is 64
0x1006 4102 RTERR_NOMORESEMAS No more free semaphores available. Maximum number of
semaphores is 64
0x1007 4103 RTERR_NOMOREQUEUES No more free queue available. Maximum number of queue is
64
0x100D 4109 RTERR_EXTIRQALREADYDEF An external synchronization interrupt is already applied
0x100E 4110 RTERR_EXTIRQNOTDEF No external synchronization interrupt applied
0x100F 4111 RTERR_EXTIRQINSTALLFAILED The apply of the external synchronization interrupt failed
0x1010 4112 RTERR_IRQLNOTLESSOREQUAL Call of a service function in the wrong context
0x1017 4119 RTERR_VMXNOTSUPPORTED Intel VT-x extension is not supported
0x1018 4120 RTERR_VMXDISABLED Intel VT-x extension is not enabled in system BIOS
0x1019 4121 RTERR_VMXCONTROLSMISSING Missing function in Intel VT-x extension
0x101A 4122 RTERR_VMXENABLEFAILS Enabling Intel VT-x fails

TCP Winsock Error Codes

Hex Dec Description
0x274d 10061 A connection attempt failed because the connected party did not properly respond after a period of time,
or established connection failed because connected host has failed to respond.
0x2751 10065 No connection could be made because the target machine actively refused it. This error normally occurs when
you try to connect to a service which is inactive on a different host - a service without a server application.
0x274c 10060 No route to a host.
A socket operation was attempted to an unreachable host
Further Winsock error codes: Win32 Error Codes

312 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

7.7 Overview of NC errors

Error code ( hex ) Description
0x4000 - 0x4FFF: NC error code range
0x40nn General errors [} 314]
0x41nn Channel Errors [} 317]
0x42nn Group Errors [} 321]
0x43nn Axis Errors [} 340]
0x44nn Encoder Errors [} 347]
0x45nn Controller Errors [} 353]
0x46nn Drive Errors [} 357]
0x4Ann Table Errors [} 362]
0x4Bnn NC PLC errors [} 366]
0x4Cnn Kinematic Transformation [} 372]
0x8000 … 0x8FFF: New extended NC error code range
0x81nn - 0x811F Bode plot (diagnosis) [} 372]
0x8120 - 0x8FFF further errors [} 375]

TF5100 TwinCAT 3 NC I Version: 1.2 313

Appendix

7.7.1 General NC Errors

314 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Error(Hex) Error(Dec) Error type Description

4000 16384 internal "Internal error" Internal system error in the NC on ring
0, no further details.
4001 16385 memory "Memory error" The ring-0 memory management is
not providing the required memory. This is usually a
result of another error, as a result of which the
controller will halt normal operation (now if not before).
4002 16386 internal "Nc retain data error (persistent data)" Error while
loading the Nc retain data. The axes concerned are no
longer referenced (status flag "Homed" is set to
FALSE).
Possible reasons are:
- Nc retain data not found
- Nc retain data expired (old backup data)
- Nc retain data corrupt or inconsistent
4010 16400 parameter "Channel identifier not allowed" Either an
unacceptable value (not 1...255) has been used, or a
channel that does not exist in the system has been
named.
4011 16401 parameter "Group identifier not allowed" Either an
unacceptable value (not 1...255) has been used, or a
group that does not exist in the system has been
named.
4012 16402 parameter "Axis identifier not allowed" Either an unacceptable
value (not 1...255) has been used, or an axis that does
not exist in the system has been named.
4013 16403 parameter "Encoder identifier not allowed" Either an
unacceptable value (not 1...255) has been used, or a
encoder that does not exist in the system has been
named.
4014 16404 parameter "Controller identifier not allowed" Either an
unacceptable value (not 1...255) has been used, or a
controller that does not exist in the system has been
named.
4015 16405 parameter "Drive identifier not allowed" Either an unacceptable
value (not 1...255) has been used, or a drive that does
not exist in the system has been named.
4016 16406 parameter "Table identifier not allowed" Either an unacceptable
value (not 1...255) has been used, or a table that does
not exist in the system has been named.
4020 16416 internal "No process image" No PLC-axis interface during
creation of an axis.
4021 16417 internal "No process image" No axis-PLC interface during
creation of an axis.
4022 16418 internal "No process image" No encoder-I/O interface during
creation of an axis.
4023 16419 internal "No process image" No I/O-encoder interface during
creation of an axis.
4024 16420 internal "No process image" No drive-I/O interface during
creation of an axis.
4025 16421 internal "No process image" No I/O-drive interface during
creation of an axis.
4030 16432 internal "Coupling type not allowed" Unacceptable master/
slave coupling type.
4031 16433 internal "Axis type not allowed" Unacceptable type
specification during creation of an axis.

TF5100 TwinCAT 3 NC I Version: 1.2 315

Appendix

Error(Hex) Error(Dec) Error type Description

4040 16448 internal "Axis is incompatible" Axis is not suitable for the
intended purpose. A high speed/low speed axis, for
example, cannot function as a slave in an axis coupling.
4050 16464 internal "Channel not ready for operation" The channel is not
complete, and is therefore not ready for operation. This
is usually a consequence of problems at system start-
up.
4051 16465 internal "Group not ready for operation" The group is not
complete, and is therefore not ready for operation. This
is usually a consequence of problems at system start-
up.
4052 16466 internal "Axis not ready for operation" The axis is not
complete, and is therefore not ready for operation. This
is usually a consequence of problems at system start-
up.
4060 16480 internal "Channel exists" The channel that is to be created
already exists.
4061 16481 internal "Group exists" The group that is to be created already
exists.
4062 16482 internal "Axis exists" The axis that is to be created already
exists.
4063 16483 internal "Table exists" The table that is to be created already
exists, resp. it is tried internally to use an already
existing table id ( e.g. for the universal flying saw).
4070 16496 internal "Axis index not allowed" The location within the
channel specified for an axis is not allowed.
4071 16497 internal "Axis index not allowed" The location within the
group specified for an axis is not allowed.

316 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

7.7.2 Channel Errors

TF5100 TwinCAT 3 NC I Version: 1.2 317

Appendix

Error(Hex) Error(Dec) Error type Description

4101 16641 Parameter "Group index not allowed" The location within the
channel specified for a group is not allowed.
4102 16642 Address "Null pointer" The pointer to the group is invalid.
This is usually a consequence of an error at system
start-up.
4103 16643 Internal "No process image" It is not possible to exchange
data with the PLC. Possible causes: n the channel
does not have an interface (no interpreter present)
n The connection to the PLC is faulty
4104 16644 Parameter "M-function index not allowed" Unacceptable M-
function (not 0...159) detected at the execution
level.
4105 16645 Memory "No memory" No more system memory is
available. This is usually the result of another error.
4106 16646 Function "Not ready" The function is not presently available,
because a similar function is already being
processed. This is usually the result of access
conflicts: more than one instance wants to issue
commands to the channel. This can, for example,
be the consequence of an incorrect PLC program.
4107 16647 Function "Function/command not supported" A requested
function or command is not supported by the
channel.
4108 16648 Parameter "Invalid parameter while starting" Parameters to
start the channel (TwinCAT-Start) are invalid.
Typically there is an invalid memory size or channel
type requested.
4109 16649 Function "Channel function/command not executable" A
channel function e.g. interpreter start is not
executable because the channel is already busy, no
program is loaded or in an error state.
410A 16650 Function "ItpGoAhead not executable" The requested
command is not executable, because the
interpreter is not executing a decoder stop.
4110 16656 Parameter "Error opening a file" The specified file does not
exist. Sample: NC program unknown.
4111 16657 NC "Syntax error during loading" The NC has found
programming a syntax error when loading an NC program.
4112 16658 NC "Syntax error during interpretation" The NC has
programming found a syntax error when executing an NC
program.
4113 16659 NC "Missing subroutine" The NC has found a
programming missing subroutine while loading.
4114 16660 Memory "Loading buffer of interpreter is too small" The
capacity of the interpreter loading buffer has been
exceeded.
4115 16661 Internal “Symbolic” - reserved
4116 16662 Internal “Symbolic” - reserved
4117 16663 NC "Subroutine incomplete" Header of subroutine is
programming missing
4118 16664 NC "Error while loading the NC program" The
programming maximum number of loadable NC programs has
been reached.
Possible cause:
Too many sub-programs were loaded from a main
program.

318 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Error(Hex) Error(Dec) Error type Description

4119 16665 NC "Error while loading the NC program" The
programming program name is too long.
4120 16672 NC "Divide by zero" The NC encountered a
programming computation error during execution: division by 0.
4121 16673 NC "Invalid circle parameterization" The NC
programming encountered a computation error during execution:
The specified circle cannot be calculated.
4122 16674 NC "Invalid FPU-Operation" The NC encountered an
programming invalid FPU-Operation during execution. This error
occurs e.g. by calculating the square root of a
negative number.
4130 16688 NC "Stack overflow: subroutines" The NC
programming encountered a stack overflow during execution: too
many subroutine levels.
4131 16689 NC "Stack underflow: subroutines" The NC
programming encountered a stack underflow during execution:
too many subroutine return commands. Note: A
main program must not end with a return command.
4132 16690 NC "Stack overflow: arithmetic unit" The NC
programming encountered a stack overflow during execution: The
calculation is too complex, or has not been correctly
written.
4133 16691 NC "Stack underflow: arithmetic unit" The NC
programming encountered a stack underflow during execution:
The calculation is too complex, or has not been
correctly written.
4140 16704 Parameter "Register index not allowed" The NC
encountered an unacceptable register index during
execution: Either the program contains an
unacceptable value (not R0...R999) or a pointer
register contains an unacceptable value.
4141 16705 NC "Unacceptable G-function index" The NC has
programming encountered an unacceptable G-function (not
0...159) during execution.
4142 16706 NC "Unacceptable M-function index" The NC has
programming encountered an unacceptable M-function (not
0...159) during execution.
4143 16707 NC "Unacceptable extended address" The NC has
programming encountered an unacceptable extended address
(not 1...9) during execution.
4144 16708 NC "Unacceptable index to the internal H-function"
programming The NC has encountered an unacceptable internal
H-function in the course of processing. This is
usually a consequence of an error during loading.
4145 16709 Parameter "Machine data value unacceptable" While
processing instructions the NC has detected an
impermissible value for the machine data (MDB)
(not 0…7).
4150 16720 Parameter "Cannot change tool params here" The NC has
encountered an unacceptable change of
parameters for the tool compensation during
execution. This error occurred for instance by
changing the tool radius and programming a circle
in the same block.
4151 16721 Parameter "Cannot calculate tool compensation" The NC
has encountered an error by the calculation of the
tool compensation.

TF5100 TwinCAT 3 NC I Version: 1.2 319

Appendix

Error(Hex) Error(Dec) Error type Description

4152 16722 NC Tool compensation: The plane for the tool
programming compensation cannot be changed here. This error
occurred for instance by changing the tool plane
when the compensation is turned on or active.
4153 16723 NC Tool compensation: The D-Word is missing or
programming invalid by turning on the tool compensation.
4154 16724 NC Tool compensation: The specified tool radius is
programming invalid because the value is less or equal zero.
4155 16725 NC Tool compensation: The tool radius cannot be
programming changed here
4156 16726 Internal Tool compensation: Collision Detection Table is
full.
4157 16727 Internal Tool compensation: Internal error while turning on
the contour collision detection.
4158 16728 Internal Tool compensation: Internal error within the
contour collision detection: update reversed geo
failed.
4159 16729 NC Tool compensation: Unexpected combination of
programming geometry types by active contour collision
detection.
415A 16730 NC Tool compensation: Programmed inner circle is
programming smaller than the cutter radius
415B 16731 NC Tool compensation: Bottle neck detection
programming recognized contour violation
415C 16732 Memory Table for corrected entries is full
415D 16733 Memory Input table for tangential following is full
415E 16734 Memory Executing table for tangential following is full
415F 16735 Internal Geometric entry for tangential following cannot be
calculated
4160 16736 Internal reserved
4161 16737 Internal reserved
4162 16738 Parameter The actual active interpolation rules (g-code), zero-
shifts, or rotation cannot be detected
4170 16752 NC "Error while loading: Invalid parameter" The NC
programming has found an invalid parameter while loading an NC
program.
4171 16753 Internal "Invalid contour start position" The NC
encountered a computation error during execution:
The specified contour cannot be calculated
because the initial position is not on the contour.
4172 16754 Internal "Retrace: Invalid internal entry index" The NC
encountered an invalid internal entry index during
execution of the retrace function.

320 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

7.7.3 Group Errors

TF5100 TwinCAT 3 NC I Version: 1.2 321

Appendix

Error(Hex) Error(Dec) Error type Description

4200 16896 Parameter "Group ID not allowed"
The value for the group ID is not allowed, e.g. because it
has already been assigned, is less than or equal to zero, or
is greater than 255.
Value range: [1 ... 255] Unit: 1
4201 16897 Parameter "Group type not allowed"
The value for the group type is unacceptable because it is
not defined.
Type 1: PTP group with slaves (servo)
Type 4: DXD group with slaves (3D group)
Type 5: High/low speed group
Type 6: Stepper motor group
Type 9: Encoder group with slaves (servo)
…
Value range: [1 ... 12] Unit: 1
4202 16898 Initialization "Master axis index not allowed" The value for the master
axis index in an interpolating 3D group is not allowed,
because, for instance, it has gone outside the value range.
Index 0: X axis (first master axis) Index 1: Y axis (second
master axis) Index 2 : Z axis (third master axis)
Value range: [0, 1, 2] Unit: 1
4203 16899 Initialization "Slave axis index not allowed" (INTERNAL ERROR) The
value for the slave axis index in a group is not allowed,
because, for instance, it has passed outside the value
range, the slave location to be used when inserting a new
slave connection is already occupied, or because no slave is
present when such a connection is being removed. Index 0:
First slave axis Index 1: Second slave axis Index 2: etc.
Value range: [0 ... 7] Unit: 1
4204 16900 Initialization "INTERNAL ERROR" (GROUPERR_INTERNAL)
4205 16901 Parameter "Invalid cycle time for statement execution task (SAF)"
The value of the cycle time for the NC block execution task
(SAF 1/2) is not allowed, because it has passed outside the
value range.
Value range: [0.001 ... 0.1] Unit: s
4206 16902 Initialization "GROUPERR_RANGE_MAXELEMENTSINAXIS "
4207 16903 Parameter "Invalid cycle time for the statement preparation task
(SVB)" The value of the cycle time for the NC statement
preparation task (SVB 1/2) is not allowed, because it has
passed outside the value range.
Value range: [0.001 ... 1.0] Unit: s
4208 16904 Parameter "Single step mode not allowed" The flag for the activation
or deactivation of single step mode is not allowed. Value 0:
Passive (buffered operation) Value 1: Active (single-block
operation)
Value range: [0, 1] Unit: 1
4209 16905 Parameter "Group deactivation not allowed" (INTERNAL ERROR)
The flag for the deactivation or activation of the complete
group is not allowed. Value 0: Group active Value 1: Group
passive
Value range: [0, 1] Unit: 1

322 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Error(Hex) Error(Dec) Error type Description

420A 16906 Initialization "Statement execution state (SAF state) not
allowed" (INTERNAL ERROR) The value for the state of
the block execution state machine (SAF state) is not
allowed. This error occurs on passing outside the range of
values, or if the state machine enters an error state.
Value range: [0 ... 5] Unit: 1
420B 16907 Address "Channel address" The group does not have a channel, or
the channel address has not been initialized.
420C 16908 Address "Axis address (master axis)" The group does not have a
master axis (or axes) or the axis address(es) has (have) not
been initialized.
420D 16909 Address "Master axis address" A new master/slave coupling is to
be inserted into the group, but there is no valid address for
the leading master axis.
420E 16910 Address "Slave axis address" A master/slave coupling is to be
inserted into the group, but there is no valid address for the
slave axis.
420F 16911 Address "Slave set value generator address" A master/slave
coupling is to be inserted into the group, but there is no valid
address for the slave set value generator.
4210 16912 Address "Encoder address" An axis in the group does not have an
encoder, or the encoder address has not been initialized.
4211 16913 Address "Controller address" An axis in the group does not have a
controller, or the controller address has not been initialized.
4212 16914 Address "Drive address" An axis in the group does not have a drive,
or the drive address has not been initialized.
4213 16915 Address "GROUPERR_ADDR_MASTERGENERATOR"
4214 16916 Address "Axis interface NC to PLC address" Group/axis does not
have an axis interface from the NC to the PLC, or the axis
interface address has not been initialized.
4215 16917 Address "Slave axis address" An existing master/slave coupling is
to be removed from the group, but there is no valid address
for the slave axis.
4216 16918 Address "Table address unknown" The table, respectively the table
ID, is unknown. This table is used for the master/slave
coupling or for the characteristic curve.
4217 16919 Address "NcControl address" The NcControl address has not been
initialized.
4218 16920 Initialization "Axis is blocked for commands while persistent NC
data are queued" Axis is blocked for commands while
waiting for valid IO data to accept the queued persistent NC
data.
4219 16921 Function "The scaling mode MASTER-AUTOOFFSET is invalid
because no reference table was found". The used scaling
mode MASTER-AUTOOFFSET is invalid in this context
because an existing reference table is missing.
This error can occur for example when adding cam tables
without a unique reference to an existing cam table.
421A 16922 Parameter "The master axis start position does not permit
synchronization" When a slave axis is being coupled on,
the position of the master axis does not permit
synchronization at the given synchronization positions.

TF5100 TwinCAT 3 NC I Version: 1.2 323

Appendix

Error(Hex) Error(Dec) Error type Description

421B 16923 Parameter "Slave coupling factor (gearing factor) of 0.0 is not
allowed" A master/slave coupling with a gearing factor of
0.0 is being created. This value is not allowed, since it does
not correspond to any possible coupling, and division will
generate an FPU exception.
421C 16924 Function "Insertion of master axis into group not allowed" A
master axis is to be inserted into a group at a location that is
already occupied by another master axis. Maybe the
reconfiguration cannot be done, because this axis has got
an existing slave coupling. This master/slave coupling must
be revoked before.
421D 16925 Function "Deletion of master axis from group not
allowed" (INTERNAL ERROR) A master axis is to be
removed from a location in a group that is not in fact
occupied by master axis.
421E 16926 Function "Function/feature is not supported from the setpoint
generator A function or feature is not supported from the
setpoint generator (e.g. PTP master setpoint generator).
This can be in general or only in a special situation.
421F 16927 Initialization "Group initialization" Group has not been initialized.
Although the group has been created, the rest of the
initialization has not been performed (1. Initialization of
group I/O, 2. Initialization of group, 3. Reset group).
4220 16928 Monitoring "Group not ready / group not ready for new task" The
group is being given a new task while it is still in the process
of executing an existing task. This request is not allowed
because it would interrupt the execution of the previous
task. The new task could, for instance, be a positioning
command, or the "set actual position" function. Precisely the
converse relationships apply for the "set new end position"
function. In that case, the group/axis must still be actively
moving in order to be able to cause a change in the end
position.
4221 16929 Monitoring "Requested set velocity is not allowed" The value
requested for the set velocity of a positioning task is less
than or equal to zero, larger than the "maximum
velocity" (see axis parameters), or, in the case of servo-
drives, is larger than the "reference velocity" of the axis (see
drive parameters).
4222 16930 Monitoring "Requested target position is not allowed (master axis)"
The requested value for the target position of a positioning
task is not within the software end locations. In other words,
it is either less than the minimum software end location or
larger than the maximum software end location. This check
is only carried out if the relevant end position monitoring is
active.
4223 16931 Monitoring "No enable for controller and/or feed (Master axis)" The
axis enables for the master axis needed for positioning are
not present. This can involve the controller enable and/or
the relevant, direction-dependent feed enable (see axis
interface PlcToNc).

324 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Error(Hex) Error(Dec) Error type Description

4224 16932 Monitoring "Movement smaller than one encoder
increment" (INTERNAL ERROR) The distance that a
group/axis is supposed to move is smaller than the physical
significance of one encoder increment. In other words the
movement is smaller than the scaling factor of the axis. The
reaction to this is that the axis is reported as having logically
finished without having actively moved. This means that an
external error is not generated for the user. This error is also
issued for high/low speed axes if a loop movement with
nonzero parameters is smaller than the sum of the creeping
and braking distances. In such a case it is not meaningful to
either exceed or to fail to reach the target position.
4225 16933 Monitoring "Drive not ready during axis start" During an axis start it
is ascertained that the drive is not ready. The following are
possible causes: - the drive is in the error state (hardware
error) - the drive is in the start-up phase (e.g. after an axis
reset that was preceded by a hardware error) - the drive is
missing the controller enable (ENABLE) Note: The time
required for "booting" a drive after a hardware fault can
amount to several seconds.
4226 16934 Monitoring "Invalid parameters of the emergency stop." Either, both,
the deceleration and the jerk are less than zero or one of the
parameters is weaker than the corresponding parameter of
the start data.
4227 16935 Function "The setpoint generator is inactive such that no
instructions are accepted."
4228 16936 Monitoring "Requested traverse distance is not allowed" The
requested traverse distance or looping distance is smaller
than the braking distance of the two/speed axis.
4229 16937 Monitoring "Requested target position is not allowed (slave axis)"
The value for the target position of a positioning task when
calculated for the slave axis is not within the software end
locations. In other words, it is either less than the minimum
software end location or larger than the maximum software
end location. This check is only carried out if the relevant
end position monitoring is active.
422A 16938 Monitoring "No enable for controller and/or feed (slave axis)" The
axis enables for one or more coupled slave axes needed for
positioning are not present. This can involve the controller
enable and/or the relevant, direction-dependent feed enable
(see axis interface PlcToNc).
422B 16939 Parameter "The activation position (position threshold) is out of
range of the actual positioning" The activation position
(position threshold) of a new axis command (e.g. "new
velocity activated at a position") is out of range. E.g. the
activation position is before the actual position or behind the
target position.
422C 16940 Parameter "The start or activation data of the external setpoint
generation are not valid" This may be caused through: 1.
The external setpoint generation is active and a new
activation with a start type (1: absolute, 2: relative) unequal
to the current one is send.
2. The internal setpoint generation is active (e.g. PTP) and
the external one is activated with the type absolute (two
setpoint generators of the type absolute are not possible).
422D 16941 Parameter "Velocity is not constant" For changing the dynamic
parameter 'acceleration' und 'deceleration' the axis has to be
in dynamic state without acceleration and deceleration (that
means constant velocity).

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Error(Hex) Error(Dec) Error type Description

422E 16942 Parameter "Jerk less than or equal to 0.0 is not allowed" A value
less than or equal to 0.0 for the jerk (PTP and CNC) is not
allowed, since the jerk is by definition positive, and with a
jerk of 0.0, division will generate an FPU exception.
422F 16943 Parameter "Acceleration less than or equal to 0.0 is not allowed" A
value less than or equal to 0.0 for the acceleration (PTP and
CNC) is not allowed, since the acceleration is positive by
definition, and an acceleration of 0.0 will not allow a motion
to be generated.
4230 16944 Parameter "Absolute deceleration value less than or equal to 0.0 is
not allowed" A value less than or equal to 0.0 for the
absolute value of the deceleration (PTP and CNC) is not
allowed, since the absolute value of the deceleration is
positive by definition, and an absolute value of the
deceleration of 0.0 will not allow a motion to be generated.
4231 16945 Parameter "Set velocity less than or equal to 0.0 is not allowed" A
value less than or equal to 0.0 or outside the range from 10-3
up to 10+10 for the set velocity (PTP and CNC) is not
allowed, since the set velocity is by definition strictly
positive, and with a set velocity of 0.0, division will generate
an FPU exception.
4232 16946 Monitoring "Loss of precision when trying a positioning" The
positioning is so long in space or time that decimal parts
loose there relevance LOSS_OF_PRECISION).
4233 16947 Parameter "Cycle time less than or equal to 0.0 is not allowed" A
value less than or equal to 0.0 for the cycle time (PTP and
CNC) is not allowed, since the cycle time is by definition
strictly positive, and with a cycle time of 0.0, division will
generate an FPU exception.
4234 16948 Internal "PTP data type <intasdouble> range exceeded" Such
extreme parameters have been supplied for the start task,
the override or the new target position that the internal data
type loses its precision.
4235 16949 Function "PTP LHL velocity profile cannot be
generated" (INTERNAL ERROR) Such extreme
parameters have been supplied for the start task, the
override or the new target position that it is not possible to
generate a velocity profile of the type LHL (Low-High-Low).
4236 16950 Function "PTP HML velocity profile cannot be
generated" (INTERNAL ERROR) Such extreme
parameters have been supplied for the override or the new
target position that it is not possible to generate a velocity
profile of the type HML (High-Middle-Low).
4237 16951 Address "Start data address is invalid" The address of the start
data is invalid.
4238 16952 Parameter "Velocity override (start override) is not allowed" The
value for the velocity override is not allowed, because it is
less than 0.0% or more than 100.0% (see axis interface
PlcToNc). Here, 100.0 % corresponds to the integral value
1000000 in the axis interface. Value range: [0 ... 1000000]
4239 16953 Parameter "Start type not allowed" The start type supplied does not
exist.
423A 16954 Monitoring "Velocity overflow (overshoot in the velocity)" The new
dynamic with the parameterized jerk is so weak that a
velocity overflow will occur (overshoot in the velocity). The
command is therefore not supported.

326 Version: 1.2 TF5100 TwinCAT 3 NC I

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Error(Hex) Error(Dec) Error type Description

423B 16955 Parameter "Start parameter for the axis structure is invalid"
External or internal parameters for the start structure for a
positioning task are invalid. Thus, for instance, the scaling
factor, the SAF cycle time or the requested velocity may be
less than or equal to zero, which is not allowed.
423C 16956 Parameter "Override generator initialization parameter invalid" One
of the override generator (re)initialization parameters is
invalid.
423D 16957 Monitoring "Slave axis has not set value generator" (INTERNAL
ERROR) It is found that a slave axis within a group does not
have a valid slave generator (set value generator). A slave
axis and a slave set value generator must always be present
as a pair. This is an internal error.
423E 16958 Function "Table is empty" Either the SVB table or the SAF table
does not contain any entries.
423F 16959 Function "Table is full" The SVB table or the SAF table has no more
free lines.
4240 16960 Memory "No memory available" SVB memory allocation for
dynamic entry in SAF table failed.
4241 16961 Function "Table already contains an entry" (INTERNAL ERROR)
SAF table entry abandoned, because, incorrectly, an entry
already exists.
4242 16962 Function "Stop is already active" The stop instruction is not
forwarded, because it has already been activated.
4243 16963 Function "Compensation has not been carried out over the full
compensation section" The compensations start
parameters do not permit compensation over the full section
to be compensated. For this reason the compensation will
be carried out over a smaller section.
4244 16964 Parameter "Internal parameters for the compensation are
invalid" (INTERNAL ERROR) Invalid internal parameters or
start parameters of the lower-level generator.
4245 16965 Function "Compensation active" Start of compensation refused,
because compensation is already active. It's also possible
that the M/S axes are not active moved. Therefore an
execution of the compensation is impossible.
4246 16966 Function "Compensation not active" Stop of compensation refused,
because compensation is not active.
4247 16967 Function "Compensation type invalid" The type supplied for the
section compensation is invalid. At the present time only
compensation type 1 (trapezoidal velocity profile) is allowed.
4248 16968 Function "Axis address for compensation invalid" (INTERNAL
ERROR) The address of the master of slave axis on which
the section compensation is to act is invalid. This is an
internal error.
4249 16969 Address "Invalid slave address" (INTERNAL ERROR) The slave
address given for on-line coupling/decoupling is invalid.
424A 16970 Function "Coupling velocity invalid" The velocity of what is to
become the master axis is 0, which means that on-line
coupling is not possible.
424B 16971 Function "Coupling velocities not constant" The velocity of what is
to become the master axis and the velocity of what is to
become the slave axis are not constant, so that on-line
coupling is not possible.

TF5100 TwinCAT 3 NC I Version: 1.2 327

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Error(Hex) Error(Dec) Error type Description

424C 16972 Parameter "Cycle time less than or equal to 0.0 is not allowed" A
value less than or equal to 0.0 for the cycle time (Slave) is
not allowed, since the cycle time is by definition strictly
positive, and with a cycle time of 0.0, division will generate
an FPU exception.
424D 16973 Function "Decoupling task not allowed" The slave axis is of such a
type (e.g. a table slave) or is in such a state (master velocity
0) that on-line decoupling is not possible.
424E 16974 Function "Function not allowed" The function cannot logically be
executed, e.g. some commands are not possible and not
allowed for slave axes.
424F 16975 Parameter "No valid table weighting has been set" The weighting
factor of each table is 0, so that no table can be read.
4250 16976 Function "Axis type, actual position type or end position type is
not allowed" The start type for a positioning task in invalid.
Valid start types are ABSOLUTE (1), RELATIVE (2),
CONTINUOUS POSITIVE (3), CONTINUOUS NEGATIVE
(4), MODULO (5), etc. It is also possible that the types for
setting a new actual position or for travel to a new end
position are invalid.
4251 16977 Function "Function not presently supported" An NC function has
been activated that is currently not released for use, or
which is not even implemented. This can be a command
which is not possible or not allowed for master axes.
4252 16978 Monitoring "State of state machine invalid" (INTERNAL ERROR)
The state of an internal state machine is invalid. This is an
internal error.
4253 16979 Monitoring "Reference cam became free too soon" During the
referencing process for an axis it is moved in the direction of
the referencing cam, and is only stopped again when the
cam signal is reached. After the axis has then also
physically stopped, the referencing cam must remain
occupied until the axis subsequently starts back down from
the cam in the normal way.
4254 16980 Monitoring "Clearance monitoring between activation of the
hardware latch and appearance of the sync pulse" When
the clearance monitoring is active, a check is kept on
whether the number of increments between activation of the
hardware latch and occurrence of the sync pulse (zero
pulse) has become smaller than a pre-set value. This error
is generated when that happens. (See parameters for the
incremental encoder)
4255 16981 Memory "No memory available" The dynamic memory allocation for
the set value generator, the SVB table or the SAF table has
failed.
4256 16982 Monitoring "The table slave axis has no active table" Although the
table slave axis has tables, none of the tables is designated
as active. If this occurs during the run time the whole
master/slave group is stopped by a run time error.
4257 16983 Function "Function not allowed" The requested function or the
requested task is not logically allowed. An example for such
an error message would be "set an actual position" for an
absolute encoder (M3000, KL5001, etc.).
4258 16984 Function "Stopping compensation not allowed" It is not possible to
stop the compensation, since compensation is already in the
stopping phase.
4259 16985 Function "Slave table is being used" The slave table cannot be
activated, because it is currently being used.

328 Version: 1.2 TF5100 TwinCAT 3 NC I

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Error(Hex) Error(Dec) Error type Description

425A 16986 Function "Master or slave axis is processing a job (e.g.
positioning command) while coupling is requested" A
master/slave coupling of a certain slave type (e.g. linear
coupling) cannot be executed. he master or intended slave
axis is not in stand still state and is executing a job (e.g.
positioning) at the same time as the coupling request
received. For this couple type this is not allowed.
425B 16987 Parameter "Slave (start) parameter is incorrect" One of the slave
start/coupling parameters is not allowed (Coupling factor is
zero, the master position scaling of an cam is zero, etc.).
425C 16988 Parameter "Slave type is incorrect" The slave type does not match
up to the (SVB) start type.
425D 16989 Function "Axis stop is already active" The axis stop/Estop is not
initiated, because the stop/estop is already active.
425E 16990 Function "Maximum number of tables per slavegenerator
reached" The maximum number of tables per slave
generator is reached (e.g. "MC_MultiCamIn" is limited to 4
tables).
425F 16991 Function "The scaling mode is invalid". The used scaling is invalid
in this context. Either the mode is not defined or yet not
implemented or however it cannot in this constellation be put
into action.
For example MASTER-AUTOOFFSET cannot be used
when a cam table is coupled in relative mode because this
is a contradiction.
Further MASTER-AUTOOFFSET cannot be used when a
cam table is coupled for the first time because a relationship
to an existing reference table is missing.
4260 16992 Monitoring "Controller enable" Controller enable for the axis or for a
coupled slave axis is not present (see axis interface
PlcToNc). This error occurs if the controller enable is
withdrawn while an axis or a group of axes (also a master/
slave group) is being actively positioned. The error also
occurs if a PTP axis or a coupled slave axis is started
without controller enable.
4261 16993 Function "Table not found" No table exists with the ID prescribed or
the table ID is not unique.
4262 16994 Function "Incorrect table type" The table referred to in the function
is of the incorrect type.
4263 16995 Function "Single step mode" This error occurs if single step mode is
selected for a group or axis and a new task is requested
while one of the individual tasks is still being processed.
4264 16996 Function "Group task unknown (asynchronous table entry)" The
group has received a task whose type or sub-type is
unknown. Valid tasks can be single or multi-dimensional
positioning tasks (Geo 1D, Geo 3D), referencing tasks, etc.
4265 16997 Function "Group function unknown (synchronous function)" The
group has received a function whose type is unknown. Valid
functions are "Reset", "Stop", "New end position", "Start/stop
section compensation", "Set actual position", "Set/reset
referencing status" etc.
4266 16998 Function "Group task for slave not allowed" Group tasks are
usually only possible for master axes, not for slave axes. A
slave axis only moves as an indirect result of a positioning
task given to its associated master axis. A slave can thus
never directly be given a task.
Exception: see axis parameter "Allow motion commands to
slave axis".

TF5100 TwinCAT 3 NC I Version: 1.2 329

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Error(Hex) Error(Dec) Error type Description

4267 16999 Function "Group function for slave not allowed" Group functions
are in principle only possible for master axes, not for slave
axes. The only exception is represented by the "Start/stop
section compensation" function, which is possible both for
masters and for slaves. A slave cannot directly execute any
other functions beyond this.
4268 17000 Function "GROUPERR_GROUPFUNC_NOMOTION"
4269 17001 Parameter "Startposition=Setpoint Position" Invalid position
parameters.
426A 17002 Parameter "Parameters of the delay-generator are invalid" Invalid
external/internal parameters of the delay generator (delay
time, cycle time, tics).
426B 17003 Parameter "External parameters of the superimposed instruction
are invalid" Invalid external parameters of the
superimposed functionality (acceleration, deceleration,
velocity, process velocity, length).
426C 17004 Parameter "Invalid override type."
426D 17005 Function "Activation position under/overrun" The requested
activation position is located in the past of the master (e.g.
when exchanging a cam table).
426E 17006 Function "Activation impossible: Master is standing" The required
activation of the correction is impossible since the master
axis is not moving. A synchronization is not possible,
because the master axis standing and the slave axis is still
not synchronous.
426F 17007 Function "Activation mode not possible" The requested activation
mode is not possible when the slave axis is moving.
Otherwise the slave velocity would jump to zero.
4270 17008 Parameter "Start parameter for the compensation is invalid" One of
the dynamic parameters for the compensation is invalid
(necessary condition): Acceleration (>0) Deceleration (>0)
Process velocity (>0)
4271 17009 Parameter "Start parameter for the compensation is invalid"
Velocity camber is negative.
4272 17010 Parameter "Start parameter for the compensation is invalid" The
section on which the compensation is to occur is not
positive.
4273 17011 Monitoring "Target position under/overrun" (INTERNAL ERROR)
The position (calculated from the modulo-target-position)
where the axis should stand at end of oriented stop has
been run over.
4274 17012 Monitoring "Target position will be under/overrun" (INTERNAL
ERROR) The position (calculated from the modulo-target-
position) where the axis should stand at end of oriented stop
is too near and will be run over.
4276 17014 Monitoring "GROUPERR_GUIDERSTARTDATA"
4277 17015 Monitoring "Dynamic parameters not permitted" (INTERNAL
ERROR) The dynamic parameters resulting from internal
calculation like acceleration, deceleration and jerk are not
permitted.
4279 17017 Monitoring "GROUPERR_GUIDEROVERRUN"
427A 17018 Monitoring "GROUPERR_GUIDERLOOKAHEAD"
427B 17019 Monitoring "GROUPERR_GUIDERLOOKAHEADEND"
427C 17020 Monitoring "GROUPERR_GUIDERLOOKAHEADREQU"
427D 17021 Monitoring "GROUPERR_GUIDERMODE"

330 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Error(Hex) Error(Dec) Error type Description

427E 17022 Monitoring "A requested motion command could not be realized
(BISECTION)" A requested motion command could not be
realized using the requested parameters. The command has
been executed best possible and this message is therefore
to be understood just as a warning. Samples:
An axis motion command is requested while the axis is in a
unfavorable dynamic situation (acceleration phase), in which
the covered distance is too short or the velocity is clearly too
high. Another possibility is a slave axis, which is decoupled
in motion in an unfavorable dynamic situation and is
afterwards given a motion as in the previous case.
427F 17023 Monitoring "The new target position either has been overrun or will
be overrun" The new target position either has been
overrun or will be overrun, since until there it is impossible to
stop. An internal stop command is commended.
4280 17024 Monitoring "Group not ready / group not ready for new
task" (INTERNAL ERROR / INFORMATION) The group is
being given a new task while it is still in the process of
executing an existing task. This request is not allowed
because it would interrupt the execution of the previous
task. The new task could, for instance, be a positioning
command, or the "set actual position" function. Precisely the
converse relationships apply for the "set new end position"
function. In that case, the group/axis must still be actively
moving in order to be able to cause a change in the end
position.
4281 17025 Parameter "The parameters of the oriented stop (O-Stop) are not
admitted." The modulo-target position should not be
smaller than zero and not larger or equal than the encoder
mod-period ( e.g. in the interval [0.0,360.0] ).
Note: In the case of error the axis is safely stopped, but is
afterwards not at the requested oriented position.
4282 17026 Monitoring "The modulo target position of the modulo-start is
invalid" The modulo target position is outside of the valid
parameter range. So the position value should not be
smaller than zero and not greater or equal than the encoder
modulo-period (e. g. in the interval [0.0,360.0] for the
modulo start type "SHORTEST_WAY (261)" ).
4283 17027 Parameter "The online change activation mode is invalid". The
activation can be used with online scaling or with online
modification of motion function. The used activation is
invalid in this context. Either the mode is not defined or yet
not implemented or however it cannot in this constellation be
put into action (e.g. when linear tables are used with an
unexpected cyclic activation mode NEXTCYCLE or
NEXTCYCLEONCE).
In some case, the activation mode may be valid but the
command cannot be executed due to a pending previous
command.
4284 17028 Parameter "The parameterized jerk rate is not permitted". The jerk
rate is smaller than the minimum jerk rate. The minimum
value for jerk rate is 1.0 (e.g. mm/s^3).
4285 17029 Parameter "The parameterized acceleration or deceleration is not
permitted". The parameterized acceleration or deceleration
is lower than the permitted minimum acceleration. The value
for minimum acceleration is calculated from minimum jerk
rate and NC cycle time (minimum jerk rate multiplied with
NC cycle time). The unit for example is mm/s^2.

TF5100 TwinCAT 3 NC I Version: 1.2 331

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Error(Hex) Error(Dec) Error type Description

4286 17030 Parameter "The parameterized velocity is not permitted". The
parameterized target velocity is lower than the minimum
velocity (but the value zero is permitted). The value for
minimum velocity is calculated from the minimum jerk rate
and the NC cycle time (minimum jerk rate multiplied with the
square of the NC cycle time). The unit for example is mm/s.
4287 17031 Monitoring "A activation cannot be executed due to a pending
activation" A activation e.g. "CamIn", "CamScaling" or
"WriteMotionFunction" cannot be executed due to a pending
activation (e.g. "CamIn", "CamScaling",
"WriteMotionFunction"). Only activation can be enabled.
4288 17032 Monitoring "Illegal combination of different cycle times within an
axis group" A logical axis group includes elements (axes)
with different cycle times for a common setpoint generator
and I/O-execution, resp. This situation can occur with
Master/Slave-coupling or configuring 3D- and FIFO-groups
(including path, auxiliary, and slave axes).
4289 17033 Monitoring "Illegal motion reversal" Due to the actual dynamical state
a motion reversal will happen. To avoid this motion reversal
the axis command is not performed and the previous system
state restored.
428A 17034 Monitoring "Illegal moment for an axis command because there is
an old axis command with activation position still
active" The moment for the command is illegal because
there is still an old command with activation position active
(e.g. "go to new velocity at threshold position" or "reach new
velocity at threshold position").
428B 17035 Monitoring "Error in the stop-calculation routine" (INTERNAL
ERROR) Due to an internal error in the stop-calculation
routine the current commando cannot be performed. The
previous system state is restored.
428C 17036 Monitoring "A command with activation position cannot fully be
performed because the remaining path is too short"A
command with activation position (threshold) like "reach a
new velocity at a position" can be just partially executed
because the path from the actual position to the activation
position is too short.
428D 17037 Monitoring "Illegal decouple type when decoupling a slave axis"
The decouple and restart command contains an invalid
decouple type.
428E 17038 Monitoring "Illegal target velocity when decoupling a slave axis"
The decouple and restart command contains an illegal
target velocity [1 < V <Vmax].
428F 17039 Monitoring "The command new dynamic parameter cannot be
performed since this would require a new target
velocity"Das Kommando zum Aktivieren neuer
Dynamikparameter wie Beschleunigung, Verzögerung und
Ruck kann nicht durchgeführt werden, da dies eine neue
beauftragte Fahrgeschwindigkeit erfordern würde.
This situation can occur, for example, if the axis is near the
target position in an accelerated state and the dynamics
parameter are chosen softer.
4290 17040 Monitoring "A command with activation position cannot be
performed because the axis is already in the brake
phase" A command with activation position (threshold) e.g.
"reach new velocity at position" cannot be performed
because the axis is already in the brake phase and the
remaining path from the actual position to the activation
position is too short.

332 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Error(Hex) Error(Dec) Error type Description

4291 17041 Monitoring "Decouple routine of slave axis doesn't return a valid
solution" Internal jerk scaling of decouple routine cannot
evaluate a valid solution (decoupling slave axis and
transform to master axis). The command is rejected
because velocity can become too high, a reversal of
movement can occur, or the target position can be passed.
4292 17042 Monitoring "Command not be executed because the command
buffer is full filled" The command is rejected because the
command buffer is full filled.
4293 17043 Internal "Command is rejected due to an internal error in the
Look Ahead" (INTERNAL ERROR) The command is
rejected due to an internal error in the "look ahead".
4294 17044 Monitoring "Command is rejected because the segment target
velocity is not realized" The command is rejected,
because the new target segment velocity Vrequ is not
realizable and an internal optimizing is impossible.
4295 17045 Monitoring "Successive commands have the same final position"
Successive commands have the same final position. So the
moving distance is zero.
4296 17046 Monitoring "Logical positioning direction is inconsistent with the
direction of the buffer command" In the extended buffer
mode, where the actual end position is replaced by the new
buffer start position, the logical positioning direction is
inconsistent with the direction of the buffer command (=>
contradiction). A buffered command (BufferMode,
BlendingLow, BlendingPrevious, BlendingNext,
BlendingHigh) is rejected with error 0x4296 if the command
is using the Beckhoff specific optional BlendingPosition but
the blending position is located beyond the target position of
the previous motion command.
4297 17047 Monitoring "Command is rejected because the remaining
positioning length is to small" The command is rejected
because the remaining path length is too small.
E.g. when the buffer mode is used and the remaining
positioning length in the actual segment is too small for
getting the axis in a force free state or to reach the new
target velocity at the change of segment.
429B 17051 Monitoring „collect error for invalid start parameters“
This error refers to a wrong parameterization of the user
(collect error). E. g. dynamic parameters like Velo, Acc or
Dec could be equal or less than zero.
Or following errors:
- BaseFrequence < 0.0
- StartFrequence < 1.0
- StepCount < 1, StepCount > 200
- BaseAmplitude <= 0.0
- StepDuration <= 0.0
- StopFrequence >= 1/(2*CycleTime)
429C 17052 Monitoring "Reference cam is not found" During the referencing
process for an axis it is moved in the direction of the
referencing cam. This reference cam, however, was not
found as expected (=> leads to the abortion of the
referencing procedure).

TF5100 TwinCAT 3 NC I Version: 1.2 333

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Error(Hex) Error(Dec) Error type Description

429D 17053 Monitoring "Reference cam became not free" During the referencing
process for an axis it is moved in the direction of the
referencing cam, and is only stopped again when the cam
signal is reached. After the axis has also come to a physical
standstill, the axis is subsequently started regularly from the
cam again. In this case, the reference cam did not become
free again as expected when driving down (=> leads to the
abortion of the referencing procedure).
429E 17054 Monitoring "IO sync pulse was not found (only when using
hardware latch)" If the hardware latch is activated, a sync
pulse (zero pulse) is expected to be found and a sync event
triggered following the expiry of a certain time or a certain
distance. If this is not the case, the reaction is an error and
the abortion of the referencing procedure.
42A0 17056 Internal "Group/axis consequential error" Consequential error
resulting from another causative error related to another axis
within the group. Group/axis consequential errors can occur
in relation to master/slave couplings or with multiple axis
interpolating DXD groups. If, for instance, it is detected that
the following error limit of a master axis has been exceeded,
then this consequential error is assigned to all the other
master axes and slave axes in this group.
42A1 17057 Parameter "Velocity reduction factor for C0/C1 transition is not
allowed" A C0 transition describes two geometries which,
while they are themselves continuous, no not have either
continuous first or second differentials. The velocity
reduction factor C0 acts on such transitions. Note: A C1
transition is characterized by the two geometries being
continuous, but having only a first differential that is
continuous. The velocity reduction factor C1 acts on such
transitions.
Value range: [0.0 ... 1.0] Unit: 1
42A2 17058 Parameter "Critical angle at segment transition not allowed"
Value range: (0.0 ... 180.0] Unit: degree
42A3 17059 Parameter "Radius of the tolerance sphere" is in an invalid rang
Value range: [0.0 ... 100.0] Unit: e.g. mm
42A4 17060 Parameter Not implemented.
42A5 17061 Parameter "Start type"
Value range: [0,1] Unit: 1
42A6 17062 Parameter Not implemented.
42A7 17063 Parameter "Blending" with given parameters not possible
42A8 17064 Parameter Not implemented.
42A9 17065 Parameter "Curve velocity reduction method not
allowed" (INTERNAL ERROR) The curve velocity reduction
method does not exist.
42AA 17066 Parameter "Minimum velocity not allowed" The minimum velocity
that has been entered is less than 0.0.
42AB 17067 Parameter "Power function input not allowed" (INTERNAL ERROR)
The input parameters in the power_() function lead to an
FPU exception.
42AC 17068 Parameter "Dynamic change parameter not allowed" A parameter
that controls alterations to the dynamics is invalid.
Parameter: 1. Absolute motion dynamics change: All
parameters must be strictly positive. 2. Relative reduction
c_f: 0.0 < c_f <= 1.0
42AD 17069 Memory "Memory allocation error" (INTERNAL ERROR)

334 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Error(Hex) Error(Dec) Error type Description

42AE 17070 Function "The calculated end position differs from the end
position in the nc instruction (internal error)."
42AF 17071 Parameter "Calculate remaining chord length"
invalid value
Value range: [0,1]
42B0 17072 Function "Set value generator SVB active" Starting the set value
generator (SVB, SAF) has been refused, since the SVB task
is already active.
42B1 17073 Parameter "SVB parameter not allowed" (INTERNAL ERROR) A
parameter related to the internal structure of the set value
generator (SVB) results in logical errors and/or to an FPU
exception. Affects these parameters: Minimum velocity
(>0.0), TimeMode, ModeDyn, ModeGeo, StartType,
DistanceToEnd, TBallRadius.
42B2 17074 Parameter "Velocity reduction factor not allowed" A parameter that
controls reduction of the velocity at segment transitions is
invalid. Parameter: 1. Transitions with continuous first
differential: VeloVertexFactorC1 2. Not once continuously
differentiable transitions: VeloVertexFactorC0,
CriticalVertexAngleLow, CriticalVertexAngleHigh.
42B3 17075 Parameter "Helix is a circle" The helix has degenerated to a circle,
and should be entered as such.
42B4 17076 Parameter "Helix is a straight line" The helix has degenerated to a
straight line, and should be entered as such.
42B5 17077 Parameter "Guider parameter not allowed" One of the guider's
parameters leads to logical errors and/or to an FPU
exception.
42B6 17078 Address "Invalid segment address" (INTERNAL ERROR) The
geometry segment does not have a valid geometry structure
address or does not have a valid dynamic structure address.
42B7 17079 Parameter "Unparameterized generator" (INTERNAL ERROR) The
SVB generator is not yet parameterized and is therefore
unable to operate.
42B8 17080 Address "Unparameterized table" (INTERNAL ERROR) The table
has no information concerning the address of the
corresponding dynamic generator.
42BA 17082 Internal "The calculation of the arc length of the smoothed path
failed (internal error)."
42BB 17083 Parameter "The radius of the tolerance ball is too small (smaller
than 0.1 mm)."
42BC 17084 Internal Error while calculating DXD-Software-Limit switches
(internal error)
42BD 17085 Function "NC-Block violates software limit switches of the group"
At least one path axis with active software limit monitoring
has violated the limit switches. Therefore the geometric
entry is denied with an error.
42BE 17086 Parameter "GROUPERR_DXD_SOFTENDCHECK"
42BF 17087 Parameter "GROUPERR_DXD_RTTG_VELOREFERENCE"
42C0 17088 Internal "Interpolating group contains axes of an incorrect axis
type" An interpolating 3D group may only contain
continuously guided axes of axis type 1 (SERVO).
42C1 17089 Internal "Scalar product cannot be calculated" The length of one
of the given vectors is 0.0.
42C2 17090 Internal "Inverse cosine cannot be calculated" The length of one
of the given vectors is 0.0.

TF5100 TwinCAT 3 NC I Version: 1.2 335

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Error(Hex) Error(Dec) Error type Description

42C3 17091 Parameter "Invalid table entry type" The given table entry type is
unknown.
42C4 17092 Parameter "Invalid DIN66025 information type" (INTERNAL
ERROR) The given DIN66025 information type is unknown.
Known types: G0, G1, G2, G3, G17, G18, G19.
42C5 17093 Parameter "Invalid dimension" (INTERNAL ERROR) The CNC
dimension is unknown. Known dimensions: 1, 2, 3. Or: The
CNC dimension is invalid for the given geometrical object.
For a circle the dimension must be 2 or 3, while for a helix it
must be 3.
42C6 17094 Parameter "Geometrical object is not a straight line" The given
object, interpreted as a straight line, has a length of 0.0.
42C7 17095 Parameter "Geometrical object is not a circle" Interpreted as a
circular arc, the given object has a length of 0.0, or an angle
of 0.0 or a radius of 0.0.
42C8 17096 Parameter "Geometrical object is not a helix" Interpreted as a
circular arc, the given object has a length of 0.0, or an angle
of 0.0, or a radius of 0.0. or a height of 0.0.
42C9 17097 Parameter "Set velocity less than or equal to 0.0 is invalid" A value
less than or equal to 0.0 for the set velocity (CNC) is not
allowed, since the set velocity is positive by definition, and a
set velocity of 0.0 cannot generate any motion.
42CA 17098 Address "Address for look-ahead invalid" (INTERNAL ERROR)
The address supplied for the look-ahead is invalid.
42CB 17099 Function "Set value generator SAF active" Starting the set value
generator (SAF) has been refused, since the SAF task is
already active.
42CC 17100 Function "CNC set value generation not active" Stop or change of
override refused, because the set value generation is not
active.
42CD 17101 Function "CNC set value generation in the stop phase" Stop or
change of override refused, because the set value
generation is in the stop phase.
42CE 17102 Parameter "Override not allowed" An override of less than 0.0 % or
more than 100.0 % is invalid.
42CF 17103 Address "Invalid table address" (INTERNAL ERROR) The table
address given for the initialization of the set value generator
is invalid, or no valid logger connection (report file) is
present.
42D0 17104 Parameter "Invalid table entry type" The given table entry type is
unknown.
42D1 17105 Memory "Memory allocation failed" Memory allocation for the table
has failed.
42D2 17106 Memory "Memory allocation failed" Memory allocation for the filter
has failed.
42D3 17107 Parameter "Invalid parameter" Filter parameter is not allowed.
42D4 17108 Function "Delete Distance To Go failed" Delete Distance to go (only
interpolation) failed. This error occurred, if e.g. the command
'DelDTG' was not programmed in the actual movement of
the nc program.
42D5 17109 Internal "The setpoint generator of the flying saw generates
incompatible values (internal error)"

336 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Error(Hex) Error(Dec) Error type Description

42D6 17110 Function "Axis will be stopped since otherwise it will overrun its
target position (old PTP setpoint generator)" If, for
example, in case of a slave to master transformation for the
new master a target position is commanded that will be
overrun because of the actual dynamics the axis will be
stopped internally to guarantee that the target position will
not be overrun.
42D7 17111 Function "Internal error in the transformation from slave to
master."
42D8 17112 Function "Wrong direction in the transformation of slave to
master."
42DA 17114 Parameter "Parameter of Motion Function (MF) table incorrect" The
parameter of the Motion Function (MF) are invalid. This may
refer to the first time created data set or to online changed
data.
42DB 17115 Parameter "Parameter of Motion Function (MF) table incorrect" The
parameter of the Motion Function (MF) are invalid. This may
refer to the first time created data set or to online changed
data.
The error cause can be, that an active MF point (no
IGNORE point) points at a passive MF point (IGNORE
point).
42DC 17116 Monitoring "Internal error by using Motion Function (MF)" An
internal error occurs by using the Function (MF). This error
cannot be solved by the user. Please ask the TwinCAT
Support.
42DD 17117 Function "Axis coupling with synchronization generator declined
because of incorrect axis dynamic values" The axis
coupling with the synchronization generator has been
declined, because one of the slave dynamic parameter
(machine data) is incorrect. Either the maximum velocity, the
acceleration, the deceleration or the jerk is smaller or equal
to zero, or the expected synchronous velocity of the slave
axis is higher as the maximum allowed slave velocity.
42DE 17118 Function "Coupling conditions of synchronization generator
incorrect" During positive motion of the master axis it has
to be considered, that the master synchronous position is
larger than the master coupling position ("to be in the
future"). During negative motion of the master axis it has to
be considered that the master synchronous position is
smaller than the master coupling position.
42DF 17119 Monitoring "Moving profile of synchronization generator declines
dynamic limit of slave axis or required characteristic of
profile" One of the parameterized checks has recognized
an overstepping of the dynamic limits (max. velocity, max.
acceleration, max. deceleration or max. jerk) of the slave
axis, or an profile characteristic (e.g. overshoot or
undershoot in the position or velocity) is incorrect.
See also further messages in the windows event log and in
the message window of the System Manager.
42E0 17120 Parameter "Invalid parameter" The encoder generator parameter is
not allowed.
42E1 17121 Parameter "Invalid parameter" The external (Fifo) generator
parameter is not allowed.
42E2 17122 Function "External generator is active" The external generator
cannot be started, as it is already active.
42E3 17123 Function "External generator is not active" The external generator
cannot be stopped, as it is not active.

TF5100 TwinCAT 3 NC I Version: 1.2 337

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Error(Hex) Error(Dec) Error type Description

42E4 17124 Function "NC-Block with auxiliary axis violates software limit
switches of the group" At least one auxiliary axis with
active software limit monitoring has violated the limit
switches. Therefore the geometric entry is denied with an
error.
42E5 17125 Function "NC-Block type Bezier spline curve contains a cusp
(singularity)" The Bezier spline curve contain a cusp, i.e. at
a certain interior point both the curvature and the modulus of
the velocity tend to 0 such that the radius of curvature is
infinite.
Note: Split the Bezier curve at that point into two Bezier
spline curves according to the de "Casteljau algorithm". This
preserves the geometry and eliminates the interior
singularity.
42E7 17127 Parameter "Value for dead time compensation not allowed" The
value for the dead time compensation in seconds for a slave
coupling to an encoder axis (virtual axis) is not allowed.
Value range: [0.0 ... 60.0] Unit: s
42E8 17128 Parameter "GROUPERR_RANGE_NOMOTIONWINDOW"
Value range: [0.0 ... 1000.0] Unit: e.g. mm/s
42E9 17129 Parameter "GROUPERR_RANGE_NOMOTIONFILTERTIME"
Value range: [0.0 ... 60.0] Unit: s
42EA 17130 Parameter "GROUPERR_RANGE_TIMEUNITFIFO"
Value range: (0.0 ... 1000.0] Unit: s
42EB 17131 Parameter "GROUPERR_RANGE_OVERRIDETYPE"
Value range: [1, 2] Unit: 1
42EC 17132 Parameter "GROUPERR_RANGE_OVERRIDECHANGETIME"
Value range: (0.0 ... 1000.0] Unit: s

42ED 17133 Parameter "GROUPERR_FIFO_INVALIDDIMENSION"

Note: Since TC 2.11 Build 1547 the FIFO-dimension
(number of axes) has been increased from 8 to 16.
Value range: [1 ... 8] resp. [1 ... 16] Unit: 1 (number of
axes)
42EE 17134 Address "GROUPERR_ADDR_FIFOTABLE"
42EF 17135 Monitoring "Axis is locked for motion commands because a stop
command is still active" The axis/group is locked for
motion commands because a stop command is still active.
The axis can be released by calling MC_Stop with
Execute=FALSE or by using MC_Reset (TcMC2.Lib).
42F0 17136 Parameter "Invalid number of auxiliary axes" The local number of
auxiliary axes does not tally with the global number of
auxiliary axes.
42F1 17137 Parameter "Invalid reduction parameter for auxiliary axes" The
velocity reduction parameters for the auxiliary axes are
inconsistent.
42F2 17138 Parameter "Invalid dynamic parameter for auxiliary axes" The
dynamic parameters for the auxiliary axes are inconsistent.
42F3 17139 Parameter "Invalid coupling parameter for auxiliary axes" The
coupling parameters for the auxiliary axes are inconsistent.
42F4 17140 Parameter "Invalid auxiliary axis entry" The auxiliary axis entry is
empty (no axis motion).
42F6 17142 Parameter "Invalid parameter" The limit for velocity reduction of the
auxiliary axes is invalid. It has to be in the interval 0..1.0

338 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Error(Hex) Error(Dec) Error type Description

42F8 17144 Parameter "Block search - segment not found" The segment
specified as a parameter could not be found by the end of
the NC program.
Possible cause:
• nBlockId is not specified in the mode described by
eBlockSearchMode

42F9 17145 Parameter "Blocksearch – invalid remaining segment length" The

remaining travel in the parameter fLength is incorrectly
parameterized
42FB 17147 Monitoring "INTERNAL ERROR" (GROUPERR_SLAVE_INTERNAL)
42FF 17151 Monitoring „GROUPERR_WATCHDOG“ (Customer specific error
code)

TF5100 TwinCAT 3 NC I Version: 1.2 339

Appendix

7.7.4 Axis Errors

340 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Error(Hex) Error(Dec) Error type Description

4300 17152 Parameter "Axis ID not allowed" The value for the axis ID is not
allowed, e.g. because it has already been assigned, is
less than or equal to zero, is greater than 255, or does
not exist in the current configuration.
Value range: [1 ... 255] Unit: 1
4301 17153 Parameter "Axis type not allowed" The value for the axis type is
unacceptable because it is not defined. Type 1: Servo
Type 2: Fast/creep Type 3: Stepper motor
Value range: [1 ... 3] Unit: 1
4306 17158 Parameter "Slow manual velocity not allowed" The value for the
slow manual velocity is not allowed.
Value range: [0.0, 10000.0] Unit: e.g. m/min
4307 17159 Parameter "Fast manual velocity not allowed" The value for the
fast manual velocity is not allowed.
Value range: [0.0, 10000.0] Unit: e.g. m/min
4308 17160 Parameter "High speed not allowed" The value for the high speed
is not allowed.
Value range: [0.0, 10000.0] Unit: e.g. m/min
4309 17161 Parameter "Acceleration not allowed" The value for the axis
acceleration is not allowed.
Value range: [0.0, 1000000.0] Unit: e.g. m/s/s
430A 17162 Parameter "Deceleration not allowed" The value for the axis
deceleration is not allowed.
Value range: [0.0, 1000000.0] Unit: e.g. m/s/s
430B 17163 Parameter "Jerk not allowed" The value for the axis jerk is not
allowed.
Value range: [0.0, 1000000.0] Unit: e.g. m/s/s/s
430C 17164 Parameter "Delay time between position and velocity is not
allowed" The value for the delay time between position
and velocity ("idle time compensation") is not allowed.
Value range: [0, 0.1] Unit: s
430D 17165 Parameter "Override-Type not allowed" The value for the velocity
override type is not allowed. Type 1: With respect to the
internal reduced velocity (default value) Type 2: With
respect to the original external start velocity
Value range: [1 ... 4] Unit: 1
430E 17166 Parameter "NCI: Velo-Jump-Factor not allowed"
The value for the velo-jump-factor ("VeloJumpFactor") is
not allowed. This parameter only works for TwinCAT
NCI.
Value range: [0, 1000000] Unit: 1
430F 17167 Parameter "NCI: Radius of tolerance sphere for the auxiliary
axes is invalid"
It was tried to enter an invalid value for the size of the
tolerance sphere. This sphere affects only auxiliary axes!
Value range: [0, 1000] Unit: e.g. mm
4310 17168 Parameter "NCI: Value for maximum deviation for the auxiliary
axes is invalid"
It was tried to enter an invalid value for the maximum
allowed deviation. This parameter affects only auxiliary
axes!
Value range: [0, 10000] Unit: e.g. mm

TF5100 TwinCAT 3 NC I Version: 1.2 341

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Error(Hex) Error(Dec) Error type Description

4312 17170 Parameter "Referencing velocity in direction of cam not
allowed" The value for the referencing velocity in the
direction of the referencing cam is not allowed.
Value range: [0.0, 10000.0] Unit: e.g. m/min
4313 17171 Parameter "Referencing velocity in sync direction not allowed"
The value for the referencing velocity in the direction of
the sync pulse (zero track) is not allowed.
Value range: [0.0, 10000.0] Unit: e.g. m/min
4314 17172 Parameter "Pulse width in positive direction not allowed" The
value for the pulse width in the positive direction is not
allowed (pulsed operation). The use of the pulse width
for positioning is chosen implicitly through the axis start
type. Pulsed operation corresponds to positioning with a
relative displacement that corresponds precisely to the
pulse width.
Value range: [0.0, 1000000.0] Unit: e.g. mm
4315 17173 Parameter "Pulse width in negative direction not allowed" The
value for the pulse width in the negative direction is not
allowed (pulsed operation). The use of the pulse width
for positioning is chosen implicitly through the axis start
type. Pulsed operation corresponds to positioning with a
relative displacement that corresponds precisely to the
pulse width.
Value range: [0.0, 1000000.0 Unit: e.g. mm
4316 17174 Parameter "Pulse time in positive direction not allowed" The
value for the pulse width in the positive direction is not
allowed (pulsed operation).
Value range: [0.0, 600.0] Unit: s
4317 17175 Parameter "Pulse time in negative direction not allowed" The
value for the pulse width in the negative direction is not
allowed (pulsed operation).
Value range: [0.0, 600.0] Unit: s
4318 17176 Parameter "Creep distance in positive direction not allowed"
The value for the creep distance in the positive direction
is not allowed.
Value range: [0.0, 100000.0] Unit: e.g. mm
4319 17177 Parameter "Creep distance in negative direction not allowed"
The value for the creep distance in the negative direction
is not allowed.
Value range: [0.0, 100000.0] Unit: e.g. mm
431A 17178 Parameter "Braking distance in positive direction not allowed"
The value for the braking distance in the positive
direction is not allowed.
Value range: [0.0, 100000.0] Unit: e.g. mm
431B 17179 Parameter "Braking distance in negative direction not allowed"
The value for the braking distance in the negative
direction is not allowed.
Value range: [0.0, 100000.0] Unit: e.g. mm
431C 17180 Parameter "Braking time in positive direction not allowed" The
value for the braking time in the positive direction is not
allowed.
Value range: [0.0, 60.0] Unit: s

342 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Error(Hex) Error(Dec) Error type Description

431D 17181 Parameter "Braking time in negative direction not allowed" The
value for the braking time in the negative direction is not
allowed.
Value range: [0.0, 60.0] Unit: s
431E 17182 Parameter "Switching time from high to low speed not allowed"
The value for the time to switch from high to low speed is
not allowed.
Value range: [0.0, 60.0] Unit: s
431F 17183 Parameter "Creep distance for stop not allowed" The value for
the creep distance for an explicit stop is not allowed.
Value range: [0.0, 100000.0] Unit: e.g. mm
4320 17184 Parameter "Motion monitoring not allowed" The value for the
activation of the motion monitoring is not allowed.
Value range: [0, 1] Unit: 1
4321 17185 Parameter "Position window monitoring not allowed" The value
for the activation of the position window monitoring is not
allowed.
Value range: [0, 1] Unit: 1
4322 17186 Parameter "Target window monitoring not allowed" The value
for the activation of target window monitoring is not
allowed.
Value range: [0, 1] Unit: 1
4323 17187 Parameter "Loop not allowed" The value for the activation of loop
movement is not allowed.
Value range: [0, 1] Unit: 1
4324 17188 Parameter "Motion monitoring time not allowed" The value for
the motion monitoring time is not allowed.
Value range: [0.0, 600.0] Unit: s
4325 17189 Parameter "Target window range not allowed" The value for the
target window is not allowed.
Value range: [0.0, 10000.0] Unit: e.g. mm
4326 17190 Parameter "Position window range not allowed" The value for
the position window is not allowed.
Value range: [0.0, 10000.0] Unit: e.g. mm
4327 17191 Parameter "Position window monitoring time not allowed" The
value for the position window monitoring time is not
allowed.
Value range: [0.0, 600.0] Unit: s
4328 17192 Parameter "Loop movement not allowed" The value for the loop
movement is not allowed.
Value range: [0.0, 10000.0] Unit: e.g. mm
4329 17193 Parameter "Axis cycle time not allowed" The value for the axis
cycle time is not allowed.
Value range: [0.001, 0.1] Unit: s
432A 17194 Parameter "Stepper motor operating mode not allowed" The
value for the stepper motor operating mode is not
allowed.
Value range: [1, 2] Unit: 1
432B 17195 Parameter "Displacement per stepper motor step not allowed"
The value for the displacement associated with one step
of the stepper motor is not allowed (step scaling).
Value range: [0.000001, 1000.0] Unit: e.g. mm/
STEP

TF5100 TwinCAT 3 NC I Version: 1.2 343

Appendix

Error(Hex) Error(Dec) Error type Description

432C 17196 Parameter "Minimum speed for stepper motor set value profile
not allowed" The value for the minimum speed of the
stepper motor speed profile is not allowed.
Value range: [0.0, 1000.0] Unit: z. B. m/min
432D 17197 Parameter "Stepper motor stages for one speed stage not
allowed" The value for the number of steps for each
speed stage in the set value generation is not allowed.
Value range: [0, 100] Unit: 1
432E 17198 Parameter "DWORD for the interpretation of the axis units not
allowed" The value that contains the flags for the
interpretation of the position and velocity units is not
allowed.
Value range: [0, 0xFFFFFFFF] Unit: 1
432F 17199 Parameter "Maximum velocity not allowed" The value for the
maximum permitted velocity is not allowed.
Value range: [0.0, 10000.0] Unit: e.g. m/min
4330 17200 Parameter "Motion monitoring window not allowed" The value
for the motion monitoring window is not allowed.
Value range: [0.0, 10000.0] Unit: e.g. mm
4331 17201 Parameter "PEH time monitoring not allowed" The value for the
activation of the PEH time monitoring is not allowed
(PEH: positioning end and halt).
Value range: [0, 1] Unit: 1
4332 17202 Parameter "PEH monitoring time not allowed" The value for the
PEH monitoring time (timeout) is not allowed (PEH:
positioning end and halt). default value: 5s
Value range: [0.0, 600.0] Unit: s
4333 17203 Parameter "AXISERR_RANGE_DELAYBREAKRELEASE"
4334 17204 Parameter "AXISERR_RANGE_DATAPERSISTENCE"
433A 17210 Parameter "AXISERR_RANGE_POSDIFF_FADING_ACCELERAT
ION"
433B 17211 Parameter "Fast Axis Stop Signal Type not allowed" The value
for the Signal Type of the 'Fast Axis Stop' is not allowed
[0...5].
4340 17216 Initialization "Axis initialization" Axis has not been initialized.
Although the axis has been created, the rest of the
initialization has not been performed (1. Initialization of
axis I/O, 2. Initialization of axis, 3. Reset axis).
4341 17217 Address "Group address" Axis does not have a group, or the
group address has not been initialized (group contains
the set value generation).
4342 17218 Address "Encoder address" The axis does not have an
encoder, or the encoder address has not been initialized.
4343 17219 Address "Controller address" The axis does not have a
controller, or the controller address has not been
initialized.
4344 17220 Address "Drive address" The axis does not have a drive, or the
drive address has not been initialized.
4345 17221 Address "Axis interface PLC to NC address" Axis does not
have an axis interface from the PLC to the NC, or the
axis interface address has not been initialized.
4346 17222 Address "Axis interface NC to PLC address" Axis does not
have an axis interface from the NC to the PLC, or the
axis interface address has not been initialized.

344 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Error(Hex) Error(Dec) Error type Description

4347 17223 Address "Size of axis interface NC to PLC is not
allowed" (INTERNAL ERROR) The size of the axis
interface from NC to PLC is not allowed.
4348 17224 Address "Size of axis interface PLC to NC is not
allowed" (INTERNAL ERROR) The size of the axis
interface from PLC to NC is not allowed.

4356 17238 Monitoring "Controller enable" Controller enable for the axis is not
present (see axis interface SPS®NC). This enable is
required, for instance, for an axis positioning task.
4357 17239 Monitoring "Feed enable minus" Feed enable for movement in the
negative direction is not present (see axis interface
SPS®NC). This enable is required, for instance, for an
axis positioning task in the negative direction.
4358 17240 Monitoring "Feed enable plus" Feed enable for movement in the
positive direction is not present (see axis interface
SPS®NC). This enable is required, for instance, for an
axis positioning task in the positive direction.
4359 17241 Monitoring "Set velocity not allowed" The set velocity requested
for a positioning task is not allowed. This can happen if
the velocity is less than or equal to zero, larger than the
maximum permitted axis velocity, or, in the case of
servo-drives, is larger than the reference velocity of the
axis (see axis and drive parameters).
435A 17242 Monitoring "Movement smaller than one encoder
increment" (INTERNAL ERROR) The movement
required of an axis is, in relation to a positioning task,
smaller than one encoder increment (see scaling factor).
This information is, however, handled internally in such a
way that the positioning is considered to have been
completed without an error message being returned.
435B 17243 Monitoring "Set acceleration monitoring" (INTERNAL ERROR)
The set acceleration has exceeded the maximum
permitted acceleration or deceleration parameters of the
axis.
435C 17244 Monitoring "PEH time monitoring" The PEH time monitoring has
detected that, after the PEH monitoring time that follows
a positioning has elapsed, the target position window
has not been reached. The following points must be
checked: Is the PEH monitoring time, in the sense of
timeout monitoring, set to a sufficiently large value (e.g.
1-5 s)? The PEH monitoring time must be chosen to be
significantly larger than the target position monitoring
time. Have the criteria for the target position monitoring
(range window and time) been set too strictly? Note:
The PEH time monitoring only functions when target
position monitoring is active!
435D 17245 Monitoring "Encoder existence monitoring / movement
monitoring" During the active positioning the actual
encoder value has changed continuously for a default
check time from NC cycle to NC cycle less than the
default minimum movement limit. => Check, whether
axis is mechanically blocked, or the encoder system
failed, etc... Note: The check is not performed while the
axis is logically standing (position control), but only at
active positioning (it would make no sense if there is a
mechanical holding brake at the standstill)!

TF5100 TwinCAT 3 NC I Version: 1.2 345

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Error(Hex) Error(Dec) Error type Description

435E 17246 Monitoring "Looping distance less than breaking distance" The
absolute value of the looping distance is less or equal
than the positive or negative breaking distance. This is
not allowed.
4361 17249 Monitoring "Time range exceeded (future)" The calculated
position lies too far in the future (e.g. when converting a
position value in a DC time stamp).
4362 17250 Monitoring "Time range exceeded (past)" The calculated position
lies too far in the past (e.g. when converting a position
value in a DC time stamp).
4363 17251 Monitoring "Position cannot be determined" The requested
position cannot be determined. Case 1: It was not
passed through in the past. Case 2: It cannot be reached
in future. A reason can be a zero velocity value or an
acceleration that causes a turn back.
4364 17252 Monitoring "Position indeterminable (conflicting direction of
travel)" The direction of travel expected by the caller of
the function deviates from the actual direction of travel
(conflict between PLC and NC view, for example when
converting a position to a DC time).
43A0 17312 Internal "Axis consequential error" Consequential error
resulting from another causative error related to another
axis. Axis consequential errors can occur in relation to
master/slave couplings or with multiple axis interpolating
DXD groups.

346 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

7.7.5 Encoder Errors

TF5100 TwinCAT 3 NC I Version: 1.2 347

Appendix

Error(Hex) Error(Dez) Error type Description

4400 17408 parameter "Encoder ID not allowed" The value for the encoder ID is
not allowed, e.g. because it has already been assigned, is
less than or equal to zero, or is bigger than 255.
Value range: [1 ... 255] Unit: 1
4401 17409 parameter "Encoder type not allowed" The value for the encoder type
is unacceptable because it is not defined. Type 1: Simulation
(incremental) Type 2: M3000 (24 bit absolute) Type 3: M31x0
(24 bit incremental) Type 4: KL5101 (16 bit incremental) Type
5: KL5001 (24 bit absolute SSI) Type 6: KL5051 (16 bit BISSI)
Value range: [1 ... 6] Unit: 1
4402 17410 parameter "Encoder mode" The value for the encoder (operating) mode
is not allowed. Mode 1: Determination of the actual position
Mode 2: Determination of the actual position and the actual
velocity (filter)
Value range: [1, 2] Unit: 1
4403 17411 parameter "Encoder counting direction inverted?" The flag for the
encoder counting direction is not allowed. Flag 0: Positive
encoder counting direction Flag 1: Negative encoder counting
direction
Value range: [0, 1] Unit: 1
4404 17412 initialization "Referencing status" The flag for the referencing status is
not allowed. Flag 0: Axis has not been referenced Flag 1: Axis
has been referenced
Value range: [0, 1] Unit: 1
4405 17413 parameter "Encoder increments for each physical encoder rotation"
The value for the number of encoder increments for each
physical rotation of the encoder is not allowed. This value is
used by the software for the calculation of encoder overruns
and underruns.
Value range: [255, 0xFFFFFFFF] Unit: INC
4406 17414 parameter "Scaling factor" The value for the scaling factor is not
allowed. This scaling factor provides the weighting for the
conversion of an encoder increment (INC) to a physical unit
such as millimeters or degrees.
Value range: [0.000001, 100.0] Unit: e.g. mm/INC
4407 17415 parameter "Position offset (zero point offset)" The value for the
position offset of the encoder is not allowed. This value is
added to the calculated encoder position, and is interpreted in
the physical units of the encoder.
Value range: [-1000000.0, 1000000.0] Unit: e.g. mm
4408 17416 parameter "Modulo factor" The value for the encoder's modulo factor is
not allowed.
Value range: [1.0, 1000000.0] Unit: e.g. mm
4409 17417 parameter "Position filter time" The value for the actual position filter
time is not allowed (P-T1 filter).
Value range: [0.0, 60.0] Unit: s
440A 17418 parameter "Velocity filter time" The value for the actual velocity filter
time is not allowed (P-T1 filter).
Value range: [0.0, 60.0] Unit: s
440B 17419 parameter "Acceleration filter time" The value for the actual
acceleration filter time is not allowed (P-T1 filter).
Value range: [0.0, 60.0] Unit: s
440C 17420 initialization "Cycle time not allowed" (INTERNAL ERROR) The value of
the SAF cycle time for the calculation of actual values is not
allowed (e.g. is less than or equal to zero).

348 Version: 1.2 TF5100 TwinCAT 3 NC I

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Error(Hex) Error(Dez) Error type Description

440D 17421 initialization "" ENCERR_RANGE_UNITFLAGS
440E 17422 parameter "Actual position correction / measurement system error
correction" The value for the activation of the actual position
correction ("measuring system error correction") is not
allowed.
Value range: [0, 1] Unit: 1
440F 17423 parameter "Filter time actual position correction" The value for the
actual position correction filter time is not allowed (P-T1 filter).
Value range: [0.0, 60.0] Unit: s
4410 17424 parameter "Search direction for referencing cam inverted" The value
of the search direction of the referencing cam in a referencing
procedure is not allowed. Value 0: Positive direction Value 1:
Negative direction
Value range: [0, 1] Unit: 1
4411 17425 parameter "Search direction for sync pulse (zero pulse) inverted"
The value of the search direction of the sync pulse (zero
pulse) in a referencing procedure is not allowed. Value 0:
Positive direction Value 1: Negative direction
Value range: [0, 1] Unit: 1
4412 17426 parameter "Reference position" The value of the reference position in a
referencing procedure is not allowed.
Value range: [-1000000.0, 1000000.0] Unit: e.g. mm
4413 17427 parameter "Clearance monitoring between activation of the
hardware latch and appearance of the sync pulse" (NOT
IMPLEMENTED) The flag for the clearance monitoring
between activation of the hardware latch and occurrence of
the sync/zero pulse ("latch valid") is not allowed. Value 0:
Passive Value 1: Active
Value range: [0, 1] Unit: 1
4414 17428 parameter "Minimum clearance between activation of the hardware
latch and appearance of the sync pulse" (NOT
IMPLEMENTED) The value for the minimum clearance in
increments between activation of the hardware latch and
occurrence of the sync/zero pulse ("latch valid") during a
referencing procedure is not allowed.
Value range: [0, 65536] Unit: INC
4415 17429 parameter "External sync pulse" (NOT IMPLEMENTED) The value of
the activation or deactivation of the external sync pulse in a
referencing procedure is not allowed. Value 0: Passive Value
1: Active
Value range: [0, 1] Unit: 1
4416 17430 parameter "Scaling of the noise rate is not allowed" The value of the
scaling (weighting) of the synthetic noise rate is not allowed.
This parameter exists only in the simulation encoder and
serves to produce a realistic simulation.
Value range: [0, 1000000] Unit: 1
4417 17431 parameter „Tolerance window for modulo-start“ The value for the
tolerance window for the modulo-axis-start is invalid. The
value must be greater or equal than zero and smaller than the
half encoder modulo-period (e. g. in the interval [0.0,180.0) ).
Value range: [0.0, 180], Max: Unit: e. g. mm or
0.5*modulo-periode degree

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Error(Hex) Error(Dez) Error type Description

4418 17432 parameter „Encoder reference mode“ The value for the encoder
reference mode is not allowed, resp. is not supported for this
encoder type.
Value range: [0, 5] Unit: 1
4419 17433 parameter „Encoder evaluation direction“ The value for the encoder
evaluation direction (log. counter direction) is not allowed.
Value range: [0, 3] Unit: 1
441A 17434 parameter „Encoder reference system“ The value for the encoder
reference system is invalid (0: incremental, 1: absolute, 2:
absolute+modulo).
Value range: [0, 2] Unit: 1
441B 17435 parameter „Encoder position initialization mode“ When starting the
TC system the value for the encoder position initialization
mode is invalid.
Value range: [0, 1] Unit: 1
441C 17436 parameter „Encoder sign interpretation (UNSIGNED- / SIGNED- data
type)“ The value for the encoder sign interpretation (data
type) for the encoder the actual increment calculation (0:
Default/not defined, 1: UNSIGNED, 2:/ SIGNED) is invalid.
Value range: [0, 2] Unit: 1
4420 17440 parameter "Software end location monitoring minimum not allowed"
The value for the activation of the software location monitoring
minimum is not allowed.
Value range: [0, 1] Unit: 1
4421 17441 parameter "Software end location monitoring maximum not allowed"
The value for the activation of the software location monitoring
maximum is not allowed.
Value range: [0, 1] Unit: 1
4422 17442 function "Actual value setting is outside the value range" The "set
actual value" function cannot be carried out, because the new
actual position is outside the expected range of values.
Value range: [-1000000.0, 1000000.0] Unit: e.g. mm
4423 17443 parameter "Software end location minimum not allowed" The value
for the software end location minimum is not allowed.
Value range: [-1000000000.0, Unit: e.g. mm
1000000000.0]
4424 17444 parameter "Software end location maximum not allowed" The value
for the software end location maximum is not allowed.
Value range: [-1000000000.0, Unit: e.g. mm
1000000000.0]
4425 17445 parameter „Filter mask for the raw data of the encoder is invalid“
The value for the filter mask of the encoder raw data in
increments is invalid.
Value range: [0, 0xFFFFFFFF] Unit: 1
4426 17446 parameter „Reference mask for the raw data of the encoder is
invalid“ The value for the reference mask (increments per
encoder turn, absolute resolution) for the raw data of the
encoder is invalid. E.g. this value is used for axis reference
sequence (calibration) with the reference mode "Software
Sync".
Value range: [0x0000000F, Unit: 1
0xFFFFFFFF]

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 Appendix

Error(Hex) Error(Dez) Error type Description

4430 17456 function "Hardware latch activation (encoder)" Activation of the
encoder hardware latch was implicitly initiated by the
referencing procedure. If this function has already been
activated but a latch value has not yet become valid ("latch
valid"), another call to the function is refused with this error.
4431 17457 function "External hardware latch activation (encoder)" The
activation of the external hardware latch (only available on the
KL5101) is initiated explicitly by an ADS command (called
from the PLC program of the Visual Basic interface). If this
function has already been activated, but the latch value has
not yet been made valid by an external signal ("external latch
valid"), another call to the function is refused with this error.
4432 17458 function "External hardware latch activation (encoder)" If a
referencing procedure has previously been initiated and the
hardware still signals a valid latch value ("latch valid"), this
function must not be called. In practice, however, this error
can almost never occur.
4433 17459 function "External hardware latch activation (encoder)" If this
function has already been initiated and the hardware is still
signaling that the external latch value is still valid ("extern
latch valid"), a further activation should not be carried out and
the commando will be declined with an error (the internal
handshake communication between NC and IO device is still
active). In that case the validity of the external hardware latch
would immediately be signaled, although the old latch value
would still be present.
4434 17460 monitoring "Encoder function not supported" An encoder function has
been activated that is currently not released for use, or which
is not even implemented.
4435 17461 monitoring „Encoder function is already active“ An encoder function
can not been activated because this functionality is already
active.
4440 17472 initialization "Encoder initialization" Encoder has not been initialized.
Although the axis has been created, the rest of the
initialization has not been performed (1. Initialization of axis I/
O, 2. Initialization of axis, 3. Reset axis).
4441 17473 address "Axis address" The encoder does not have an axis, or the
axis address has not been initialized.
4442 17474 address "I/O input structure address" The drive does not have a
valid I/O input address in the process image.
4443 17475 address "I/O output structure address" The encoder does not have
a valid I/O output address in the process image.
4450 17488 monitoring "Encoder counter underflow monitoring" The encoder's
incremental counter has underflowed.
4451 17489 monitoring "Encoder counter overflow monitoring" The encoder's
incremental counter has overflowed.
4460 17504 monitoring "Software end location minimum (axis start)" With active
monitoring of the software end location for a minimum, a start
has been made from a position that lies below the software
end location minimum.
4461 17505 monitoring "Software end location maximum (axis start)" With active
monitoring of the software end location for a maximum, a start
has been made from a position that lies above the software
end location maximum.

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Error(Hex) Error(Dez) Error type Description

4462 17506 monitoring "Software end location minimum (positioning process)"
With active monitoring of the software end location for a
minimum, the actual position has fallen below the software
end location minimum. In the case of servo axes (continuously
driven axes) this limit is expanded by the magnitude of the
parameterized following error window (position).
4463 17507 monitoring "Software end location maximum (positioning process)"
With active monitoring of the software end location for a
maximum, the actual position has exceeded the software end
location maximum. In the case of servo axes (continuously
driven axes) this limit is expanded by the magnitude of the
parameterized following error window (position).
4464 17508 monitoring „Encoder hardware error“ The drive resp. the encoder
system reports a hardware error of the encoder. An optimal
error code is displayed in the message of the event log.
4465 17509 monitoring „Position initialization error at system start“ At the first
initialization of the set position was this for all initialization
trials (without over-/under-flow, with underflow and overflow )
out of the final position minimum and maximum.
4470 17520 monitoring "SSI transformation fault or not finished" The SSI
transformation of the FOX 50 module was faulty for some NC-
cycles or did not finished respectively.
44A2 17570 monitoring "ENCERR_ADDR_CONTROLLER"
44A3 17571 monitoring "ENCERR_INVALID_CONTROLLERTYPE"

352 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

7.7.6 Controller Errors

TF5100 TwinCAT 3 NC I Version: 1.2 353

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Error(Hex) Error(Dec) Error type Description

4500 17664 parameter "Controller ID not allowed" The value for the controller ID is
not allowed, e.g. because it has already been assigned, is
less than or equal to zero, or is greater than 255.
Value range: [1 ... 255] Unit: 1
4501 17665 parameter "Controller type not allowed" The value for the controller
type is unacceptable because it is not defined. Type 1: P-
controller (position) . . . Type 7: High/low speed controller
Type 8: Stepper motor controller Type 9: Sercos controller
Value range: [1 ... 8] Unit: 1
4502 17666 parameter "Controller operating mode not allowed" The value for the
controller operating mode is not allowed.
Value range: [1] Unit: 1
4503 17667 parameter "Weighting of the velocity pre-control not allowed" The
value for the percentage weighting of the velocity pre-control
is not allowed. The parameter is pre-set to 1.0 (100%) as
standard.
Value range: [0.0 ... 1.0] Unit: %
4504 17668 parameter "Following error monitoring (position) not allowed" The
value for the activation of the following error monitoring is not
allowed.
Value range: [0, 1] Unit: 1
4505 17669 parameter "Following error (velocity) not allowed" The value for the
activation of the following error monitoring (velocity) is not
allowed.
Value range: [0, 1] Unit: 1
4506 17670 parameter "Following error window (position) not allowed" The value
for the following error window (maximum allowable following
error) is not allowed.
Value range: [0.0, 10000.0] Unit: e.g. mm
4507 17671 parameter "Following error filter time (position) not allowed" The
value for the following error filter time (position) is not allowed.
Value range: [0.0, 600.0] Unit: s
4508 17672 parameter "Following error window (velocity) not allowed" The value
for the following error window (velocity) is not allowed.
Value range: [0.0, 10000.0] Unit: e.g. m/min
4509 17673 parameter "Following error filter time (velocity) not allowed" The
value for the following error filter time (velocity) is not allowed.
Value range: [0.0, 600.0] Unit: s
4510 17680 parameter "Proportional gain Kv or Kp (controller) not allowed"
position The value for the proportional gain (Kv factor or Kp
factor) is not allowed.
Value range: [0.0, 10000.0] Unit: e.g. mm/s/mm
4511 17681 parameter "Integral-action time Tn (controller) not allowed" position
The value for the integral-action time is not allowed (I
proportion of the PID T1 controller).
Value range: [0.0, 60.0] Unit: s
4512 17682 parameter "Derivative action time Tv (controller) not allowed"
position The value for the derivative action time is not allowed
(D proportion of the PID T1 controller).
Value range: [0.0, 60.0] Unit: s
4513 17683 parameter "Damping time Td (controller) not allowed" position The
value for the damping time is not allowed (D proportion of the
PID T1 controller). Suggested value: 0.1 * Tv
Value range: [0.0, 60.0] Unit: s

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Error(Hex) Error(Dec) Error type Description

4514 17684 function "Activation of the automatic offset compensation not
allowed" Activation of the automatic offset compensation is
only possible for certain types of controller (with no I
component).
4515 17685 parameter "Additional proportional gain Kv or Kp (controller) not
allowed" position The value for the second term of the
proportional gain (Kv factor or Kp factor) is not allowed.
Value range: [0.0, 10000.0] Unit: e.g. mm/s/mm
4516 17686 parameter "Reference velocity for additional proportional gain Kv or
Kp (controller) not allowed" position The value for the
reference velocity percentage data entry, to which the
additional proportional gain is applied, is not allowed. The
standard setting for the parameter is 0.5 (50%).
Value range: [0.0 ... 1.0] Unit: %
4517 17687 parameter "Proportional gain Pa (proportion) not allowed"
acceleration The value for the proportional gain (Pa factor) is
not allowed.
Value range: [0.0, 1000000.0] Unit: s
4518 17688 parameter "Proportional gain Kv (velocity controller) not allowed"
The value for the proportional gain (Kv factor) is not allowed.
Value range: [0.0, 10000.0] Unit: 1
4519 17689 parameter “Reset time Tn (velocity controller) not allowed” The value
for the integral-action time is not allowed (I proportion of the
PID T1 controller).
Value range: [0.0, 60.0] Unit: s
451A 17690 address "CONTROLERR_RANGE_ACCJUMPLIMITINGMODE"
451B 17691 address "CONTROLERR_RANGE_ACCJUMPVALUE"
451C 17692 address "CONTROLERR_RANGE_FILTERTIME"
451D 17693 parameter „Dead zone not allowed“ The value for the dead zone from
the position error or the velocity error (system deviation) is not
allowed (only for complex controller with velocity or torque
interface).
Value range: [0.0, 10000.0] Unit: mm resp. mm/s
4520 17696 parameter ”Rate time Tv (velocity controller) not allowed” The value
for the derivative action time is not allowed (D proportion of
the PID T1 controller).
Value range: [0.0, 60.0] Unit: s
4521 17697 parameter "Damping time Td (velocity controller) not allowed" The
value for the damping time is not allowed (D proportion of the
PID T1 controller). Suggested value: 0.1 * Tv
Value range: [0.0, 60.0] Unit: s
4522 17698 parameter "CONTROLERR_RANGE_IOUTPUTLIMIT"
4523 17699 parameter "CONTROLERR_RANGE_DOUTPUTLIMIT"
4524 17700 parameter "CONTROLERR_RANGE_POSIDISABLEWHENMOVING"
4540 17728 initialization "Controller initialization" Controller has not been initialized.
Although the controller has been created, the rest of the
initialization has not been performed (1. Initialization of
controller, 2. Reset controller).
4541 17729 address "Axis address" Controller does not know its axis, or the axis
address has not been initialized.
4542 17730 address "Drive address" Controller does not know its drive, or the
drive address has not been initialized.

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Error(Hex) Error(Dec) Error type Description

4550 17744 monitoring "Following error monitoring (position)" With active
following error monitoring (position) a following error
exceedance has occurred, whose magnitude is greater than
the following error window, and whose duration is longer than
the parameterized following error filter time.
4551 17745 monitoring "Following error monitoring (velocity)" With active
following error monitoring (velocity) a velocity following error
exceedance has occurred, whose magnitude is greater than
the following error window, and whose duration is longer than
the parameterized following error filter time.
45A0 17824 monitoring "CONTROLERR_RANGE_AREA_ASIDE"
45A1 17825 monitoring "CONTROLERR_RANGE_AREA_BSIDE"
45A2 17826 monitoring "CONTROLERR_RANGE_QNENN"
45A3 17827 monitoring "CONTROLERR_RANGE_PNENN"
45A4 17828 monitoring "CONTROLERR_RANGE_AXISIDPRESP0"

356 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

7.7.7 Drive Errors

TF5100 TwinCAT 3 NC I Version: 1.2 357

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Error(hex) Error(dec) Error type Description

4600 17920 Parameter ‘"Drive ID not allowed" The value for the drive ID is not
allowed, e.g. because it has already been assigned, is less
than or equal to zero, or is greater than 255.
Value range: [1 ... 255] Unit: 1
4601 17921 Parameter ‘Drive type impermissible’ The value for the drive type is
impermissible, since it is not defined.
Value range: [1, 20] Unit: 1
4602 17922 Parameter ‘Drive operating mode impermissible’ The value for the
drive operating mode is impermissible (mode 1: standard).
Value range: [1] Unit: 1
4603 17923 Parameter "Motor polarity inverted?" The flag for the motor polarity
is not allowed. Flag 0: Positive motor polarity flag 1:
Negative motor polarity
Value range: [0, 1] Unit: 1
4604 17924 Parameter ‘Drift compensation/speed offset (DAC offset)’ The value
for the drift compensation (DAC offset) is impermissible.
Value range: [-100.0, 100.0] Unit: e.g. m/min
4605 17925 Parameter ‘Reference speed (velocity pre-control)’ The value for the
reference speed (also called velocity pilot control) is
impermissible.
Value range: [0.0, 10000.0] Unit: e.g. m/min
4606 17926 Parameter ‘Reference output in percent’ The value for the reference
output in percent is impermissible. The value 1.0 (100 %)
usually corresponds to a voltage of 10.0 V.
Value range: [0.0, 5.0] Unit: %
4607 17927 Parameter ‘Quadrant compensation factor’ The value for the
quadrant compensation factor is impermissible.
Value range: [0.0, 100.0] Unit: 1
4608 17928 Parameter ‘Velocity reference point’ The value for the velocity
reference point in percent is impermissible. The value 1.0
corresponds to 100 percent.
Value range: [0.01, 1.0] Unit: %
4609 17929 Parameter ‘Output reference point’ The value for the output
reference point in percent is impermissible. The value 1.0
corresponds to 100 percent.
Value range: [0.01, 1.0] Unit: %
460A 17930 Parameter ‘Minimum or maximum output limits (output limitation)’
The value for the minimum and/or maximum output limit is
impermissible. This will happen if the range of values is
exceeded, the maximum limit is smaller than the minimum
limit, or the distance between the minimum and maximum
limits is zero. The minimum limit is initially set to –1.0 (-100
percent) and the maximum limit to 1.0 (100 percent).
Value range: [-1.0, 1.0] Unit: %
460B 17931 Parameter “DRIVEERR_RANGE_MAXINCREMENT”
460C 17932 Parameter “DRIVEERR_RANGE_ DRIVECONTROLDWORD”
460D 17933 Parameter “DRIVEERR_RANGE_ RESETCYCLECOUNTER”
460F 17935 Parameter ‘Drive torque output scaling impermissible’ The value is
impermissible as drive torque output scaling (rotary motor)
or as force output scaling (linear motor).
Value range: [0, 1000000] Unit: 1
4610 17936 Parameter „Drive velocity output scaling is not allowed“ The value
for the drive velocity output scaling is not allowed.
Value range: [0, 1000000] Unit: 1

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Error(hex) Error(dec) Error type Description

4611 17937 Parameter ‘Profi Drive DSC proportional gain Kpc (controller)
impermissible’ Positions The value for the Profi Drive DSC
position control gain (Kpc factor) is impermissible.
Value range: [0, 0xFFFFFF] Unit: 0.001 * 1/s
4612 17938 Parameter ‘Table ID is impermissible’ The value for the table ID is
impermissible.
Value range: [0, 255] Unit: 1
4613 17939 Parameter ‘Table interpolation type is impermissible’ The value is
impermissible as the table interpolation type.
Value range: 0 (LINEAR), 2 (SPLINE) Unit: 1
4614 17940 Parameter ‘Output offset in percent is impermissible’ The value is
impermissible as an output offset in percent (+/- 1.0).
Value range: [-1.0, 1.0] Unit: %
4615 17941 Parameter ‘Profi Drive DSC scaling for calculation of
“Xerr” (controller) impermissible’ Positions: the value is
impermissible as Profi Drive DSC scaling for the calculation
of ‘Xerr’.
Value range: [0, 1000000] Unit: 1
4616 17942 Parameter ‘Drive acceleration output scaling impermissible’ The
value is impermissible as drive acceleration/deceleration
output scaling.
Value range: [0, 1000000] Unit: 1
4617 17943 Parameter ‘Drive position output scaling impermissible’ The value
is impermissible as drive position output scaling.
Value range: [0, 1000000] Unit: 1
461C 17948 Parameter ‘Drive filter type impermissible for command variable
filter for the output position’ The value is impermissible
as a drive filter type for the smoothing of the output position
(command variable filter for the setpoint position).
Value range: [0, 2] Unit: 1
461D 17949 Parameter ‘Drive filter time impermissible for command variable
filter for the output position’ The value is impermissible
as a drive filter time for the smoothing of the output position
(command variable filter for the setpoint position).
Value range: [0.0, 1.0] Unit: s
461E 17950 Parameter ‘Drive filter order impermissible for command variable
filter for the output position’ The value is impermissible
as a drive filter order (P-Tn) for the smoothing of the output
position (command variable filter for the setpoint position).
Value range: [0, 10] Unit: 1
4620 17952 Parameter ‘Bit mask for stepper motor cycle impermissible’ A
value of the different stepper motor masks is impermissible
for the respective cycle.
Value range: [0, 255] Unit: 1
4621 17953 Parameter ‘Bit mask for stepper motor holding current
impermissible’ The value for the stepper motor holding
mask is impermissible.
Value range: [0, 255] Unit: 1
4622 17954 Parameter ‘Scaling factor for actual torque (actual current)
impermissible’ The value is impermissible as a scaling
factor for the actual torque (or actual current).
Value range: [0, 1E+30] Unit:

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Error(hex) Error(dec) Error type Description

4623 17955 Parameter ‘Filter time for actual torque is impermissible’ The value
is impermissible as a filter time for the actual torque (or the
actual current) (P-T1 filter).
Value range: [0.0, 60.0] Unit: s
4624 17956 Parameter ‘Filter time for the temporal derivation of the actual
torque is impermissible’ The value is impermissible as a
filter time for the temporal derivation of the actual torque (or
actual current (P-T1 filter).
Value range: [0.0, 60.0] Unit: s
4627 17959 Function DRIVEOPERATIONMODEBUSY. The activation of the
drive operation mode failed, because another object with
OID ... is already using this interface.
0x4630 ... 0x463F: Error codes are reserved for external drive errors (e.g. stepper motor
terminal or ‘MC_PowerStepper’ function block)
4630 17968 Monitoring ‘Overtemperature’ Overtemperature was detected or
reported in the drive or terminal.
4631 17969 Monitoring ‘Undervoltage’ Undervoltage was detected or reported in
the drive or terminal.
4632 17970 Monitoring ‘Wire break in phase A’ A wire break in phase A was
detected or reported in the drive or terminal.
4633 17971 Monitoring ‘Wire break in phase B’ A wire break in phase B was
detected or reported in the drive or terminal.
4634 17972 Monitoring ‘Overcurrent in phase A’ Overcurrent was detected or
reported in phase A in the drive or terminal.
4635 17973 Monitoring ‘Overcurrent in phase B’ Overcurrent was detected or
reported in phase B in the drive or terminal.
4636 17974 Monitoring ‘Torque overload (stall)’ A torque overload (stall) was
detected or reported in the drive or terminal.
4640 17984 Initialization ‘Drive initialization’ Drive has not been initialized.
Although the drive has been created, the rest of the
initialization has not been performed (1. Initialization of drive
I/O, 2. Initialization of drive, 3. Reset drive).
4641 17985 Address ‘Axis address’ Drive does not know its axis, or the axis
address has not been initialized.
4642 17986 Address ‘Address IO input structure’ Drive has no valid IO input
address in the process image.
4643 17987 Address ‘Address IO output structure’ Drive has no valid IO output
address in the process image.
4650 18000 Monitoring ‘Drive hardware not ready to operate’ The drive
hardware is not ready for operation. The following are
possible causes:
- the drive is in the error state (hardware error)
- the drive is in the start-up phase (e.g. after an axis reset
that was preceded by a hardware error)
- the drive is missing the controller enable (ENABLE)
Note: The time required for "booting" a drive after a
hardware fault can amount to several seconds.
4651 18001 Monitoring Error in the cyclic communication of the drive (Life
Counter). Reasons for this could be an interrupted fieldbus
or a drive that is in the error state.
4652 18002 Monitoring ‘Changing the table ID when active controller enable is
impermissible’. Changing (deselecting, selecting) the
characteristic curve table ID is not permissible when the
controller enable for the axis is active.

360 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Error(hex) Error(dec) Error type Description

4655 18005 Monitoring ‘Invalid IO data for more than ‘n’ continuous NC cycles’
The axis (encoder or drive) has detected invalid IO data
(e.g. n=3) for more than ‘n’ continuous NC cycles (NC SAF
task).
EtherCAT fieldbus: ‘working counter error ('WCState')’As a
result it is possible that the encoder referencing flag will be
reset to FALSE (i.e. the encoder is given the status
‘unreferenced’).
Lightbus fieldbus: ‘CDL state error ('CdlState')’
As a result it is possible that the encoder calibration flag will
set to FALSE (that means uncalibrated).

TF5100 TwinCAT 3 NC I Version: 1.2 361

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7.7.8 Table Errors

362 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Error(Hex) Error(Dec) Error type Description

4A00 18944 parameter "Table ID not allowed" The value for the table ID is not
allowed, e.g. because it has already been assigned, is less
than or equal to zero, or is greater than 255.
Value range: [1 ... 255] Unit: 1
4A01 18945 parameter "Table type not allowed" The value for the table type is
unacceptable because it is not defined.
Value range: [1 ] Unit: 1
4A02 18946 parameter "Number of lines in the table not allowed" The value of
the number of lines in the table is not allowed, because, for
example, it is smaller than two at linear interpolation and
smaller than four at spline interpolation.
Value range: [2, 0xFFFF] Unit: 1
4A03 18947 parameter "Number of columns in the table is not allowed" The
value of the number of columns in the table is not allowed,
because, for example, it is less than or equal to zero
(depends upon the type of table or slave).
Value range: [1, 0xFFFF] Unit: 1
4A04 18948 parameter "Step size (position delta) not allowed" The value for the
step size between two lines (position delta) is not allowed,
because, for example, it is less than or equal to zero.
Value range: [0.001, 1.0E+6] Unit: e.g. mm
4A05 18949 parameter "Period not allowed" The value for the period is not
allowed, because, for example, it is less than or equal to
zero.
Value range: [0.001, 1.0E+9] Unit: e.g. mm
4A06 18950 parameter "Table is not monotonic" The value for the step size is not
allowed, because, for example, it is less than or equal to
zero.
4A07 18951 initialization „Table sub type is not allowed“ The value for the table
sub type is not allowed or otherwise the table class (slave
type) do not match up to the table main type. Table sub
type: (1) equidistant linear position table, (2) equidistant
cyclic position table, (3) none equidistant linear position
table, (4) none equidistant cyclic position table
Value range: [1, 4] Unit: 1
4A08 18952 initialization „Table interpolation type is not allowed“ The value for
the table interpolation type is allowed. Table interpolation
type: (0) linear-interpolation, (1) 4-point-interpolation, (2)
spline-interpolation
Value range: [0, 2] Unit: 1
4A09 18953 initialization "Incorrect table main type" The table main type is
unknown or otherwise the table class (slave type) do not
match up to the table main type. Table main type: (1)
camming table, (2) characteristic table, (3) 'motion function'
table (MF)
4A10 18960 initialization "Table initialization" Table has not been initialized.
Although the table has been created, the rest of the
initialization has not been performed. For instance, the
number of lines or columns may be less than or equal to
zero.
4A11 18961 initialization "Not enough memory" Table could not be created, since
there is not enough memory.
4A12 18962 function "Function not executed, function not available" The
function has not been implemented, or cannot be executed,
for the present type of table.

TF5100 TwinCAT 3 NC I Version: 1.2 363

Appendix

Error(Hex) Error(Dec) Error type Description

4A13 18963 function "Line index not allowed" The start line index or the stop
line index to be used for read or write access to the table is
not allowed. For instance, the line index may be greater
than the total number of lines in the table.
4A14 18964 function "Column index not allowed" The start column index or the
stop column index to be used for read or write access to the
table in not allowed. For instance, the column index may be
greater than the total number of columns in the table.
4A15 18965 function "Number of lines not allowed" The number of lines to be
read from or written to the table is not allowed. The number
of lines must be an integer multiple of the number of
elements in a line (n * number of columns).
4A16 18966 function "Number of columns not allowed" The number of
columns to be read from or written to the table is not
allowed. The number of columns must be an integer
multiple of the number of elements in a column (n * number
of lines).
4A17 18967 function "Error in scaling or in range entry" The entries in the
table header are inconsistent, e.g. the validity range is
empty. If the error is generated during the run time it is a run
time error and stops the master/slave group.
4A18 18968 function "Multi table slave out of range" The slave master position
is outside the table values for the master. The error is a run-
time error, and stops the master/slave group.
4A19 18969 function "Solo table underflow" The slave master position is
outside the table values for the master. The master value of
the equidistant table, to be processed linearly, lies under the
first table value. The error is a run-time error, and stops the
master/slave group.
4A1A 18970 function "Solo table overflow" The slave master position is outside
the table values for the master. The master value of the
equidistant table, to be processed linearly, lies above the
first table value. The error is a run-time error, and stops the
master/slave group.
4A1B 18971 parameter "Incorrect execution mode" The cyclic execution mode
can only be "true" or "false".
4A1C 18972 parameter "Impermissible parameter" The Fifo parameter is not
allowed.
4A1D 18973 parameter "Fifo is empty" The Fifo of the external generator is empty.
This can signify end of track or a run time error.
4A1E 18974 parameter "Fifo is full" The Fifo of the external generator is full. It is
the user‘s task to continue to attempt to fill the Fifo with the
rejected values.
4A1F 18975 parameter „Point-Index of Motion Function invalid“ The point index
of a Motion Function Point of a Function Table is invalid.
First the point index has to be larger than zero and second it
has to be numerical continuously for one column in the
Motion Function Table (e.g. 1,2,3,... or 10,11,12,...).
Remark: The point index is not online-changeable but must
be constant.
4A20 18976 initialization „No diagonalization of matrix“ The spline can not be
calculated. The master positions are not correct.
4A21 18977 initialization „Number of spline points to less“ The number of points
of a cubic spline has to be greater than two.

364 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Error(Hex) Error(Dec) Error type Description

4A22 18978 initialization „Fifo must not be overwritten“ Fifo must not be
overwritten since then the active line would be overwritten.
It is the task of the user to secure that the active line is not
modified.
4A23 18979 function „Insufficient number of Motion Function points“ The
number of valid Motion Function points is less than two.
Either the entire number of points is to low or the point type
of many points is set to Ignore Point.

TF5100 TwinCAT 3 NC I Version: 1.2 365

Appendix

7.7.9 NC-PLC Errors

366 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Error(Hex) Error(dec) Error type Description

4B00 19200 Parameter "Axis was stopped" The axis was stopped during travel
to the target position. The axis may have been stopped
with a PLC command via ADS, a call via AXFNC, or by
the System Manager.
4B01 19201 Parameter "Axis cannot be started" The axis cannot be started
because:
• the axis is in error status,
• the axis is executing another command,
• the axis is in protected mode,
• the axis is not ready for operation.
4B02 19202 Parameter "Control mode not permitted" No target position
control, and no position range control.
4B03 19203 Parameter "Axis is not moving" The position and velocity can only
be restarted while the axis is physically in motion.
4B04 19204 Parameter "Wrong mode for RestartPosAndVelo" Wrong mode.
4B05 19205 Parameter "Command not permitted"
• Continuous motion in an unspecified direction
• Read/Write parameters: type mismatch
4B06 19206 Parameter "Parameter incorrect"
• Incorrect override: > 100% or < 0%
• Incorrect gear ratio: RatioDenominator = 0
4B07 19207 Parameter "Timeout axis function block"
After positioning, all "MC_Move..." blocks check whether
positioning was completed successfully. In the simplest
case, the "AxisHasJob" flag of the NC axis is checked,
which initially signifies that positioning was logically
completed. Depending on the parameterization of the NC
axis, further checks (quality criteria) are used:
• "Position range monitoring"
If position range monitoring is active, the system
waits for feedback from the NC. After positioning,
the axis must be within the specified positioning
range window. If necessary, the position controller
ensures that the axis is moved to the target position.
If the position controller is switched off (Kv=0) or
weak, the target may not be reached.
• "Target position monitoring"
If target position monitoring is active, the system
waits for feedback from the NC. After positioning,
the axis must be within the specified target position
window for at least the specified time. If necessary,
the position controller ensures that the axis is
moved to the target position. If the position
controller is switched off (Kv=0) or weak, the target
may not be reached. Floating position control may
lead to the axis oscillating around the window but
not remaining inside the window.
If the axis is logically at the target position (logical
standstill) but the parameterized position window has not
been reached, monitoring of the above-mentioned NC
feedback is aborted with error 19207 (0x4B07) after a
constant timeout of 6 seconds.
4B08 19208 Parameter "Axis is in protected mode" The axis is in protected
mode ( e.g. coupled) and cannot be moved.

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Error(Hex) Error(dec) Error typeDescription

4B09 19209 Parameter "Axis is not ready" The axis is not ready and cannot be
moved.
4B0A 19210 Parameter "Error during referencing" Referencing (homing) of the
axis could not be started or was not successful.
4B0B 19211 Parameter "Incorrect definition of the trigger input" The definition
of the trigger signal for block MC_TouchProbe is
incorrect. The defined encoder-ID, the trigger signal or the
trigger edge are invalid.
4B0C 19212 Function "Position latch was disabled" The function block
MC_TouchProbe has detected that a measuring probe
cycle it had started was disabled. The reason may be an
axis reset, for example.
4B0D 19213 Function ‘NC status feedback timeout’ A function was
successfully sent from the PLC to the NC. An expected
feedback in the axis status word has not arrived.
4B0E 19214 Function "Additional product not installed" The function is
available as an additional product but is not installed on
the system.
4B0F 19215 Function "No NC Cycle Counter Update" – The NcToPlc
Interface or the NC Cycle Counter in the NcToPlc
Interface was not updated.
Error numbers 0x4B10 to 0x4B2F are used in the TwinCAT NCI context:
4B10 19216 Function "M-function query missing" This error occurs if the M-
function was confirmed, but the request bit was not set.
4B11 19217 Parameter "Zero offset index is outside the range" The index of
the zero offset is invalid.
4B12 19218 Parameter "R-parameter index or size is invalid" This error occurs
if the R-parameters are written or read but the index or
size are outside the range.
4B13 19219 Parameter "Index for tool description is invalid"
4B14 19220 Function "Version of the cyclic channel interface does not
match the requested function or the function block"
This error occurs if an older TwinCAT version is used to
call new functions of a later TcNci.lib version.
4B15 19221 Function "Channel is not ready for the requested function" The
requested function cannot be executed, because the
channel is in the wrong state. This error occurs during
reverse travel, for example, if the axis was not stopped
with ItpEStop first.
4B16 19222 Function "Requested function is not activated" The requested
function requires explicit activation.
4B17 19223 Function "Axis is already in another group" The axis has already
been added to another group.
4B18 19224 Function "Block search could not be executed successfully"
The block search has failed.
Possible causes:
• Invalid block number
4B19 19225 Parameter "Invalid block search parameter" This error occurs if
the FB ItpBlocksearch is called with invalid parameters
(e.g. E_ItpDryRunMode, E_ItpBlockSearchMode)
4B20 19232 Function "Cannot add all axes" This error occurs if an auxiliary
axis is to be added to an interpolation group, but the
function fails. It is likely that a preceding instruction of an
auxiliary axis was skipped.
Error numbers 0x4B30 to 0x4B3F are used in the TcMcCam library (MC_NC_TableErrorCodes):

368 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Error(Hex) Error(dec) Error type Description

4B30 19248 Parameter "Pointer is invalid" A pointer to a data structure is
invalid, e.g. Null
• Data structure MC_CAM_REF was not initialized
4B31 19249 Parameter "Memory size invalid" The specification of the memory
size (SIZE) for a data structure is invalid.
• The value of the size parameter is 0 or less than the
size of one element of the addressed data structure.
• The value of the size parameter is less than the
requested amount of data.
• The value of the size parameter does not match
other parameters as number of points, number of
rows or number of columns.
4B32 19250 Parameter "Cam table ID is invalid" The ID of a cam table is not
between 1 and 255.
4B33 19251 Parameter "Point ID is invalid" The ID of a point (sampling point) of
a motion function is less than 1.
4B34 19252 Parameter "Number of points is invalid" The number of points
(sampling points) of a cam plate to be read or written is
less than 1.
4B35 19253 Parameter "MC table type is invalid" The type of a cam plate does
not match the definition MC_TableType.
4B36 19254 Parameter "Number of rows invalid" The number of rows
(sampling points) of a cam table is less than 1.
4B37 19255 Parameter "Number of columns invalid" The number of columns of
a cam table is invalid.
• The number of columns of a motion function is not
equal 1
• The number of columns of a standard cam table is
not equal 2
• The number of columns does not match another
parameter (ValueSelectMask)
4B38 19256 Parameter "Step size invalid". The increment for the interpolation is
invalid, e.g. less than or equal to zero.
Error numbers 0x4B0F, 0x4B40 to 0x4B4F are used in the TcNc-Lib:
4B40 19264 Monitoring "Terminal type not supported" The terminal used is not
supported by this function block.
4B41 19265 Monitoring "Register read/write error" This error implies a validity
error.
4B42 19266 Monitoring "Axis is enabled" The axis is enabled but should not be
enabled for this process.
4B43 19267 Parameter "Incorrect size of the compensation table" The
specified table size (in bytes) does not match the actual
size
4B44 19268 Parameter The minimum/maximum position in the compensation
table does not match the position in the table description
(ST_CompensationDesc)
4B45 19269 Parameter "Not implemented" The requested function is not
implemented in this combination
Error numbers 0x4B50 to 0x4B5F are used in the TcRemoteSyn-Lib:
Error numbers 0x4B60 to 0x4B6F are used in the TcMc2-Lib in the buffered commands context:

TF5100 TwinCAT 3 NC I Version: 1.2 369

Appendix

Error(Hex) Error(dec) Error type Description

4B60 19296 Monitoring "Motion command did not become active" A motion
command has been started and has been buffered and
confirmed by the NC. Nevertheless, the motion command
did not become active (possibly due to a terminating
condition or an internal NC error).
4B61 19297 Monitoring "Motion command could not be monitored by the
PLC" A motion command has been started and has been
buffered and confirmed by the NC. The PLC has not been
able to monitor the execution of this command and the
execution status is unclear since the NC is already
executing a more recent command. The execution state is
unclear. This error may come up with very short buffered
motion commands which are executed during one PLC
cycle.
4B62 19298 Monitoring "Buffered command was terminated with an error" A
buffered command was terminated with an error. The
error number is not available, because a new command is
already being executed.
4B63 19299 Monitoring "Buffered command was completed without
feedback" A buffered command was completed but there
was no feedback to indicate success or failure.
4B64 19300 Monitoring " 'BufferMode' is not supported by the command" The
'BufferMode' is not supported by this command.
4B65 19301 Monitoring "Command number is zero" The command number for
queued commands managed by the system unexpectedly
has the value 0.
4B66 19302 Monitoring "Function block was not called cyclically" The function
block was not called cyclically. The command execution
could not be monitored by the PLC, because the NC was
already executing a subsequent command. The execution
state is unclear.
Error numbers 0x4B70 to 0x4B8F are used in the TcPlcInterpolation-Lib:
4B71 19313 Parameter "Invalid NCI entry type". The FB
FB_NciFeedTablePreparation was called with an
unknown nEntryType.
4B72 19314 Function "NCI feed table full" The table is full, and the entry is
therefore not accepted.
Remedy:
Transfer the context of the table with FB_NciFeedTable to
the NC-Kernel. If bFeedingDone = TRUE, the table can
be reset in FB_NciFeedTablePreparation with
bResetTable and then filled with new entries.
4B73 19315 Function internal error
4B74 19316 Parameter "ST_NciTangentialFollowingDesc: tangential axis is
not an auxiliary axis" The entry for tangential following
contains a tangential axis that is not an auxiliary axis.
4B75 19317 Parameter ST_NciTangentialFollowingDesc: nPathAxis1 or
nPathAxis2 is not a path axis. It is therefore not possible
to determine the plane.
4B76 19318 Parameter ST_NciTangentialFollwoingDesc: nPathAxis1 and
nPathAxis2 are the same. It is therefore not possible to
determine the plane.
4B77 19319 Parameter ST_NciGeoCirclePlane: Circle incorrectly parameterized
4B78 19320 Function Internal error during calculation of tangential following

370 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Error(Hex) Error(dec) Error type Description

4B79 19321 Monitoring Tangential following: Monitoring of the deviation angle
was activated during activation of tangential following
(E_TfErrorOnCritical1), and an excessively large
deviation angle was detected in the current segment.
4B7A 19322 Function not implemented
4B7B 19323 Parameter Tangential following: the radius of the current arc is too
small
4B7C 19324 Parameter FB_NciFeedTablePreparation: pEntry is NULL
4B7D 19325 Parameter FB_NciFeedTablePreparation: the specified nEntryType
does not match the structure type
4B7E 19326 Parameter ST_NciMFuncFast and ST_NciMFuncHsk: the
requested M-function is not between 0 and 159
4B7F 19327 Parameter ST_NciDynOvr: the requested value for the dynamic
override is not between 0.01 and 1
4B80 19328 Parameter ST_NciVertexSmoothing: invalid parameter. This error
is generated if a negative smoothing radius or an
unknown smoothing type is encountered.
4B81 19329 Parameter FB_NciFeedTablePrepartion: The requested velocity is
not in the valid range
4B82 19330 Parameter ST_Nci*: invalid parameter
Error numbers 0x4BA0 - 0x4BAF are used in the TcNcKinematicTransformation-Lib:
4BA0 19360 Function KinGroup error: the kinematic group is in an error state.
This error may occur if the kinematic group is in an error
state or an unexpected state when it is called (e.g.
simultaneous call via several FB instances).
4BA1 19361 Function KinGroup timeout: timeout during call of a kinematic
block
Error numbers 0x4B90 - 0x4B9F are used in the Tc3_MC2_AdvancedHoming-Lib (PLCopen Part 5:
Homing Procedures):
4B90 19344 Parameter Determined drive type is not supported
4B91 19345 Parameter Direction is impermissible
4B92 19346 SwitchMode is impermissible
4B93 19347 Mode for the parameter handling is impermissible
4B94 19348 Parameterization of the torque limits is inconsistent
4B95 19349 Parameterization of the position lag limit is impermissible
(<=0).
4B96 19350 Parameterization of the distance limit is impermissible
(<0)
4B97 19351 An attempt was made to back up parameters again,
although they have already been backed up.
4B98 19352 An attempt was made to restore parameters, although
none have been backed up.
Error numbers 0x4BB0 to 0x4BBF are used in the Tc2_MC2_Drive-Lib:
4BB0 19376 Function The current axis position or the axis position resulting
from the new position offset exceeds the valid range of
values.
4BB1 19377 Function The new position offset exceeds the valid range of values
[AX5000: 2^31]
4BB2 19378 Function The current axis position or the axis position resulting
from the new position offset falls below the valid range of
values.
4BB3 19379 Function The new position offset falls below the valid range of
values [AX5000: -2^31]

TF5100 TwinCAT 3 NC I Version: 1.2 371

Appendix

Error(Hex) Error(dec) Error type Description

4BB4 19380 Function The activated feedback and/or storage location (AX5000:
P-0-0275) differ from the parameterization on the function
block.
4BB5 19381 Function Reinitialisation of the Nc actual position has failed.
e.g. reference system = “ABSOLUTE (with single
overflow)” & software end position monitoring is disabled.

7.7.10 Kinematic transformation

Error(Hex) Error(Dec) Error type Description
4C00 19456 Transformation failed.
4C01 19457 Ambiguous answer. The answer of the transformation
is not explicit.
4C02 19458 Invalid axis position: The transformation can not be
calculated with the current position data.
Possible causes:
• The position is outside the working area of the
kinematics
4C03 19459 Configuration Invalid dimension: The dimension of the
paramerterized input parameter does not match the
dimension expected by the kinematic object.
Possible causes:
• Too many position values are supplied for this
configuration. Check the number of parameterized
axes.
4C04 19460 NCERR_KINTRAFO_REGISTRATION
4C05 19461 Internal Newton iteration failed: The Newton iteration does not
converge.
4C06 19462 Internal Jacobi matrix cannot be inverted
4C07 19463 Configuration Invalid cascade: This kinematic configuration is not
permitted.
4C08 19464 Programming Singularity: The machine configuration results in
singular axis velocities.
4C0B 19467 Internal No metainfo: Metainfo pointer is null.
4C20 19488 Internal Transformation failed: Call of extended kinematic
model failed.
4C30 19504 Programming Invalid input frame: Programmed Cartesian position
cannot be reached in the ACS configuration.
4C50 19536 Internal Invalid offset: Access violation detected in the
observer.

7.7.11 Bode Return Codes

The following bode plot specific error codes are used in the bode plot server:

372 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Code Code Symbol Description

Hex Dec
0x8100 33024 INTERNAL Internal error
0x8101 33025 NOTINITIALIZED Not initialized (e.g. no nc axis)
0x8102 33026 INVALIDPARAM Invalid parameter
0x8103 33027 INVALIDOFFSET Invalid index offset
0x8104 33028 INVALIDSIZE Invalid parameter size
0x8105 33029 INVALIDSTARTPARAM Invalid start parameter (set point generator)
0x8106 33030 NOTSUPPORTED Not supported
0x8107 33031 AXISNOTENABLED Nc axis not enabled
0x8108 33032 AXISINERRORSTATE Nc axis in error state
0x8109 33033 DRIVEINERRORSTATE IO drive in error state
0x810A 33034 AXISANDDRIVEINERROR- Nc axis AND IO drive in error state
STATE
0x810B 33035 INVALIDDRIVEOPMODE Invalid drive operation mode active or requested
(no bode plot mode)
0x810C 33036 INVALIDCONTEXT Invalid context for this command (mandatory task or
windows context needed)
0x810D 33037 NOAXISINTERFACE Missing TCom axis interface (axis null pointer).
There is no connection to the NC axis.
Either no axis (or axis ID) has been parameterized, or
the parameterized axis does not exist.
0x810E 33038 INPUTCYCLECOUNTER Invalid input cycle counter from IO drive (e.g.
frozen).
The cyclic drive data are backed up by an
‘InputCycleCounter’ during the bode plot recording.
This allows firstly the detection of an unexpected
communication loss (keyword: LifeCounter) and
secondly a check for temporal data consistency to be
performed.
Sample 1: This error can occur if the cycle time of the
calling task is larger than the assumed drive cycle time
(in this case, however, the error occurs right at the start
of the recording).
Sample 2: This error can occur if the calling task has
real-time errors (e.g. the "Exceed Counter" of the task
increments or the task has a lower priority, as is often
the case, for example, with the PLC). In this case the
error can also occur at any time during the recording.
Sample 3: This error can occur more frequently if the
real-time load on the computer is quite high (>50 %).
Note: Refer also to the corresponding AX5000 drive
error code F440.

TF5100 TwinCAT 3 NC I Version: 1.2 373

Appendix

0x810F 33039 POSITIONMONITORING Position monitoring: Axis position is outside of the

(=> NC Runtime Error) maximum allowed moving range.
The axis has left the parameterized position range
window, whereupon the recording was aborted and the
NC axis was placed in the error state 0x810F (with
standard NC error handling).
The position range window acts symmetrically around
the initial position of the axis (see also parameter
description Position Monitoring Window).
Typical error message in the logger:
"BodePlot: 'Position Monitoring' error 0x%x because
the actual position %f is above the maximum limit %f of
the allowed position range (StartPos=%f, Window=%f)"
0x8110 33040 DRIVELIMITATIONDETECTE Driver limitations detected (current or velocity
D limitations) which causes a nonlinear behavior and
invalid results of the bode plot.
A bode plot recording requires an approximately linear
transmission link. If the speed or current is limited in
the drive unit, however, this non-linear behavior is
detected and the bode plot recording is aborted.
Reasons for these limitations can be: choosing too
large an amplitude for the position, speed or torque
interface, or an unsuitable choice of amplitude scaling
mode (see also parameter description Amplitude
Scaling Mode, Base Amplitude, Signal Amplitude).
Typical error message in the logger:
"BodePlot: Sequence aborted with error 0x%x because
the current limit of the drive has been exceeded (%d
times) which causes a nonlinear behavior and invalid
results of the bode plot"
0x8111 33041 LIFECOUNTERMONITORING Life counter monitoring (heartbeat): Lost of
(=> NC Runtime Error) communication to GUI detected after watchdog
timeout is elapsed.
The graphical user interface from which the bode plot
recording was started is no longer communicating with
the bode plot driver in the expected rhythm (keyword:
‘Life Counter’). Therefore the recording is terminated
immediately and the NC axes are placed in the error
state 0x8111 (with standard NC error handling).
Possible reasons for this can be an operating interface
crash or a major malfunction of the Windows context.
Typical error message in the logger:
"BodePlot: Sequence aborted with GUI Life Counter
error 0x%x because the WatchDog timeout of %f s
elapsed ('%s')"
0x8112 33042 NCERR_BODEPLOT_WCSTA WC state error (IO data working counter)
TE IO working counter error (WC state), for example due
to real-time errors, EtherCAT CRC errors or telegram
failures, EtherCAT device not communicating (OP
state), etc.
0x8113- 33043- RESERVED Reserved area
0x811F 33055

374 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

7.7.12 Further Error Codes

Table 3:

TF5100 TwinCAT 3 NC I Version: 1.2 375

Appendix

Error(Hex) Error(Dec) ErrorType Description

0x8120 33056 Environment Invalid configuration for Object (e.g. in System
Manager)
0x8121 33057 Environment Invalid environment for Object (e.g. TcCom-
Object's Hierarchy or missing/faulty Objects)
0x8122 33058 Environment Incompatible Driver or Object
0x8135 33077 Internal Function Block Inputs are inconsitent.Some Inputs
of the Function Block are inconsistent during.
Probably Communicator and its IID, which both have
to be set or unset.
0x813b 33083 Parameter Transition Mode is invalid
0x813c 33084 Parameter BufferMode is invalid
0x813d 33085 FunctionBlock Only one active Instance of Function Block per
Group is allowed.
0x813e 33086 State Command is not allowed in current group state.
0x813f 33087 FunctionBlock Slave cannot synchronize.The slave cannot reach
the SlaveSyncPosition by the time the master has
reached the MasterSyncPos.
0x8140 33088 Parameter Invalid value for one or more of the dynamic
parameters (A, D, J).
0x8141 33089 Parameter IdentInGroup is invalid.
0x8142 33090 Parameter The number of axes in the group is incompatible
with the axes convention.
0x8143 33091 Communicatio Function Block or respective Command is not
n supported by Target.
0x8145 33093 FunctionBlock Mapping of Cyclic Interface between Nc and Plc
missing (e.g. AXIS_REF, AXES_GROUP_REF, ...).
0x8146 33094 FunctionBlock Invalid Velocity ValueThe velocity was not set or the
entered value is invalid
0x8148 33096 FunctionBlock Invalid Input Value
0x8149 33097 Parameter Unsupported Dynamics for selected Group Kernel
0x814a 33098 Parameter The programmed position dimension
incompatible with the axes convention.
0x814b 33099 FunctionBlock Path buffer is invalid. E.g. because provided
buffer has invalid address or is not big enough
0x814c 33100 FunctionBlock Path does not contain any element
0x814d 33101 FunctionBlock Provided Path buffer is too small to store more
Path Elements
0x814e 33102 Parameter Dimension or at least one Value of Transition
Parameters is invalid
0x814f 33103 FunctionBlock Invalid or Incomplete Input Array
0x8150 33104 FunctionBlock Path length is zero
0x8151 33105 State Command is not allowed in current axis state.
0x8152 33106 State TwinCAT System is shutting down and cannot
complete request.
0x8160 33120 NC Circle Specification in Path is invalid.The
Programming specification of a circle segment in the programmed
interpolated path (e.g. via MC_MovePath) has an
invalid or ambiguous descripition. Probably its center
cannot be determined reliably.
0x8161 33121 NC Maximum stream lines reached.The maximum
Programming number of stream lines is limited. Please refer to
function block documentation for details.
0x8163 33123 FunctionBlock Invalid First Segment.The corresponding element
can only be analyzed with a well-defined start point.

376 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Error(Hex) Error(Dec) ErrorType Description

0x8164 33124 FunctionBlock Invalid auxiliary point.The auxiliary point is not well-
defined.
0x8166 33126 FunctionBlock Invalid parameter for GapControlModeInvalid
parameter for GapControlMode, most likely in
combination with the group parameter
GapControlDirection
0x8167 33127 External Group got unsupported Axis Event (e.g. State
Change)Group got unsupported Axis Event (e.g.
State Change e.g. triggered by a Single Axis Reset)
0x8f76 - 36726 - Internal Unexpected Internal Error
0x8ff9 36857
0x8ffb - 36859 - Internal Unexpected Internal Error
0x8ffe 36862

7.8 Specification "Index group" for NC ( ID [0x01...0xFF] )

Note: This documentation contains all TC3 specific modifications and new features.

TF5100 TwinCAT 3 NC I Version: 1.2 377

Appendix

Index-Group Description Remarks

( Hex )
0x1000 Ring-0-Manager: Parameter [} 380] Optional !
0x1100 Ring-0-Manager: State [} 381] Optional !
0x1200 Ring-0-Manager: Functions [} 381] Optional !
0x1300 Ring-0-Manager: Cyclic process data Not implemented !

0x2000 + ID Channel with corresponding ID: parameters [} 382]

0x2100 + ID Channel with corresponding ID: state [} 385]
0x2200 + ID Channel with corresponding ID: functions [} 387]
0x2300 + ID Channel with corresponding ID: cyclic process data [} 390]

0x3000 + ID Group with corresponding ID: parameters [} 391] Optional !

0x3100 + ID Group with corresponding ID: state [} 396] Optional !
0x3200 + ID Group with corresponding ID: functions [} 401] Optional !
0x3300 + ID Group with corresponding ID: cyclic process data Not implemented !

0x4000 + ID Axis with corresponding ID: parameters [} 407]

0x4100 + ID Axis with corresponding ID: state [} 419]
0x4200 + ID Axis with corresponding ID: functions [} 428]
0x4300 + ID Axis with corresponding ID: cyclic process data [} 447]

0x5000 + ID Encoder with corresponding ID: parameters [} 452] Optional !

0x5100 + ID Encoder with corresponding ID: state [} 456] Optional !
0x5200 + ID Encoder with corresponding ID: functions [} 460] Optional !
0x5300 + ID Encoder with corresponding ID: cyclic process data [} 463] Optional !

0x6000 + ID Controller with corresponding ID: Parameter [} 467] Optional !

0x6100 + ID Controller with corresponding ID: State [} 471] Optional !
0x6200 + ID Controller with corresponding ID: Functions [} 474] Optional !
0x6300 + ID Controller with corresponding ID: cyclic process data Not implemented !

0x7000 + ID Drive with corr. ID: parameters [} 475] Optional !

0x7100 + ID Drive with corr. ID: state [} 478] Optional !
0x7200 + ID Drive with corr. ID: functions [} 478] Optional !
0x7300 + ID Drive with corr. ID: cyclic process data [} 479] Optional !

0x0A000 + ID Tables (n x m) with corresponding ID: parameters [} 482] Maximum number of

0x0A000+ID for table ID [1..255] tables extended to 4095
0x1A000+ID for table ID [256..4095] (from TC3.1 B4021)
...
0xFA000+ID for table ID [3840..4095]
0x0A100 + ID Tables (n x m) with corresponding ID: state [} 486]
0x0000A100+IDLowByte for table ID [1..255]
0x0001A100+IdLowByte for table ID [256..4095] …
0x000FA100+IdLowByte for table ID [3840..4095]
0x000nA100+IdLowByte for table ID [1..4095]
(TabID = n * 256 + IdLowByte)

378 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index-Group Description Remarks

( Hex )
0x0A200 + ID Tables (n x m) with corresponding ID: functions [} 487]
0x0000A100+IDLowByte for table ID [1..255]
0x0001A100+IdLowByte for table ID [256..4095] …
0x000FA100+IdLowByte for table ID [3840..4095]
0x000nA100+IdLowByte for table ID [1..4095]
(TabID = n * 256 + IdLowByte)
0x0A300 + ID Tables (n x m) with corresponding ID: cyclic process data Not implemented !
0x0000A100+IDLowByte for table ID [1..255]
0x0001A100+IdLowByte for table ID [256..4095] …
0x000FA100+IdLowByte for table ID [3840..4095]
0x000nA100+IdLowByte for table ID [1..4095]
(TabID = n * 256 + IdLowByte)

0xF000 ... reserved area (TwinCAT system area)

0xFFFF
IndexGroup: IndexOffset:
0xF081 0x00000000 ... ADSIGRP_SUMUP_WRITE
0xFFFFFFFF The Read-Write-command contains a list in
(n elements) the Write-data of multiple separate ADS-
Write-commands (like a group request).
Structure of the Write-Data:
[ IdxGrp(1), IdxOff(1), WriteLen(1), ...,
IdxGrp(n), IdxOff(n), WriteLen(n),
WriteData(1), ..., WriteData(n) ]
Structure of the Read-Data:
[ Error(1), ..., Error(n) ]
0xF082 0x00000000 ... ADSIGRP_SUMUP_READWRITE
0xFFFFFFFF The Read-Write-command contains a list in
(n elements) the Write-data of multiple separate ADS-
Read-Write-commands (like a group request).
Structure of the Write-Data:
[ IdxGrp(1), IdxOff(1),ReadLen(1),
WriteLen(1), ..., IdxGrp(n), IdxGrp(n),
ReadLen(n), WriteLen(n),
WriteData(1), ..., WriteData(n) ]
Structure of the Read-Data:
[ Error(1), ReadLen(1), ..., Error(n),
ReadLen(n),
ReadData(1), ..., ReadData(n) ]
0xF084 0x00000000 ... ADSIGRP_SUMUP_READ (READEX2)
0xFFFFFFFF The Read-Write-command contains a list in
(n elements) the Write-data of multiple separate ADS-
Read-commands (like a group request).
Structure of the Write-Data:
[ IdxGrp(1), IdxOff(1), ReadLen(1), ...,
IdxGrp(n), IdxGrp(n), ReadLen(n) ]
Structure of the Read-Data:
[ Error(1), ReadLen(1), ..., Error(n),
ReadLen(n),
ReadData(1), ..., ReadData(n) ]

TF5100 TwinCAT 3 NC I Version: 1.2 379

Appendix

7.8.1 Specification Ring-0-Manager

7.8.1.1 "Index offset" specification for Ring-0 parameter (Index group 0x1000)
Index offset Access Ring 0 Man- Data type Phys. Definition Description Remarks
( Hex ) ager unit range
0x00000010 Read every UINT32 100 ns cycle time SAF task
0x00000012 Read every UINT32 100 ns cycle time SVB task
0x00000014 Read every INT32 ns Global Time Compensa-
tion Shift (for SAF Task)

0x00000020 Read/Write every UINT16 1 0/1 cyclic data consistence

check and correction of
the NC setpoint values

380 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

7.8.1.2 "Index offset" specification for Ring-0 state (Index group 0x1100)
Index offset Access Ring 0 Man- Data type Phys. Definition Description Remarks
( Hex ) ager unit range
0x00000001 Read every UINT32 1 0, 1...255 quantitiy of Channel
0x00000002 Read every UINT32 1 0, 1...255 quantitiy of group
0x00000003 Read every UINT32 1 0, 1...255 quantitiy of Axis
0x00000004 Read every UINT32 1 0, 1...255 quantitiy of Encoder
0x00000005 Read every UINT32 1 0, 1...255 quantitiy of controller
0x00000006 Read every UINT32 1 0, 1...255 quantitiy of Drives
0x0000000A Read every UINT32 1 0, 1...255 quantitiy of table (n x m)

0x00000010 Read every UINT32 1 cycle time error counter reserved!

SAF task (not scopeable)
0x00000014 Read every UINT32 1 IO-cycle time error reserved!
counter SAF task (not
scopeable)

0x00000020 Read every UINT32 s computing time SAF task reserved!

(not scopeable)

0x00000031 Read every UINT32[n] 1 0, 1...255 supplies the Channel -

IDs for all Channel in the
system
0x00000032 Read every UINT32[n] 1 0, 1...255 supplies the group-IDs
for all group in the sys-
tem
0x00000033 Read every UINT32[n] 1 0, 1...255 supplies the axis IDs for
all Axis in the system
0x00000034 Read every UINT32[n] 1 0, 1...255 supplies the Encoder-IDs
for all Encoder in the sys-
tem
0x00000035 Read every UINT32[n] 1 0, 1...255 supplies the controller -
IDs for all controller in the
system
0x00000036 Read every UINT32[n] 1 0, 1...255 supplies the Drive-IDs for
all Drives in the system
0x0000003A Read every UINT32[n] 1 0, 1...255 supplies the table -IDs for
all table in the system

0x000001nn Read every UINT32 1 0, 1...255 supplies for the Encoder- reserved!
ID the appropriate axis
IDnn = Encoder-ID
0x000002nn Read every UINT32 1 0, 1...255 supplies for the Con- reserved!
troller-ID the appropriate
axis IDnn = Controller-ID
0x000003nn Read every UINT32 1 0, 1...255 supplies for the Drive-ID reserved!
the appropriate axis IDnn
= Drive-ID

7.8.1.3 "Index offset" specification for Ring-0 functions (Index group 0x1200)
Index offset Access Ring 0 Man- Data type Phys. Definition Description Remarks
( Hex ) ager unit range
0x00000020 Write every VOID 1 Clear cycle time error reserved!
counter SAF & SVB

TF5100 TwinCAT 3 NC I Version: 1.2 381

Appendix

7.8.2 Specification Channels

7.8.2.1 "Index offset" specification for Channel parameter (Index group 0x2000 +
ID)

382 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index-Offset Access Channel type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00000001 Read every UINT32 1 Channel ID
0x00000002 Read every UINT8[30+1] 1 Channel name
0x00000003 Read every UINT32 1 ENUM Channel type [} 487]
0x00000004 Read every UINT32 1 ENUM Interpreter type
[} 487]
0x00000005 Read every UINT32 1 program load buffer
size in bytes
0x00000006 Read every UINT32 1 program no. according
to job list
0x00000007 Read every UINT32 1 ENUM set load log mode
/ Write [} 488]
0x00000008 Read every UINT32 1 ENUM set trace mode [} 488]
/ Write
0x00000009 Read every UINT32 1 RESERVED
/ Write
0x0000000A Read every UINT32 1 0/1 Records all feeder en-
tries in a log file
/ Write
named "TcNci.log"
0x0000000B Read every UINT32 1 0/1 channel specific level
for NC logger mes-
/ Write
sages
0: errors only
1: all NC messages

0x00000010 ReadWrite every Write

{
UINT32 1 0..159 Start index of M-func-
tion
UINT32 1 1..160 number of M-functions
to be read
}
Read [n]
{
UINT8 1 0..159 Rule bit mask of the
M-function
INT32[10] 1 -1..159 Number of M-functions
to be cleared
}
0x00000011 Write Interpolation Write M-function de- Only used inter-
scription nally!
0x00000012 Read Interpolation LREAL64 1 factor for G70
/ Write
0x00000013 Read Interpolation LREAL64 1 Factor for G71
/ Write
0x00000014 Write Interpolation { axes user symbols not yet released
char[32] user symbol (null-ter-
minated)
char[10] system symbol (null-
terminated)
}
0x00000015 Read Interpolation UINT16 resp. 1 0/1 default: Activation of default G- NEW from
UINT32 FALSE code TC3.1 B4014
/ Write

0x00000021 Read every UINT32 1 group ID (only explicit

for 3D and FIFO chan-
nel)

0x00000031 Read Interpolation UINT16 1 Standard Output Port reserved func-

of the Interpreter tion,
/ Write
no standard!

TF5100 TwinCAT 3 NC I Version: 1.2 383

Appendix

Index-Offset Access Channel type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00000032 Read Interpolation UINT16 1 0/1 cartesian tool offset reserved func-
entry tion,
/ Write
no standard!
0x00000040 Read Interpolation { Target address of in- reserved func-
terpreter hooks tion,
/ Write
char[6] Ams Net ID no standard!
UINT16 Port
UINT32 Index Group
UINT32 Index Offset
}
0x00000050 Read Interpolation UINT32 1 ENUM Reaction if at the ra-
dius compensation a
/ Write
bottle neck is recog-
nized
0: Error and abort
1: Note & trouble
shooting
2: Only note, without
outline modulation
0x00000051 Read Interpolation UINT32 1 1..24 Look ahead for bottle-
neck detection
/ Write
0x00000052 Read Interpolation UINT32 1 0/1 Chamfer on/off reserved func-
tion,
/ Write
no standard!
0x00000053 Read Interpolation UINT32 1 Activation for reading
the currently effective
/ Write
interpolation rules,
zero shifts and rotation
0: off 1: on
0x00000054 Read Interpolation UINT32 1 0/1 Retrace on/off reserved func-
tion,
/ Write
no standard!
0x00000055 Read Interpolation UINT32[4] 1 Configuration of the
cyclic channel inter-
/ Write
face for UINT32; up to
4 index offsets can be
configured.
0x00000056 Read Interpolation UINT32[4] 1 Configuration of the
cyclic channel inter-
/ Write
face for LREAL; up to
4 index offsets can be
configured.

0x00010K0L Read every REAL64 e.g. mm ±MAX REAL64 value for zero shift
(NPV)
/ Write
[1..3] Axis index
K=1 → X
K=2 → Y
K=3 → Z
[1..0xA] L=1 → G54F
L=2 → G54G
L=3 → G55F ...
0x0002ww00 Read every UINT16 Tool number: values
for tool compensation
/ Write
0x0003ww00 Read every UINT16 [1...50] Tool type: ww = tool
1...50
/ Write
0x0004wwnn Read every REAL64 [1...14] Parameter: nn = Index
1...14
/ Write
0x000500gg Read every REAL64 e.g. mm ≥ 0 (value) Radius of the toler-
[1...9] (g) ance sphere gg =
/ Write
channel group (de-
fault: 1)

384 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

7.8.2.2 "Index offset" specification for Channel state (Index group 0x2100 + ID)

TF5100 TwinCAT 3 NC I Version: 1.2 385

Appendix

Index-Offset Access Channel type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00000001 Read every INT32 1 ENUM error code Channel
[} 313]
0x00000002 Read every UINT32 1 number of groups in
the Channel
0x00000003 Read every UINT32 1 ENUM Interpreter status Cannot be
[} 488] traced by oscil-
loscope!
0x00000004 Read every UINT32 1 ENUM interpreter/channel
operation mode
[} 488]
0x00000005 Read every UINT32 1 currently loaded pro-
gram
0x00000007 Read every UINT8[...] 1 program name of cur- max. 100 char-
rently loaded program acters, null-ter-
(100 characters, null- minated
terminated)
0x00000008 Read Inter-preter UINT32 1 [0,1] Interpreter simulation Cannot be
mode traced by oscil-
0: off (default) loscope!
1: on
0x00000010 Read Inter-preter UINT32 1 text index Cannot be
If the interpreter is in traced by oscil-
the aborted state, the loscope!
current text index can
be read out here
0x00000011 ReadWrite Inter-preter Write Cannot be
UINT32 1 text index traced by oscil-
loscope!
Read
UINT8[..] 1 Line of the NC part
program from the text
index
0x00000012 Read Inter-preter {
UINT32 1 Current display for
1: SAF
2: Interpreter
3: Error offset
UINT32 1 Fileoffset
UINT8[260] 1 path + program name
}
0x00000013 Read Inter-preter UINT32[18] Display for currently
effective G-code
0x00000014 Read Inter-preter { Determines the cur-
rently effective zero
shift
UINT32 1 block counter
UINT32 dummy
LREAL[3] 1 zero shift G54..G57
LREAL[3] 1 zero shift G58
LREAL[3] 1 zero shift G59
}
0x00000015 Read Inter-preter { Determines the cur-
rently effective rotation
UINT32 1 block counter
UINT32 1 dummy
LREAL[3] 1 rotation of X, Y & Z in
degrees
}
0x00000016 Read Inter-preter UINT32 1 [0,1] Feeder Info Only used inter-
nally! Not stan-
dard
0x00000100 Read every UINT32 [n] 1 [0, 1...255] Returns the respective Cannot be
axis IDs in the channel traced by oscil-
number: [1...255] axis loscope!
ID's: [0, 1...255]

386 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

7.8.2.3 "Index offset" specification for Channel functions (Index group 0x2200 +
ID)

TF5100 TwinCAT 3 NC I Version: 1.2 387

Appendix

Index offset Access Channel type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x00000001 Write every UINT32 1 load NC-program with
program number
0x00000002 Write every VOID start Interpreter
0x00000003 Write every VOID RESERVED
0x00000004 Write every UINT8[...] load NC-program by
name. The standard NC
path does not also have
to be given although it
may. Other paths are
also permitted.
0x00000005 Write every UINT16 ENUM cf. appendix in- set the interpreter/chan-
terpreter opera- nel operation mode
tion mode
[} 488]
0x00000006 Write Interpreter UINT8[...] set path for subroutines
0x00000008 Write Interpreter UINT32 1 Interpreter simulation not yet released
mode:
0: off (default)
1: on
0x0000000F Write every VOID RESERVED

0x00000010 Write every VOID "Reset" Channel

0x00000011 Write every VOID "Stop" Channel
0x00000012 Write every VOID "Retry" Channel (restart
Channel )
0x00000013 Write every VOID "Skip" Channel (skip
task/block)
0x00000014/0 Write every { "Enable Retrace" /"Dis- reserved func-
x00000015 able Retrace" tion,
UINT32 1 >0 Feeder directiion:1: for- no standard!
ward, 2: backward
UINT32 1 ≥0 Entry index
REAL64[3] mm ±∞ Pos. of the main axes X,
Y, Z
REAL64[5] mm ±∞ Pos. of the auxiliary axes
Q1, ..., Q5
}

0x00000020 Write every VOID "Save" zero offset shift

(NPV)
0x00000021 Write every VOID "Load" zero offset shift
(NPV)
0x00000022 Write every VOID "Save" tool compensa-
tions
0x00000023 Write every VOID "Load" tool compensa-
tions
0x00000024 Write Inter- { Saves snapshot of the in-
polation terpreter in a given file
char[32] filename in TwinCAT
\CNC-folder
UINT32 1 0..1 Mask:
0x1: R-Parameters
0x2: Zeroshifts
0x4: Tool Desc
}
0x00000025 Write Inter- { Reads snapshot of a
polation given file to the inter-
preter
char[32] filename in TwinCAT
\CNC-folder
UINT32 1 0..1 Mask:
0x1: R-Parameters
0x2: Zeroshifts
0x4: Tool Desc
}

388 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index offset Access Channel type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x00000026 Write Inter- VOID set all tool parameters
polation (incl. type & number) to
null
0x00000027 Write Inter- VOID set all zero offset shifts to
polation null

0x00000030 Write every VOID restart (Go Ahead) of the

Interpreter after pro-
grammed Interpreter stop
0x00000040 Write every VOID Triggerevent for deletion
of any remaining travel in
the NCI
0x00000041 Write every RESERVED for fair
events

0x00000050 Write Inter- VOID 1 set ExecIdleInfoin the in- reserved func-
polation terpreter tion,
no standard!
0x00000051 Write Inter- UINT32 1 set block skip mask in the reserved func-
polation interpreter tion,
parameter: no standard!
SkippingMask
0x00000052 Write Inter- UINT32 1 set ItpOperationModein reserved func-
polation the interpreter tion,
parameter: no standard!
OperationMode mask
0x00000053 Write Inter- VOID set ScanningFlagin the reserved func-
polation NC device tion,
no standard!
0x00000054 Write Inter- scan position reserved func-
polation tion,
no standard!
double[8] position
0x00000055 Write Inter- reserved
polation
0x00000056 Write Inter- VOID set Interpreter in the reserved func-
polation Abortedstate tion,
no standard!
0x00000060 Write Interp- UINT16 1 0..159 manual reset of a fast M
polation Function

TF5100 TwinCAT 3 NC I Version: 1.2 389

Appendix

7.8.2.4 "Index offset" specification for cyclic Channel -process data (Index group
0x2300 + ID)
Index offset Access Channel type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x00000000 Read every {128 Byte} STRUCT s. CHANNEL STRUCTURE Current PLC
(PLC→NC) Channel -inter- (PLC→NC) Remark: Size structure:
face and alignment changed. NciChannel-
FromPlcPLCTO
NC_NCICHAN-
NEL_REF
0x00000001 Read every UINT8[...] 1 Interpreter program dis- Cannot be
min. 30 Byte play traced by oscil-
loscope!
0x00000002 Read / Write every UINT32 % [0...1000000] speed override Channel 1000000 =
(PLC→NC) (Axis in the Channel ) 100%
0x00000003 Read / Write every UINT32 % [0...1000000] speed override spindle 1000000 =
(PLC→NC) 100%

0x00000080 Read every (NC→- {160 Byte} STRUCT s. CHANNEL STRUCTURE Current PLC
PLC) Channel -inter- (NC→PLC) Remark: Size structure:
face and alignment changed. NciChannelTo-
PlcNCTO-
PLC_NCI-
CHAN-
NEL_REF

0x10000000 Read / Write every REAL64 1 [0...999] R parameter of the Inter- Cannot be
+RegIndex preter traced by oscil-
loscope!

0x20000001 Read every UINT8[...] 1 [1...9] program display of group Cannot be

min. 30 Byte attention handling (SAF) traced by oscil-
loscope!

390 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

7.8.3 Specification Groups

7.8.3.1 "Index offset" specification for group parameter (Index group 0x3000 +
ID)

TF5100 TwinCAT 3 NC I Version: 1.2 391

Appendix

Index-Offset Access Group type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00000001 Read every UINT32 1 group ID
0x00000002 Read every UINT8[30+1] 1 group name
0x00000003 Read every UINT32 1 ENUM group type [} 488]
0x00000004 Read every UINT32 µs SAF-cycle time group
0x00000005 Read every UINT32 µs SVB-cycle time group
0x00000006 Read / Write every UINT16 1 0/1 Single block operation
mode?
0x0000000B Read every UINT32 1 Size of the SVB table
(max. number of SVB
entries
0x0000000C Read every UINT32 1 Size of the SAF table
(max. number of SAF
entries

0x00000010 Read / Write every UINT32 1 [1,2...32] Internal SAF cycle e.g. for DXD
time divisor (divides group
Default: 1
the internal SAF cycle
time by this factor)

0x00000021 Read Channel: every UINT32 1 Channel ID

0x00000022 Read Channel: every UINT8[30+1] 1 Channel name
0x00000023 Read Channel: every UINT32 1 ENUM Channel type [} 487]
0x00000024 Read Channel: every UINT32 1 >0 Number in the Chan-
nel

0x00000500 Read / Write DXD group INT32 ENUM [0, 1] Cornering velocity re-
duction method
[} 488]
0: Coulomb-Scattering
1: Cosinus law
2: VeloJump
0x00000501 Read / Write DXD group REAL64 1 [0.0...1.0] Velocity
reduction factor C0
transition (continuous,
but neither once nor
twice continuously dif-
ferentiable)
0x00000502 Read / Write DXD group REAL64 1 [0.0...1.0] Velocity
reduction factor C1
transition (continuous
and continuously dif-
ferentiable once)
0x00000503 Read / Write DXD group REAL64 degree [0.0...180.0] Critical angle at seg-
ment transition
"Low" (must be strictly
less than or equal to
the velocity
reduction angle C0)
0x00000504 Read / Write DXD group REAL64 degree [0.0...180.0] Critical angle at seg-
ment transition
"High" (must be strictly
less than or equal to
the velocity
reduction angle C0)
0x00000505 Read / Write DXD group REAL64 mm/s ≥0 Minimum velocity, Attention: Pa-
which must not be un- rameter is not
dershot at segment saved in the so-
transitions, despite lution and is not
possible velocity transferred as
NC boot param-
reduction.
eter!
0x00000506 Read / Write DXD group REAL64 e.g. mm [0.0...1000.0] Radius of the toler- not imple-
ance mented!
sphere for
blending

392 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index-Offset Access Group type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00000507 Read / Write DXD group REAL64 1 Velocity
reduction factor C2
transition
0x00000508 Read / Write DXD group UINT16 1 0/1 Enables calculation of NEW from
the total remaining TC3.1
path length B4020.40
0x00000509 Read / Write DXD group UINT16 1 0/1 General activation of
the software limit posi-
Default: 1
tion monitoring for the
main axes (X, Y, Z)
(see encoder parame-
ters)
0x0000050A Read / Write DXD group UINT32 1 0/1 NCI Overridetype
0: related to internal
reduced velocity (with-
out iteration)
1: related to original
external (pro-
grammed) velocity
2: Relative to the inter-
nally reduced velocity
(0 ... >100%)
0x0000050C Read DXD group UINT32 1 [128 ... 1024] User-defined maxi- NEW from
mum number of the TC3.1 B4014
Default: 128
NCI SAF tables en- boot parame-
tries ters

0x00000510 Read / Write DXD group REAL64 1 ≥0 For reduction method not imple-
VeloJumpReduction- mented!
factor for C0 transi-
tions: X axis
0x00000511 Read / Write DXD group REAL64 1 ≥0 For reduction method not imple-
VeloJumpReduction- mented!
factor for C0 transi-
tions: Y axis
0x00000512 Read / Write DXD group REAL64 1 ≥0 For reduction method not imple-
VeloJumpReduction- mented!
factor for C0 transi-
tions: Z axis
0x00000513 Read / Write DXD group LREAL64 1 ]0.0..1.0[ Blending for auxiliary not yet released
axes: If the effective
path velo is smaller
than the programmed
one multiplied with this
factor, then an accu-
rate stop is inserted
and the tolerance ball
is deleted
0x00000514 Read / Write DXD group UINT32 1 [1 … 20] Maximum number of NEW from
transferred jobs per nc TC3.1
Default: 1
cycle (from SVB to B4020.40
SAF)

0x00000604 Read / Write Encoder group REAL64 e.g. mm/ [0.0...1000.0] Velocity window resp. Base Unit / s
s standstill window
0x00000605 Read / Write Encoder group REAL64 s [0.0...60.0] Filter time for standstill
window in seconds
0x00000606 Read / Write Encoder group REAL64 s [0.0...60.0] Dead time compensa-
tion master/slave
Coupling ("angle pre-
control")

0x00000701 Read FIFO group UINT32 1 [1...16] FIFO dimension (m = (n x m) FIFO

number of axes) Note: boot data
The FIFO dimension
was increased to 16.
0x00000702 Read FIFO group UINT32 1 [1...10000] FIFO size (length) (n = (n x m) FIFO
number of FIFO en- boot data
tries)

TF5100 TwinCAT 3 NC I Version: 1.2 393

Appendix

Index-Offset Access Group type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00000703 Read FIFO group UINT32 1 [0, 1, 4] Interpolation type for NEW from
FIFO setpoint genera- TC3.1 B4020
tor
0: INTERPOLATION-
TYPE_LINEAR (de-
fault)
1: INTERPOLATION-
TYPE_4POINT
4: INTERPOLATION-
TYPE_CUBICSPLINE
(with 6 points)
0x00000704 Read / Write FIFO group UINT32 1 [1, 2] Override type for FIFO
setpoint generator
Type 1: OVERRIDE-
TYPE_INSTANTA-
NEOUS (default)
Type 2: OVERRIDE-
TYPE_PT2
0x00000705 Read / Write FIFO group REAL64 s > 0.0 P-T2-time for override
change (T1=T2=T0)
0x00000706 Read / Write FIFO group REAL64 s ≥ 0.0 Time delta for two se-
quenced FIFO entries
(FIFO entry timebase)

0x00000801 ReadWrite Kinematic Write Calculation of the

group kinematic forward
transformation for the
positions
(ACS -> MCS)
{
REAL64[8] e.g. de- ±∞ ACS (Axis Coordinate
gree System) axis posi-
tions, max. dimension:
8
UINT32 1 ≥0 Reserve
UINT32 1 ≥0 Reserve
}
Read
{
REAL64[8] e.g. mm ±∞ MCS (Machine Coor-
dinate System) axis
positions, max. dimen-
sion: 8
UINT32 1 ≥0 Reserve
UINT32 1 ≥0 Reserve
}

394 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index-Offset Access Group type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00000802 ReadWrite Kinematic Write Calculation of the
group kinematic inverse
transformation for the
positions
(MCS -> ACS)
{
REAL64[8] e.g. mm ±∞ MCS (Machine Coor-
dinate System) axis
positions, max. dimen-
sion: 8
UINT32 1 ≥0 Reserve
UINT32 1 ≥0 Reserve
}
Read
{
REAL64[8] e.g. de- ±∞ ACS (Axis Coordinate
gree System) axis posi-
tions, max. dimension:
8
UINT32 1 ≥0 Reserve
UINT32 1 ≥0 Reserve
}

TF5100 TwinCAT 3 NC I Version: 1.2 395

Appendix

7.8.3.2 "Index offset" specification for Group state (Index group 0x3100 + ID)

396 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index-Offset Access Group type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00000001 Read every INT32 1 ENUM error code group
[} 321]
0x00000002 Read every UINT32 1 number of master
axes
0x00000003 Read every UINT32 1 number of slave axes
0x00000004 Read every UINT32 1 s. ENUM SVB group state
(state)
0x00000005 Read every UINT32 1 s. ENUM SAF group state (main
state)
0x00000006 Read every UINT32 1 s. ENUM moving state (state)
0x00000007 Read every UINT32 1 s. ENUM SAF sub-group state
(sub state)
0x00000008 Read every UINT32 1 s. ENUM Referencing state
(state)
0x00000009 Read every UINT32 1 s. ENUM Coupling state (state) Cannot be
traced by oscil-
loscope!
0x0000000A Read every UINT32 1 ≥0 Coupling table index Cannot be
traced by oscil-
loscope!
0x0000000B Read every UINT32 1 ≥0 current number of Symbolic ac-
SVB entries/tasks cess: 'SvbEn-
tries' (DXD)
0x0000000C Read every UINT32 1 ≥0 current number of SAF Symbolic ac-
entries/tasks cess: 'SafEn-
tries' (DXD)
0x0000000D Read every UINT32 1 Current block number Symbolic ac-
(only active for inter- cess:'block
polation group) number' (DXD)
0x0000000E Read every UINT32 1 ≥0 current number of free Cannot be
SVB entries/tasks traced by oscil-
loscope!
0x0000000F Read every UINT32 1 ≥0 current number of free Cannot be
SAF entries/tasks traced by oscil-
loscope!
0x00000011 Read every UINT16 1 0/1 Emergency Stop (E- Cannot be
Stop) active? traced by oscil-
loscope!

TF5100 TwinCAT 3 NC I Version: 1.2 397

Appendix

Index-Offset Access Group type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00000110 Read PTP group { Internal NC informa- reserved!
tion (resolutions)
REAL64 e.g. mm ± ∞ ExternalEndPosition
REAL64 e.g. mm/ >0 ExternalTargetVelocity
s
REAL64 e.g. mm/ >0 ExternalAcceleration
s^2
REAL64 e.g. mm/ >0 ExternalDeceleration
s^2
REAL64 e.g. mm/ >0 ExternalJerk
s^3
UINT32 1 >0 ExternalOverrideType
REAL64 e.g. mm ± ∞ InternalEndPosition
REAL64 e.g. mm/ >0 InternalTargetVelocity
s (refers to 100 %)
REAL64 % [0 ... 100] InternalActualOverride
REAL64 e.g. mm/ >0 InternalAcceleration
s^2
REAL64 e.g. mm/ >0 InternalDeceleration
s^2
REAL64 e.g. mm/ >0 InternalJerk
s^3
REAL64 e.g. mm >0 PositionResolution
REAL64 e.g. mm/ ≥0 VelocityResolution
s
REAL64 e.g. mm/ ≥0 AccelerationResolu-
s^2 tion
REAL64 e.g. mm/ ≥0 VelocityResolutionAt-
s AccelerationZero
}

0x00000500 Read DXD group REAL64 e.g. mm ≥ 0 Path rest way (remain- Symbolic ac-
ing arc length) on the cess: 'Set-
current path segment PathRem-
Length'
0x00000501 Read DXD group REAL64 e.g. mm ≥ 0 racked out arc length Symbolic ac-
on the current path cess: 'SetPath-
segment Length'
0x00000502 Read DXD group REAL64 e.g. mm/ ≥ 0 current path set veloc- Symbolic ac-
s ity cess: 'Set-
PathVelo'
0x00000503 Read DXD group REAL64 e.g. mm/ ± ∞ current path set accel- Symbolic ac-
s^2 eration cess: 'Set-
PathAcc'
0x00000504 Read DXD group REAL64 e.g. mm/ ≥ 0 amount of the current Symbolic ac-
s^2 vectorial set accelera- cess: 'Set-
tion PathAbsAcc'
0x00000505 Read DXD group REAL64 e.g. mm/ ≥ 0 maximum segment Symbolic ac-
s end path set velocity cess: 'Set-
PathVeloEnd'
0x00000506 Read DXD group REAL64 e.g. mm/ ≥ 0 Segment maximum Symbolic ac-
s path set velocity cess: 'Set-
PathVeloMax'
0x00000507 Read DXD group REAL64 e.g. mm ≥ 0 current relative brak- Symbolic ac-
ing distance based on cess: 'SetPath-
the current arc length StopDist'
0x00000508 Read DXD group REAL64 e.g. mm ± ∞ Safety distance = seg- Symbolic ac-
ment arc length - cur- cess:'SetPath-
rent arc length - rela- SecurityDist'
tive braking distance
0x00000509 Read DXD group REAL64 1 0/1 Segment transition Symbolic ac-
cess:'SetPath-
Seg-
mentChange'

398 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index-Offset Access Group type Data type Phys. Definition Description Remarks
(Hex) unit range
0x0000050A Read DXD group REAL64 % [0 ... 100] path velocity override Symbolic ac-
cess:'Set-
PathOverride'

0x00000511 Read DXD group REAL64 e.g. mm/ ≥ 0 amount of the path ac- Symbolic ac-
s tual velocity cess: 'Act-
PathAbsVelo'
0x00000512 Read DXD group REAL64 e.g. mm/ ± ∞ path actual accelera- Symbolic ac-
s^2 tion on the current cess: 'Act-
segment PathAcc'
0x00000513 Read DXD group REAL64 e.g. mm/ ≥ 0 amount of the path ac- Symbolic ac-
s^2 tual acceleration on cess:'Act-
the current segment PathAbsAcc'
0x00000514 Read DXD group REAL64 e.g. mm ± ∞ Position error on the Symbolic ac-
path in tangential di- cess:'PathDiff-
rection (signed to indi- Tangential'
cate leading and lag-
ging)
0x00000515 Read DXD group REAL64 e.g. mm ≥ 0 Position error on the Symbolic ac-
path in orthogonal di- cess:'PathDif-
rection fOrthogonal'
0x00000520 Read DXD-group REAL64 1 ≥0 Covered arc length of
the current segment,
normalized to 1.0
0x00000521 Read DXD-group REAL64 1 0/1 Change of partial seg-
ment (radius of toler-
ance ball)
0x00000522 Read DXD group REAL64 1 ≥0 Total remaining path
length to the last ge-
ometry entry or the
next accurate stop.
Refers to group pa-
rameter 0x508.
0x00000523 Read DXD group REAL64 1 ≥0 programmed velocity
of the current segment
0x00000530 Read DXD group { Current or last target
position of the main
axes X, Y and Z
REAL64 e.g. mm ± ∞ Target position X-axis
REAL64 e.g. mm ± ∞ Target position Y-axis
REAL64 e.g. mm ± ∞ Target position Z-axis
}
0x00000531 Read DXD group { Current or last target
position of the auxil-
iary axes Q1 to Q5
REAL64[5] e.g. mm ± ∞ Target position of axis
Q1 to Q5
}
0x00000532 Read DXD group { Reads path length, H not generally
parameter and Entry released
ID of the next 11 seg-
ments in relation to the
current DC time
UINT32 DC Time
UINT32 reserved
PreViewTab[11] 11*24 Bytes
}

PreViewTab
{
REAL64 e.g. mm Segment length
UINT32 1 block number
UINT32 1 H-Parmeter
UINT32 1 Entry ID
UINT32 1 reserved
}

TF5100 TwinCAT 3 NC I Version: 1.2 399

Appendix

Index-Offset Access Group type Data type Phys. Definition Description Remarks
(Hex) unit range
0x0000054n Read DXD group REAL64 1 0/1 within the tolerance
ball of the auxiliary
axis
n = 1..5
number of the auxiliary
axis (not axis ID)

0x00000550 Read DXD group { Reading axis IDs in-

side the 3D-group:
UINT32 1 [0, 1...255] X axis ID
UINT32 1 [0, 1...255] Y axis ID
UINT32 1 [0, 1...255] Z axis ID
}
0x00000552 Read DXD group { UINT32[m] 1 [0, 1...255] axis allocation of the
FIFO group } group: First axis ID. ...,
Kinematic m.-axis-IDm: dimen-
group sion of the 3D group
with main and auxiliary
axes (X, Y, Z, Q1, Q2,
Q3, Q4, Q5) or the
FIFO group or the
ACS axes of the kine-
matic group
0x00000553 Read Kinematic { Reading the axis allo-
group cation (ID's) inside the
kinematic group:
UINT32[8] 1 [0, 1...255] MCS-axis ID's (Ma-
chine Coordinate Sys-
tem)
UINT32[8] 1 [0, 1...255] ACS-axis ID's (Axis
Coordinate System)
UINT32 1 ≥0 Reserve
UINT32 1 ≥0 Reserve (NEW)
}

0x0000056n Read DXD group REAL64 1 ±∞ current position error

of the auxiliary axis
within the tolerance
ball (set value side
only)
Only for auxiliary axes
n = 1..5
number of the auxiliary
axis (not axis ID)

400 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

7.8.3.3 "Index offset" specification for Group functions (Index group 0x3200 + ID)

TF5100 TwinCAT 3 NC I Version: 1.2 401

Appendix

Index-Offset Access Group type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00000001 Write every VOID Reset group
0x00000002 Write every VOID Stop group
0x00000003 Write every VOID Clear group (buffer/
task)
0x00000004 Write PTP group, 3D { Emergency stop (E-
group stop) (emergency stop
with controlled ramp)
REAL64 e.g. mm/ ≥ 0.0 Deceleration (must be
s^2 greater than or equal
to the original deceler-
ation)
REAL64 e.g. mm/ ≥ 0.0 Jerk (must greater
s^3 than or equal to the
original jerk)
}
0x00000005 Write PTP group { Parameterizable stop Reserved func-
(with controlled ramp) tion,
REAL64 e.g. mm/ ≥ 0.0 deceleration no standard!
s^2
REAL64 e.g. mm/ ≥ 0.0 Jerk
s^3
}
0x00000006 Write PTP group, 3D VOID "Step on" after Emer-
group gency Stop (E-Stop)

0x00000050 Write PTP group, 3D { axis allocation of the

group group:
UINT32 1 [0, 1...255] X axis ID
UINT32 1 [0, 1...255] Y axis ID
UINT32 1 [0, 1...255] Z axis ID
}
0x00000051 Write PTP group, 3D { axis allocation of the
group group:
FIFO group UINT32 1 [1...255] Axis ID
UINT32 1 [0 ... (m-1)] Place index of the axis
in the group m: group
dimension (PTP:
1;DXD: 3, FIFO: 16)
}
0x00000052 Write 3D group FIFO { UINT32[m] 1 [0, 1...255] axis allocation of the
group } group: First axis ID. ...,
m.-axis-IDm: dimen-
sion of the 3D group
(X, Y, Z, Q1, Q2, Q3,
Q4, Q5) resp. FIFO
group
0x00000053 Write 3D group VOID Delete the 3D axis al-
FIFO group location, FIFO axis al-
Kinematic location or Kinematic
group axis allocation and re-
turn of the axes to
their own PTP groups
0x00000054 Write Kinematic { axis allocation of the
group kinematic group:
UINT32[8] 1 [0, 1...255] MCS-axis ID's (Ma-
chine Coordinate Sys-
tem)
UINT32[8] 1 [0, 1...255] ACS-axis ID's (Axis
Coordinate System)
UINT32 1 ≥0 Reserved
UINT32 1 ≥0 Reserved (NEW)
}

0x00000060 ReadWrite 3D group 1 internal "feed group" Execute com-

command ("Feeder") mand!

402 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index-Offset Access Group type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00000061 ReadWrite 3D group 1 internal "feed group" Execute com-
command ("Feeder") mand!

0x00000110 Write 1D group VOID Reference 1D group

("calibration")
0x00000111 Write 1D group { New end position 1D
group
UINT32 ENUM s. appendix End position type
[} 490] (s. appendix)
REAL64 e.g. mm ±∞ new end position (tar-
get position)
}
0x0000011A Write 1D group { set actual position 1D caution by us-
group ing! Always to
UINT32 ENUM s. appendix SAF Port 501!
Actual position type
[} 490] (s. appendix)
REAL64 e.g. mm ±∞ actual position for axis
}
0x0000011B Write 1D group UINT32 1 0/1 Set reference flag caution by us-
("calibrate flag") ing!

0x00000120 Write 1D group { start 1D group (stan-

dard start):
UINT32 ENUM s. appendix Start type [} 489] (s.
appendix)
REAL64 e.g. mm ±∞ End position (target
position)
REAL64 mm/s ≥ 0.0 required velocity
}
0x00000121 Write 1D group { start 1D group (ex-
(SERVO) tended start):
UINT32 ENUM s. appendix Start type [} 489] (s.
appendix)
REAL64 e.g.mm ±∞ End position (target
position)
REAL64 mm/s ≥0.0 required velocity
UINT32 1 0/1 Standard accelera-
tion?
REAL64 mm/s^2 ≥ 0.0 Acceleration
UINT32 1 0/1 Standard decelera-
tion?
REAL64 mm/s^2 ≥ 0.0 deceleration
UINT32 1 0/1 Standard jerk?
REAL64 mm/s^3 ≥ 0.0 Jerk
}

TF5100 TwinCAT 3 NC I Version: 1.2 403

Appendix

Index-Offset Access Group type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00000122 Write 1D group (MW { Start 1D group (spe- Reserved start
servo) cial start): function, no
UINT32 ENUM s. appendix standard!
Start type [} 489] (s.
appendix)
REAL64 e.g. mm ±∞ End position (target
position)
REAL64 mm/s ≥0.0 required start velocity
REAL64 e.g. mm ±∞ Position for a new ve-
locity level
REAL64 mm/s ≥0.0 new end velocity level
UINT32 1 0/1 Standard accelera-
tion?
REAL64 mm/s^2 ≥0.0 Acceleration
UINT32 1 0/1 Standard decelera-
tion?
REAL64 mm/s^2 ≥0.0 deceleration
UINT32 1 0/1 Standard jerk?
REAL64 mm/s^3 ≥0.0 Jerk
}
0x00000126 Write 1D group { Start drive output:
UINT32 ENUM s. appendix Output type [} 496] (s.
appendix)
REAL64 e.g. % ±∞ required output value
(e.g. %)
}
0x00000127 Write 1D group VOID Stop drive output
0x00000128 Write 1D group { Change the drive out-
put:
UINT32 ENUM s. appendix Output type [} 496] (s.
appendix)
REAL64 e.g. % ±∞ required output value
(e.g. %)
}

0x00000130 Write 1D group { 1D section compensa-

(SERVO) tion (SERVO):
UINT32 ENUM s. appendix Compensation type
[} 490] (s. appendix)
REAL64 mm/s/s ≥ 0.0 Max. acceleration in-
crease
REAL64 mm/s/s ≥ 0.0 Max. deceleration in-
crease
REAL64 mm/s ≥ 0.0 Max. increase velocity
REAL64 mm/s ≥ 0.0 Base velocity for the
process
REAL64 e.g. mm ±∞ Path difference to be
compensated
REAL64 e.g. mm ≥ 0.0 Path distance for com-
pensation
}
0x00000131 Write 1D group VOID Stop section compen-
SERVO sation (SERVO)

404 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index-Offset Access Group type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00000140 Write Master/Slave { Master/slave coupling Extension for
(0x00n00140) coupling: 1D (SERVO): "flying saw"!an-
group(SERVO) UINT32 ENUM s. appendix gle >0.0 and <=
Slave type/coupling
90.0 de-
type [} 491] (s. appen- grees(parallel
dix) saw: 90.0 de-
UINT32 1 [1...255] Axis ID of the master grees)
axis/group
UINT32 1 [0...8] Subindex n of the
master axis (default: -
value: 0)
UINT32 1 [0...8] Subindex n of the
slave axis (default: -
value: 0)
REAL64 1 [±1000000.0] Parameter 1: linear:
Gearing factor
FlySawVelo: Reserve
FlySaw: Abs. synchro-
nous position master
[mm]
REAL64 1 [±1000000.0] Parameter 2: linear:
Reserve
FlySawVelo: Reserve
FlySawPos: Abs. syn-
chronous position
slave [mm]
REAL64 1 [±1000000.0] Parameter 3: linear:
Reserve
FlySawVelo: Angle of
inclination in [DE-
GREE]
FlySawPos: angle of
inclination in [DE-
GREE]
REAL64 1 [±1000000.0] Parameter 4: linear:
Reserve
FlySawVelo: Gearing
factor
FlySawPos: Gearing
factor
}
0x00000141 Write Master/Slave VOID Master/slave decou-
decoupling: 1D pling (SERVO)
group(SERVO)
0x00000142 Write Master / slave { Change of the cou-
parameter 1D pling parameters
group(servo) (SERVO):
REAL64 1 [±1000000.0] Parameter 1: linear:
Gearing factor
REAL64 1 [±1000000.0] Parameter 2: Linear:
Reserve
REAL64 1 [±1000000.0] Parameter 3: Linear:
Reserve
REAL64 1 [±1000000.0] Parameter 4: Linear:
Reserve
}
0x00000144 Write Slave stop 1D VOID Stop the "flying Only for "flying
group (SERVO) saw" (SERVO) saw"
0x00000149 Write Slave tables 1D REAL64 1 ±∞ set the slave table Only for Solo
group (SERVO) scaling of a solo table table slave
coupling (SERVO)

0x00000150 Write 1D group VOID Deactivate complete

1D group/axis (dis-
able)
0x00000151 Write 1D group VOID Activate complete 1D
group / axis (enable)

TF5100 TwinCAT 3 NC I Version: 1.2 405

Appendix

Index-Offset Access Group type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00000160 Write 1D group VOID Deactivate drive out-
put of the 1D group
(disable)
0x00000161 Write 1D group VOID Activate drive output
of the 1D group (en-
able)

0x00000362 Write High/low speed UINT16 1 0/1 Release parking

group brake? 0: automatic
activation (default)
1: mandatorily always
released!

0x00000701 Write FIFO group VOID Start FIFO group (n*m)-FIFO

(FIFO table must have
been filled in advance)

0x00000710 Write FIFO group { REAL64[x*m]} e.g. mm ±∞ Write x FIFO entries Only possible
(lines): (x*m)-values on a line-by-line
(one or more lines)n: basis! (integer
FIFO length (number multiple)
of lines)m: FIFO di-
mension (number of
columns) range of val-
ues x: [1 ... n]
0x00000711 Write FIFO group { REAL64[x*m]} e.g. mm ±∞ Overwrite the last x Only possible
FIFO entries (lines): on a line-by-line
(x*m)-values (one or basis! (integer
more lines)n: FIFO multiple)
length (number of
lines)m: FIFO dimen-
sion (number of col-
umns) range of values
x: [1 ... n]

0x00000801 Write Kinematic VOID Start Kinematic group reserved func-

group tion, no stan-
dard!

406 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

7.8.4 Specification Axes

7.8.4.1 "Index offset" specification for Axis parameter (Index group 0x4000 + ID)

TF5100 TwinCAT 3 NC I Version: 1.2 407

Appendix

Index-Offset Access Axis type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00n00000 Read every { General AXIS PA- Modified from
(Structure for all RAMETER STRUC- TC3
axis parame- TURE (NC/CNC),
ters) also includes subele-
ments such as en-
coder, controller and
drive
(see MC_ReadParam-
eterSet in TcMc2.lib)
Note: Size and align-
ment changed.
UINT32 1 Axis ID
UINT8[30+1+1] e.g. mm Axis name
UINT32 1 Axis type [} 488]
... ... ... ...
} 1024 bytes (instead of
512 bytes)
0x00000001 Read every UINT32 1 Axis ID
0x00000002 Read every UINT8[30+1] 1 Axis name
0x00000003 Read every UINT32 ENUM Axis type [} 488]
0x00000004 Read every UINT32 µs cycle time axis (SAF)
0x00000005 Read every UINT8[10+1] 1 physical unit
0x00000006 Read / Write every REAL64 e.g. mm/ ref. velocity in cam di-
s rection
0x00000007 Read / Write every REAL64 e.g. mm/ ref. velocity in sync di-
s rection
0x00000008 Read / Write every REAL64 e.g. mm/ velocity hand slow
s
0x00000009 Read / Write every REAL64 e.g. mm/ velocity hand fast
s
0x0000000A Read / Write every REAL64 e.g. mm/ [0.0...1.0E20] velocity rapid traverse
s
0x0000000F Read / Write every UINT16 1 0/1 position range moni-
toring?
0x00000010 Read / Write every REAL64 e.g. mm [0.0...1.0E6] position range window
0x00000011 Read / Write every UINT16 1 0/1 motion monitoring?
0x00000012 Read / Write every REAL64 s [0.0...600] motion monitoring time
0x00000013 Read / Write every UINT16 1 0/1 loop?
0x00000014 Read / Write every REAL64 e.g. mm loop movement (±)
0x00000015 Read / Write every UINT16 1 0/1 target position moni-
toring?
0x00000016 Read / Write every REAL64 e.g. mm [0.0...1.0E6] target position window
0x00000017 Read / Write every REAL64 s [0.0...600] target position moni-
toring time
0x00000018 Read / Write every REAL64 e.g. mm pulse way in pos. di-
rection
0x00000019 Read / Write every REAL64 e.g. mm pulse way in neg. di-
rection
0x0000001A Read / Write every UINT32 ENUM Error reaction mode:
(≥0) 0: instantaneous (de-
fault)
1: delayed
(e.g. for master/slave
coupling)
0x0000001B Read / Write every REAL64 s [0...1000] Error reaction delay
(if error reaction mode
"delayed" is activated)
0x0000001C Read / Write every UINT16 1 0/1 Couple slaves via ac-
tual values if not oper-
ational?

408 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index-Offset Access Axis type Data type Phys. Definition Description Remarks
(Hex) unit range
0x0000001D Read / Write every REAL64 e.g. mm/ [0, Acceleration for fading
s^2 0.01...1.0E10] profile when switching
from SET to ACTUAL
values:
Default: 0 (in this case
the minimum from the
axis acceleration is
used, i.e. MIN(Acc,
Dec))
0x0000001E Read / Write every UINT32 ENUM Fast Axis Stop Signal
(≥0) Type:
Selection of the signal
type that triggers a
fast axis stop (see bit
7 in Drive->nStatus4)
"0 (SignalType_OFF)",
"1 (Signal-
Type_RisingEdge)","2
(Signal-
Type_FallingEdge)","3
(SignalType_Both-
Edges)","4 (Signal-
Type_HighActive)","5
(SignalType_LowAc-
tive)"
0x00000020 Read / Write every UINT16 1 0/1 Allow motion com-
mands for slave axis?
Default: FALSE
0x00000021 Read / Write every UINT16 1 0/1 Allow motion com-
mands for axes with
active external set-
point generator?
Default: FALSE

0x00000026 Read / Write every UINT32 1 Interpretation of the see encoder! bit
units (position, veloc- array
ity, time) bit 0: velocity
in x/min instead of x/s
Bit 1: position in thou-
sands of the base unit
Bit 2: modulo position
display
0x00000027 Read / Write every REAL64 e.g. mm/ [>0...1.0E20] max. allowed velocity
s
0x00000028 Read / Write every REAL64 e.g. mm [0.0...1.0E6] motion monitoring win-
dow
0x00000029 Read / Write every UINT16 1 0/1 PEH time monitoring? Posi. end and
accurate stop
0x0000002A Read / Write every REAL64 s [0.0...600] PEH monitoring time
0x0000002B Read / Write every UINT16 1 0/1 Backlash compensa-
tion?
0x0000002C Read / Write every REAL64 e.g. mm [-1000.0 Backlash
...1000.0]

0x00000030 Read every UINT16 1 [0,1] Persistent data e.g. for Boot parame-
actual position and ref- ters, cannot be
erence state of the en- changed online.
coder?
0x00000031 Read every { Am- 1 Reading of the hard-
UINT8[6] sAddr: ware AMS address
UINT16 Am- (AMS Net ID and AMS
UINT16 sNetId, port no.) and Ether-
} 10 bytes Am- CAT channel number
sPortNo. (communication chan-
Chan- nel 0,1,2,3…)
nelNo

TF5100 TwinCAT 3 NC I Version: 1.2 409

Appendix

Index-Offset Access Axis type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00000031 Read every { Am- 1 Reading of the hard- NEW from TC3
UINT8[6] sAddr: ware AMS address
SoftDriveObjec-
UINT16 Am- (AMS Net ID and de-
tId from NC
UINT16 sNetId, vice AMS port no.)
build 4226
// Am- and EtherCAT channel
UINT16 sPortNo. number (communica-
UINT32 Chan- tion channel 0,1,2,3…)
UINT32 nelNo
UINT32 Supplemented by ad-
UINT32 Re- ditional NC information
UINT32 served such as NcDriveID,
UINT32 Nc- NcDriveType (see ap-
UINT32 DriveID pendix) etc..
UINT32 Nc-
UINT32 DriveIn-
UINT32[4] dex
} 64 bytes NcDriv-
eType
NcEncID

NcEncIn-
dex
NcEnc-
Type
NcAx-
isID
NcAx-
isType
Soft-
DriveOb-
jectId
Re-
served
0x00000033 Read every { General APPLICA- Changed in
UINT16 Ap- 0/1 TION REQUEST TC3
plRequestBit ≥0 STRUCTURE (NC/
UINT16 Ap- 1 >0 NCI),
plRequestType ≥0 e.g. for Application-
UINT32 Ap- Homing request
plCmdNo 1 (s. MC_ReadApplica-
UINT32 Ap- tionRequest in
plCmdVersion Not im- TcMc2.lib)
... ple-
} 1024 bytes mented Application request
types:
1 0: NONE (IDLE)
1: HOMING

0x00000051 Read Channel: every UINT32 Channel ID

0x00000052 Read Channel: every UINT8[30+1] Channel name
0x00000053 Read Channel: every UINT32 Channel type [} 487]
0x00000054 Read Group: every UINT32 group ID
0x00000055 Read Group: every UINT8[30+1] group name
0x00000056 Read Group: every UINT32 group type [} 488]
0x00000057 Read every UINT32 Number of encoders
0x00000058 Read every UINT32 Number of controllers
0x00000059 Read every UINT32 Number of drives
0x0000005A Read every { read all sub-elements
of an axis:
UINT32[ 9 ] 1 [0, 1...255] axis encoder IDs
UINT32[ 9 ] 1 [0, 1...255] axis controller IDs
UINT32[ 9 ] 1 [0, 1...255] axis drive IDs
} 108 bytes

0x000000F1 Read / Write every REAL64 e.g. mm/ Default: 1.0E5 Maximum permitted NEW from TC
s^2 acceleration 3.2
0x000000F2 Read / Write every REAL64 e.g. mm/ Default: 1.0E6 Maximum permitted NEW from TC
s^2 deceleration 3.2

410 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index-Offset Access Axis type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00000101 Read / Write Servo REAL64 e.g. mm/ [0.01...1.0E20] Acceleration (default
s^2 data set)
0x00000102 Read / Write Servo REAL64 e.g. mm/ [0.01...1.0E20] Deceleration (default
s^2 data set)
0x00000103 Read / Write Servo REAL64 e.g. mm/ [0.1...1.0E30] Jerk (default data set)
s^3
0x00000104 Read / Write Servo REAL64 s [0.0 ... 1.0] damping time between
Default: 0.0 s velocity and position
values of the setpoint
generator in seconds
0x00000105 Read / Write Servo UINT32 ENUM Default: type 1 Override type [} 489]
for velocity:
1: related to internal
reduced velocity (with-
out iteration)
2: related to original
external start velocity
(without iteration)
3: related to internal
reduced velocity (opti-
mization by means of
iteration)
4: related to original
external start velocity
(optimization by
means of iteration)
0x00000106 Read / Write Servo REAL64 1 [0.0 ... 1.0E6] Maximum permitted
Default: 0.0 step change in velocity
for dynamic reduction
DV = factor *min(A+,
A-) * DT
0x00000107 Read / Write Servo UINT16 1 [0,1] activates acceleration
Default: 1 and jerk limitation for
the auxiliary axis (Q1
to Q5)
Read / Write Servo REAL64 e.g. mm [0.0..1000.0] Radius of the toler-
ance sphere for the
auxiliary axes
Read / Write Servo REAL64 e.g. mm [0.0..10000.0] maximum allowed po-
sition deviation if the
tolerance sphere is re-
duced
Only for auxiliary axes
0x0000010A Read / Write Servo REAL64 e.g. mm/ [0.01 ... 1.0E20] Fast Axis Stop: Accel-
s^2 eration
(s.a. Fast Axis Stop
Signal Type)
0x0000010B Read / Write Servo REAL64 e.g. mm/ [0.01 ... 1.0E20] Fast Axis Stop: decel-
s^2 eration
(s.a. Fast Axis Stop
Signal Type)
0x0000010C Read / Write Servo REAL64 e.g. mm/ [0.1 ... 1.0E30] Fast Axis Stop: Jerk
s^3 (s.a. Fast Axis Stop
Signal Type)

0x00000201 Read / Write Stepper motor UINT32 ENUM operation mode step-
per motor
0x00000202 Read / Write Stepper motor REAL64 e.g. mm/ [1.0E-6 ... distance scaling of a
STEP 1000.0] motor step
0x00000203 Read / Write Stepper motor REAL64 e.g. mm/ [0.0 ... 1000.0] minimum velocity for
s velocity profile
0x00000204 Read / Write Stepper motor UINT32 1 [0 ... 100] number of steps per
frequency/velocity
step
0x00000205 Read / Write Stepper motor UINT32 1 motor mask as sync Not imple-
pulse mented !

0x00000301 Read / Write high/low REAL64 e.g. mm [0.0 ... creep distance in pos.
100000.0] direction

TF5100 TwinCAT 3 NC I Version: 1.2 411

Appendix

Index-Offset Access Axis type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00000302 Read / Write high/low REAL64 e.g. mm [0.0 ... Creep distance in neg.
100000.0] direction
0x00000303 Read / Write high/low REAL64 e.g. mm [0.0 ... braking distance in
100000.0] pos. direction
0x00000304 Read / Write high/low REAL64 e.g. mm [0.0 ... Braking distance in
100000.0] neg. direction
0x00000305 Read / Write high/low REAL64 s [0.0 ... 60.0] braking deceleration in
pos. direction
0x00000306 Read / Write high/low REAL64 s [0.0 ... 60.0] Braking decel. in neg.
direction
0x00000307 Read / Write high/low REAL64 s [0.0 ... 60.0] Switching time from
high to low speed
0x00000308 Read / Write high/low REAL64 e.g. mm [0.0 ... creep distance stop
100000.0]
0x00000309 Read / Write high/low REAL64 s [0.0 ... 60.0] damping time to re-
lease brake
0x0000030A Read / Write high/low REAL64 s [0.0 ... 60.0] pulse time in pos. di-
rection
0x0000030B Read / Write high/low REAL64 s [0.0 ... 60.0] Pulse time in neg. di-
rection

ENCODER:
0x00n10001 Read Encoder: every UINT32 1 [1 ... 255] Encoder ID n = 0:
Standard encoder for
the axes > 0: n-th en-
coder for the axis (op-
tional)
0x00n10002 Read Encoder: every UINT8[30+1] 1 30 characters encoder name
0x00n10003 Read Encoder: every UINT32 1 s. ENUM (>0) encoder type [} 493]
0x00n10004 Read / Write Encoder: every UINT32 1 Byteoffset Input address offset change I/O ad-
(IO-Input-Image) dress
0x00n10005 Read / Write Encoder: every UINT32 1 Byteoffset Output address offset change I/O ad-
(IO-Output-Image) dress
0x00n10006 Read / Write Encoder: every REAL64 e.g. mm/ [1.0E-12 ... resulting scaling factor
INC 1.0E+30] (numerator / denomi-
nator)

Note: from TC3 the

scaling factor consists
of two components –
numerator and de-
nominator (default:
1.0).
0x00n10007 Read / Write Encoder: every REAL64 e.g. mm [±1.0E+9] Position offset
0x00n10008 Read / Write Encoder: every UINT16 1 [0,1] encoder count direc-
tion
0x00n10009 Read / Write Encoder: every REAL64 e.g. mm [0.001 ... 1.0E modulo factor
+9]
0x00n1000A Read / Write Encoder: every UINT32 1 s. ENUM (>0) encoder mode [} 494]
0x00n1000B Read / Write Encoder: every UINT16 1 0/1 soft end min. monitor-
ing?
0x00n1000C Read / Write Encoder: every UINT16 1 0/1 soft end max. monitor-
ing?
0x00n1000D Read / Write Encoder: every REAL64 mm soft end position min.
0x00n1000E Read / Write Encoder: every REAL64 mm soft end position max.
0x00n1000F Read / Write Encoder: every UINT32 1 s. ENUM (≥0) Encoder evaluation di-
in the appendix rection [} 494] (enable
log. counting direction)
0x00n10010 Read / Write Encoder: every REAL64 s [0.0...60.0] filter time for actual
position value in sec-
onds (P-T1)
0x00n10011 Read / Write Encoder: every REAL64 s [0.0...60.0] filter time for actual ve-
locity value in seconds
(P-T1)

412 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index-Offset Access Axis type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00n10012 Read / Write Encoder: every REAL64 s [0.0...60.0] filter time for actual ac-
celeration value in
seconds (P-T1)
0x00n10013 Read / Write Encoder: every UINT8[10+1] 1 physical unit Not imple-
mented !
0x00n10014 Read / Write Encoder: every UINT32 1 Interpretation of the Not imple-
units (position, veloc- mented !
ity, time) bit 0: velocity bit array
in x/min instead of x/
sBit 1: position in thou-
sands of the base unit
0x00n10015 Read Encoder: every UINT32 INC [0x0... Encoder mask (maxi- Read-only pa-
0xFFFFFFFF] mum value of the en- rameter
coder actual value in
increments) s. parameter
"Encoder Sub
Note: The encoder Mask"
mask may be any nu-
merical value (e.g.
3600000). Unlike in
the past, it no longer
has to correspond to a
continuous series off
binary one's (2n-1).
0x00n10016 Read / Write Encoder: every UINT16 1 0/1 Actual position correc-
tion (measurement
system error correc-
tion)?
0x00n10017 Read / Write Encoder: every REAL64 s [0.0...60.0] Filter time for actual
position correction in
seconds (P-T1)
0x00n10019 Read / Write Encoder: every UINT32 1 s. ENUM (≥0) Encoder absolute di-
in the appendix mensioning system
[} 494]
0x00n1001A Read Encoder: every UINT32 1 s. ENUM (≥0) Encoder position ini- Not imple-
tialization mented !
0x00n1001B Read / Write Encoder: every REAL64 e.g. mm [≥0, modulo tolerance window for
factor/2] modulo-start
0x00n1001C Read Encoder: every UINT32 1 s. ENUM (≥0) encoder sign interpre-
tation [} 494] (data
type)
0x00n1001D Read Encoder: every UINT16 1 0/1 Incremental or abso-
lute encoder?
0: incremental en-
coder type
1: absolute encoder
type
0x00n10023 Read / Write Encoder: every REAL64 e.g. mm/ [1.0E-12 ... component of the scal- NEW from TC3
INC 1.0E+30] ing factor: numerator
(=> scaling factor nu-
merator / scaling fac-
tor denominator)
0x00n10024 Read / Write Encoder: every REAL64 1 [1.0E-12 ... component of the scal- NEW from TC3
1.0E+30] ing factor: denomina-
tor
(=> scaling factor nu-
merator / scaling fac-
tor denominator)
Default: 1.0
0x00n10025 Read / Write Encoder: every { NEW from TC3
REAL64 e.g. mm/ [1.0E-12 ... component of the scal-
REAL64 INC 1.0E+30] ing factor: numerator
} 1 [1.0E-12 ... component of the scal-
1.0E+30] ing factor: denomina-
tor
(=> scaling factor nu-
merator / scaling fac-
tor denominator)

TF5100 TwinCAT 3 NC I Version: 1.2 413

Appendix

Index-Offset Access Axis type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00n10030 Read / Write Encoder: every UINT32 1 Internal encoder con- NEW from TC3
trol double word for
specifying the opera-
tion modes and prop-
erties

0x00n10101 Read / Write E: INC UINT16 1 [0,1] inverse search direc-

tion for ref.cam?
0x00n10102 Read / Write E: INC UINT16 1 [0,1] inverse search direc-
tion for sync pulse?
0x00n10103 Read / Write E: INC REAL64 e.g. mm [±1000000.0] Reference position
0x00n10104 Read / Write E: INC UINT16 1 [0,1] distance monitoring Not imple-
between Ref. cams mented !
and sync pulse active?
0x00n10105 Read / Write E: INC UINT32 INC [0 ... 65536] minimum distance be- Not imple-
tween Ref. cams and mented !
sync pulse in incre-
ments
0x00n10106 Read / Write E: INC UINT16 1 [0,1] external sync pulse?
0x00n10107 Read / Write E: INC UINT32 1 s. ENUM (>0) reference mode
in the appendix [} 495]
0x00n10108 Read / Write E: INC UINT32 1 [0x0000000F... Encoder Sub Mask s. parameter
0xFFFFFFFF] (maximum value of the "Encoder Mask"
binary mask: absolute range of the
(2n - 1) encoder actual value
in increments).
Used, for example, as
a reference mark for
the referencing mode
"Software Sync" and
for the NC Retain Data
"ABSOLUTE (MOD-
ULO)", "INCREMEN-
TAL (SINGLETURN
ABSOLUTE)".

Note 1: The Encoder

Sub Mask must be
smaller than or equal
to the Encoder Mask.
Note 2: The Encoder
Mask must be an inte-
ger multiple of the En-
coder Sub Mask.
Note 3: The Encoder
Sub Mask must be a
continuous sequence
of binary ones (2n-1),
e.g. 0x000FFFFF.

0x00n10110 Read / Write E: INC (en- REAL64 1 [0.0 ... Scaling/weighting of

coder simula- 1000000.0] the noise component
tion) for the simulation en-
coder

CON-
TROLLER:
0x00n20001 Read Controller: ev- UINT32 1 [1 ... 255] Controller ID n = 0:
ery Standard controller for
the axes > 0: n-th con-
troller of the axis (op-
tional)
0x00n20002 Read Controller: ev- UINT8[30+1] 1 30 characters controller name
ery
0x00n20003 Read Controller: ev- UINT32 1 s. ENUM (>0) controller type [} 492]
ery
0x00n2000A Read / Write Controller: ev- 1 s. ENUM (>0) controller mode
ery

414 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index-Offset Access Axis type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00n2000B Read / Write Controller: ev- REAL64 % [0.0 ... 1.0] Weighting of the ve-
ery locity pre-control (de-
fault value: 1.0 = 100
%)

0x00n20010 Read / Write Controller: ev- UINT16 1 0/1 following error moni-
ery toring position?
0x00n20011 Read / Write Controller: ev- UINT16 1 0/1 following error moni-
ery toring velocity?
0x00n20012 Read / Write Controller: ev- REAL64 e.g. mm max. following error
ery position
0x00n20013 Read / Write Controller: ev- REAL64 s max. following error
ery time position
0x00n20014 Read / Write Controller: ev- REAL64 e.g. mm/ max. following error
ery s velocity
0x00n20015 Read / Write Controller: ev- REAL64 s max. following error
ery time velocity

0x00n20100 Read / Write P/PID (pos., REAL64 1 [0.0...1.0] Maximum output limi- (default value:
(veloc.) tation (±) for controller 0.5 == 50%)
total output
0x00n20102 Read / Write P/PID (pos.) REAL64 e.g. mm/ [0.0...1000.0] Proportional gain kp or position control
s/ mm kv respectively
Unit: Base Unit / s /
Base Unit
0x00n20103 Read / Write PID (pos.) REAL64 s [0.0 ... 60.0] Integral action time Tn position control
0x00n20104 Read / Write PID (pos.) REAL64 s [0.0 ... 60.0] Derivative action time position control
Tv
0x00n20105 Read / Write PID (pos.) REAL64 s [0.0 ... 60.0] Damping time Td position control
0x00n20106 Read / Write PP (Pos.) REAL64 e.g. mm/ [0.0...1000.0] Additional proportional position control
s/ mm gain, kp or kv respec-
tively, that applies
above a limit velocity
in percent.
Unit: Base Unit / s /
Base Unit
0x00n20107 Read / Write PP (Pos.) REAL64 % [0.0...1.0] Threshold velocity in
percent above which
the additional propor-
tional gain, kp or kv re-
spectively, applies
0x00n20108 Read / Write P/PID (Acc.) REAL64 s [0.0 ... 100.0] Proportional gain ka acceleration
pre-control
0x00n2010D Read / Write P/PID REAL64 mm [0.0 ... 10000.0] "dead band" for posi- reserved func-
tion error (control devi- tion
ation)
(for P/PID controllers
with velocity or torque
interface)
0x00n2010F Read / Write P/PP/PID REAL64 (mm/s) / [0.0...1000.0] Slave coupling differ- Slave coupling
(Pos.) mm ence control: difference con-
slave control proportional gain kcp trol:

0x00n20110 Read / Write P (Pos.) UINT16 1 0/1 Automatic offset cali-

bration: active/passive
0x00n20111 Read / Write P (Pos.) UINT16 1 0/1 Automatic offset cali-
bration: hold mode
0x00n20112 Read / Write P (Pos.) UINT16 1 0/1 Automatic offset cali-
bration: fading mode
0x00n20114 Read / Write P (Pos.) REAL64 % [0.0 ... 1.0] Automatic offset cali-
bration: pre-control
limit
0x00n20115 Read / Write P (Pos.) REAL64 s [0.1 ... 60.0] Automatic offset cali-
bration: time constant
0x00n20116 Read / Write PID (pos.) REAL64 % [0.0...1.0] Maximum output limi-
tation (±) for I-part in
percent (default set-
ting: 0.1 = 10%)

TF5100 TwinCAT 3 NC I Version: 1.2 415

Appendix

Index-Offset Access Axis type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00n20117 Read / Write PID (pos.) REAL64 % [0.0...1.0] Maximum output limi-
tation (±) for D-part in
percent (default set-
ting: 0.1 = 10%)
0x00n20118 Read / Write PID (pos.) UINT16 1 0/1 Deactivation of the I-
component during an
active positioning
process (assuming I-
component active)?
(default setting: 0 =
FALSE)
0x00n20120 Read / Write P/PID (pos.) REAL64 s ≥0 PT-1 filter value for reserved func-
position error (pos. tion,
control difference) no standard!

0x00n20202 Read / Write P/PID (velocity) REAL64 1 [0.0...1000.0] Proportional gain kp or Velocity
kv respectively control
0x00n20203 Read / Write PID (velocity) REAL64 s [0.0 ... 60.0] Integral action time Tn Velocity
control
0x00n20204 Read / Write PID (velocity) REAL64 s [0.0 ... 60.0] Derivative action time Velocity
Tv control
0x00n20205 Read / Write PID (velocity) REAL64 s [0.0 ... 60.0] Damping time Td Velocity
control
0x00n20206 Read / Write PID (velocity) REAL64 % [0.0...1.0] Maximum output limi- Velocity
tation (±) for I-part in control
percent (default set-
ting: 0.1 = 10%)
0x00n20207 Read / Write PID (velocity) REAL64 % [0.0...1.0] Maximum output limi- Velocity
tation (±) for D-part in control
percent (default set-
ting: 0.1 = 10%)
0x00n2020D Read / Write P/PID (velocity) REAL64 mm/s [0.0 ... 10000.0] "dead band" for veloc- reserved func-
ity error (control devia- tion
tion)
(for P/PID controllers
with velocity or torque
interface)
0x00n20220 Read / Write P/PID (velocity) REAL64 s ≥0 PT-2 filter value for ve- Velocity
locity error (vel. control control, not
difference) standard!
0x00n20221 Read / Write P/PID (velocity) REAL64 s ≥0 PT-1 filter value for ve- reserved func-
locity error (vel. control tion,
difference) no standard!

0x00n20250 Read / Write P/PI (observer) UINT32 1 s. ENUM (≥0) Observer mode [} 492]
for controller with
torque interface 0:
OFF (default)
1: LUENBERGER
0x00n20251 Read / Write P/PI (observer) REAL64 Nm / A >0 Motor:
torque constant KT
0x00n20252 Read / Write P/PI (observer) REAL64 kg m2 >0 Motor:
moment of inertia JM
0x00n20253 Read / Write P/PI (observer) REAL64 Hz [100.0 ... bandwidth f0
2000.0] default:
500
0x00n20254 Read / Write P/PI (observer) REAL64 1 [0.0 ... 2.0] de- correction factor kc
fault: 1.0
0x00n20255 Read / Write P/PI (observer) REAL64 s [0.0 ... 0.01] de- velocity filter (1st or-
fault: 0.001 der):
time constant T

0x00n20A03 Read / Write P/PID (MW) REAL64 cm^2 [0.0 ... cylinder area AA of the reserved pa-
1000000] A side in cm^2 rameters !
0x00n20A04 Read / Write P/PID (MW) REAL64 cm^2 [0.0 ... cylinder area AB of the reserved pa-
1000000] B side in cm^2 rameters !
0x00n20A05 Read / Write P/PID (MW) REAL64 cm^3/s [0.0 ... nominal volume flow reserved pa-
1000000] Qnom in cm^3/s rameters !

416 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index-Offset Access Axis type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00n20A06 Read / Write P/PID (MW) REAL64 bar [0.0 ... Rated pressure or reserved pa-
1000000] valve pressure drop, rameters !
Pnom in bar
0x00n20A07 Read / Write P/PID (MW) UINT32 1 [1 ... 255] Axis ID for the system reserved pa-
pressure Po rameters !

DRIVE:
0x00n30001 Read Drive: every UINT32 1 [1 ... 255] Drive ID
0x00n30002 Read Drive: every UINT8[30+1] 1 30 characters Drive name
0x00n30003 Read Drive: every UINT32 1 s. ENUM (>0) Drive type [} 496]
0x00n30004 Read / Write Drive: every UINT32 1 Byteoffset Input address offset change I/O ad-
(IO-Input-Image) dress
0x00n30005 Read / Write Drive: every UINT32 1 Byteoffset Output address offset change I/O ad-
(IO-Output-Image) dress
0x00n30006 Read / Write Drive: every UINT16 1 [0,1] motor polarity
0x00n3000A Read / Write Drive: every UINT32 1 s. ENUM (>0) drive mode
0x00n3000B Read / Write Drive: every REAL64 % [-1.0 ... 1.0] Minimum output limit
(default setting: -1.0 =
-100%)
0x00n3000C Read / Write Drive: every REAL64 % [-1.0 ... 1.0] Maximum output limit
(default setting: 1.0 =
100%)
0x00n3000D Read Drive: every UINT32 INC Maximum number of
output increments
(output mask)
0x00n30010 Read / Write Drive: every UINT32 1 Internal Drive Control reserved!
double word to deter-
mine the drive opera-
tion modes
0x00n30011 Read / Write every UINT32 1 ≥5 Internal Drive Reset reserved!
Counter
(time in NC cycles for
enable and reset)

0x00n30101 Read / Write D: Servo REAL64 e.g. mm/ >0 Reference velocity at
s reference output (ve-
locity pre-control)
0x00n30102 Read / Write D: Servo REAL64 % [0.0 ... 5.0] Reference output in
percent (default set-
ting: 1.0 = 100%)
0x00n30103 Read D: Servo REAL64 e.g. mm/ >0 resulting velocity at
s 100% output
0x00n30104 Read / Write D: Servo REAL64 e.g. mm/ ±∞ velocity offset (DAC
s offset) for drift calibra-
tion (offset calibration)
of the axis
0x00n30105 Read / Write D: Servo (Ser- REAL64 1 [0.0 ... velocity scaling (scal- For Ser-
cos, Profi Drive, 100000000.0] ing factor to react to cos, Profi Drive,
AX200x, the weight in the drive) AX200x,
CANopen) CANopen
0x00n30106 Read / Write D: Profi Drive UINT32 0.001 * ≥0 Profibus/Profi Drive Only for Profi
DSC 1/s DSC: position control Drive DSC
gain Kpc
0x00n30107 Read / Write D: Profi Drive REAL64 1 ≥ 0.0 Profibus/Profi Drive Only for Profi
DSC DSC: scaling for cal- Drive DSC
culating 'XERR' (De-
fault: 1.0)
0x00n30109 Read / Write D: Servo (Ser- REAL64 1 [0.0 ... position scaling (scal- For Sercos,
cos, CANopen) 100000000.0] ing factor to react to CANopen
the weight in the drive)
0x00n3010A Read / Write D: Servo (Ser- REAL64 1 [0.0 ... acceleration scaling For Ser-
cos, Profi Drive, 100000000.0] (scaling factor to react cos, Profi Drive,
AX200x, to the weight in the AX200x,
CANopen) drive) CANopen

TF5100 TwinCAT 3 NC I Version: 1.2 417

Appendix

Index-Offset Access Axis type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00n30120 Read / Write D: Servo/hy- UINT32 1 ≥0 Table ID Only for
draulics/ (0: no table) KL4xxx,
M2400, Univer-
sal
0x00n30121 Read / Write D: Servo/hy- UINT32 1 ≥0 Interpolation type 0: Only for
draulics Linear KL4xxx,
2: Spline M2400, Univer-
sal
0x00n30122 Read / Write Servo/hy- REAL64 % [-1.0 ... 1.0] Output offset in per- Only for
draulics cent, note: KL4xxx,
Acts according to the M2400, Univer-
characteristic evalua- sal
tion !

0x00n30151 Read / Write D: Servo / non- REAL64 1 [0.0 ... 100.0] Quadrant compensa-
linear tion factor (relationship
between quadrant I
and III)
0x00n30152 Read / Write D: Servo / non- REAL64 1 [0.01 ... 1.0] Velocity reference
linear point in percent (1.0 =
100 %)
0x00n30153 Read / Write D: Servo / non- REAL64 1 [0.01 ... 1.0] output reference point
linear in percent (1.0 = 100
%)

0x00030301 Read / Write D: Stepper mo- UINT8 1 Bit mask: cycle 1

tor
0x00030302 Read / Write D: Stepper mo- UINT8 1 Bit mask: cycle 2
tor
0x00030303 Read / Write D: Stepper mo- UINT8 1 Bit mask: cycle 3
tor
0x00030304 Read / Write D: Stepper mo- UINT8 1 Bit mask: cycle 4
tor
0x00030305 Read / Write D: Stepper mo- UINT8 1 Bit mask: cycle 5
tor
0x00030306 Read / Write D: Stepper mo- UINT8 1 Bit mask: cycle 6
tor
0x00030307 Read / Write D: Stepper mo- UINT8 1 Bit mask: cycle 7
tor
0x00030308 Read / Write D: Stepper mo- UINT8 1 Bit mask: cycle 8
tor
0x00030310 Read / Write D: Stepper mo- UINT8 1 Bit mask: holding cur-
tor rent

418 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

7.8.4.2 "Index offset" specification for Axis state (Index group 0x4100 + ID)

TF5100 TwinCAT 3 NC I Version: 1.2 419

Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00n00000 Read every (online { AXIS ONLINE Changed from
structure for STRUCTURE (NC/ TC3, not oscil-
axis data) CNC) loscopeable!
INT32 1 Error state (NCAXIS-
STATE_ ON-
INT32 Reserved LINESTRUCT)
REAL64 e.g. mm Actual position
REAL64 e.g. de- Modulo actual position
gree
REAL64 e.g. mm Set position
REAL64 e.g. de- Modulo set position
gree
REAL64 e.g. mm/ Optional: actual veloc-
s ity
REAL64 e.g. mm/ Set velocity
s
UINT32 % 0...1000000 speed override
(1000000 == 100%)
UINT32 Reserved
REAL64 e.g. mm Following error posi-
tion
REAL64 e.g. mm PeakHold value for
max. neg. position lag
(pos.)
REAL64 e.g. mm Peak hold value for
max. pos. following er-
ror. (pos.)
REAL64 % Controller output in
percent
REAL64 % Total output in percent
UINT32 1 ≥0 Axis status double
word
UINT32 1 ≥0 Axis control double
word
UINT32 1 ≥0 Slave coupling state
(state)
UINT32 1 0; 1,2,3... Axis control loop index
REAL64 e.g. mm/ Actual acceleration
s^2
REAL64 e.g. mm/ Set acceleration
s^2
REAL64 e.g. mm/ Set jerk (new from
s^3 TC3.1 B4013)
REAL64 e.g. Set torque or set force
100% = (reserved, not imple-
1000 mented)
REAL64 e.g. Actual torque or actual
100% = force (new from TC3.1
1000 B4013)
} 256 byte
0x00000001 Read every UINT32 1 error code axis state Symbolic ac-
[} 340] cess: 'ErrState''

0x00n00009 Read every UINT32 1 ≥0 Set cycle counter

(SAF-Timestamp)
0x00n0000A Read every REAL64 e.g. mm Set position Symbolic ac-
cess: 'SetPos''
0x00n0000B Read every REAL64 e.g. de- Modulo set position Symbolic ac-
gree cess: 'SetPos-
Modulo''
0x00n0000C Read every INT32 1 Modulo set rotation
0x00n0000D Read every REAL64 1 [-1.0, 0.0, 1.0] Set direction
0x00n0000E Read every REAL64 e.g. mm/ Set velocity Symbolic ac-
s cess: 'SetVelo''

420 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00n0000F Read every REAL64 e.g. mm/ Set acceleration Symbolic ac-
s^2 cess: 'SetAcc''
0x00n00010 Read every REAL64 e.g. mm/ Set jerk (time deriva-
s^3 tion of the set acceler-
ation)
0x00n00011 Read every REAL64 e.g. Nm Set torque (rot. motor) reserved, not
or N, or implemented.
e.g. set force (linear motor)
100%=1
000
0x00n00012 Read every REAL64 1 Set coupling factor
(set gear ratio)
0x00n00013 Read every REAL64 e.g. mm Expected target posi-
tion
0x00n00014 Read Servo { Remaining travel time Always to SAF
and distance Port 501!
(SERVO):
REAL64 s ≥0 Remaining travel time
REAL64 e.g. mm ≥ 0 Remaining distance
}
0x00n00015 Read every UINT32 1 ≥0 Set command number
0x00n00016 Read Servo REAL64 s ≥0 Positioning time of the
last motion command
(Start → target posi-
tion window)
0x00n00017 Read Servo REAL64 % [0.0…1.0] Set override value for NEW from
velocity TC3.1 B4020
1.0=100%

Note: initially only im-

plemented for FIFO
group
0x00000018 ReadWrite Servo Write Read the "Stop infor- Only port 500!
mation" (stop distance,
stop time)
REAL64 e.g. mm/ ≥ 0 Deceleration for axis
s^2 stop
REAL64 e.g. mm/ ≥ 0 Jerk for axis stop
s^3
Read
REAL64 e.g. mm ≥ 0 Stop distance
REAL64 s ≥0 Stop time

0x00n0001A Read every REAL64 e.g. mm Uncorrected

set position
0x00n0001D Read every REAL64 1 [-1.0, 0.0, 1.0] Uncorrected
set position
0x00n0001E Read every REAL64 e.g. mm/ Uncorrected
s set velocity
0x00n0001F Read every REAL64 e.g. mm/ Uncorrected
s^2 set acceleration
0x00000020 Read every UINT32 1 s. ENUM Coupling state (state)
0x00000021 Read every UINT32 1 ≥0 Coupling table index
0x00000022 Read servo master / { reading the coupling
slave coupling parameters (SERVO):
type: LINEAR, REAL64 1 [±1000000.0] Parameter 1: Linear:
(&SPECIAL) Gearing factor
REAL64 1 [±1000000.0] Parameter 2: Linear:
Reserve
REAL64 1 [±1000000.0] Parameter 3: Linear:
Reserve
REAL64 1 [±1000000.0] Parameter 4: Linear:
Reserve
}

TF5100 TwinCAT 3 NC I Version: 1.2 421

Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00000023 Read Servo master / REAL64 1 [±1000000.0] Reading of the gear
slave coupling ratio (servo) type: LIN-
type: LINEAR, EAR,
(&SPECIAL)
0x00000024 Read Servo UINT32 1 ≥0 Number / index of the
active axis control cir-
cuit (triple of encoder,
controller and axis in-
terface)
0x00000025 Read Servo UINT16 1 0/1 External set value
specification via axis
interface PCLtoNC ac-
tive?
0x00000026 Read servo master / REAL64 [64] 1 ±∞ Reading of the charac- Modified from
slave coupling teristic slave values TC3
type: SYN- synchronization profile
CHRONIZING type: SYNCHRONIZ-
ING
0x00000027 ReadWrite Servo master / Write Read the "Tabular Only port 500!
slave coupling coupling information"
Modified from
type: TABU- VOID - no data for the "cur- TC3
LAR, MF e.g. mm ±∞ rent information",
or
- optional for a certain
REAL64 "master axis position"
or - for a certain table ID
and optional “master
DWORD, axis position” (TC 3.1
DWORD, B4017)
REAL64
Read
REAL64 [32] ±∞ Read the tabular cou-
pling information
[} 499] structure
0x00000028 ReadWrite Servo master / Write Read the "multi tabular Only port 500!
slave coupling coupling informa-
type: MULTI- tion" (CamAddition)
CAM (CamAd- UINT32 1 ≥0 Table ID to which the
dition) query relates
Read
96 byte Read the multi tabular
coupling information
[} 499] structure
0x00000029 Read Servo UINT32 1 Delayed error code
(error pre-warning) in
case of a delayed er-
ror reaction (see bit
ErrorPropagationDe-
layed)
0x0000002A Read Servo REAL64 e.g. mm ±∞ Position difference
while fading from set
position to actual posi-
tion (fading part)
0x0000002B Read Servo REAL64 e.g. mm/ ±∞ Relative velocity while
s fading from set posi-
tion to actual position
(fading part)
0x0000002C Read Servo REAL64 e.g. mm/ ±∞ Relative acceleration
s ^2 while fading from set
position to actual posi-
tion (fading part)
0x0000002D Read Servo UINT32 1 ≥0 Counter for initializa- NEW
tion command
(InitializeCommand-
Counter)
0x0000002E Read Servo UINT32 1 ≥0 Counter for reset com- NEW
mand
(ResetCommand-
Counter)

422 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00000040 Read Servo UINT32 1 ≥0 Counter for correction NEW from
of the NC set values in TC3.1 B4020
case of data inconsis-
tency
(Activation with Idx-
Group 0x1000 and
Idx-Offset 0x0020)

0x00000050 Read every UINT32 1 Set drive phase Cannot be

(SWGenerator) traced by oscil-
loscope!
0x00000051 Read every UINT16 1 Is the axis deacti- Cannot be
vated? traced by oscil-
loscope!

0x00n00060 Read / Write every (online { AXIS SET VALUE Cannot be

set value struc- STRUCTURE (NC/ traced by oscil-
ture) CNC) loscope!
REAL64 e.g. mm Set position
REAL64 e.g. mm/ Set velocity
s
REAL64 e.g. mm/ Set acceleration / de-
s^2 celeration
REAL64 1 [-1.0, 0.0, 1.0] Set travel direction
REAL64 e.g. mm/ Set jerk
s^3
REAL64 Nm resp. Set torque or set force
N
}
0x00n00061 Read / Write every (online { AXIS DYNAMIC SET
dynamics set VALUE STRUCTURE
value structure) (NC/CNC)
REAL64 e.g. mm/ Set velocity
s
REAL64 e.g. mm/ Set acceleration / de-
s^2 celeration
REAL64 1 [-1.0, 0.0, 1.0] Set travel direction
REAL64 e.g. mm/ Set jerk
s^3
REAL64 Nm resp. Set torque or set force
N
}

0x00000063 ReadWrite for SERCOS/ Write Read active "Drive NEW from TC
SoE only Operation Mode" 3.1 B4020 (NC
UINT32 1 Reserve 4249)
UINT32 1 Reserve Always to SAF
Port 501!
Read
UINT32 ENUM [0; 101, 102, …, currently active "Drive
[} 497] 107] Operation
Mode" (generic
(see ap- modes)
pendix)
UINT32 1 Reserve

0x00n10002 Read every (Encoder) REAL64 e.g. mm Actual position (offset Symbolic ac-
by actual position cor- cess: 'ActPos''
rection value) n = 0:
standard encoder of
the axes > 0: nth en-
coder of the axis (op-
tional)
0x00n10003 Read every (Encoder) REAL64 e.g. de- Modulo actual position Symbolic ac-
gree cess: 'ActPos-
Modulo'
0x00n10004 Read every (Encoder) INT32 1 Modulo actual rotation

TF5100 TwinCAT 3 NC I Version: 1.2 423

Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00n10005 Read every (Encoder) REAL64 e.g. mm/ Optional: actual veloc- Symbolic ac-
s ity cess: 'ActVelo''
0x00n10006 Read every (Encoder) REAL64 e.g. mm/ Optional: Actual accel- Symbolic ac-
s^2 eration cess: 'ActAcc''
0x00n10007 Read every (Encoder) INT32 INC Encoder actual incre-
ments
0x00n10008 Read every (Encoder) INT64 INC Software - actual in-
crement counter
0x00n10009 Read every (Encoder) UINT16 1 0/1 Reference flag ("cali-
brate flag")
0x00n1000A Read every (Encoder) REAL64 e.g. mm Actual position correc-
tion value (measure-
ment system error cor-
rection)
0x00n1000B Read every (Encoder) REAL64 e.g. mm Actual position without Cannot be
actual position com- traced by oscil-
pensation value loscope!

0x00n10010 Read every (Encoder) REAL64 e.g. mm/ Actual velocity without
s actual position com-
pensation value
0x00n10012 Read every (Encoder) REAL64 e.g. mm Unfiltered actual posi-
tion (charge with ac-
tual position compen-
sation value)
0x00n10014 Read Encoder: SoE, REAL64 e.g. mm/ Optional: Actual drive NEW from
CoE, MDP 742 s velocity (transferred TC3.1
directly from SoE, CoE B4020.30
or MDP 742 drive)
0x00n10015 Read every (Encoder) REAL64 e.g. mm/ Optional: Unfiltered
s actual velocity

0x00n10101 Read INC (Encoder) REAL64 e.g. mm Read back of the posi- Cannot be
tion difference be- traced by oscil-
tween activation of the loscope!
internal hardware latch
and the time when it
becomes valid

0x00n20001 Read R: every INT32 1 Error state of the con-

troller n = 0: standard
controller of the axes >
0: nth controller of the
axis (optional)
0x00n20002 Read R: every REAL64 e.g. mm/ Controller output in Symbolic ac-
s absolute units cess: 'CtrlOut-
put''
0x00n20003 Read R: every REAL64 % Controller output in Cannot be
percent traced by oscil-
loscope!
0x00n20004 Read R: every REAL64 V Controller output in Cannot be
volts traced by oscil-
loscope!
0x00n2000D Read R: every REAL64 e.g. mm Following error posi- Base Unit
tion (without dead time
compensation)
0x00n2000F Read R: every REAL64 e.g. mm Following error posi- Symbolic ac-
tion (with dead time cess: 'PosDiff''
compensation)

0x00n20010 Read R: every REAL64 e.g. mm Peak hold value for

maximum negative fol-
lowing error of the po-
sition
0x00n20011 Read R: every REAL64 e.g. mm Peak hold value for
minimum positive fol-
lowing error of the po-
sition

424 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00n20012 Read R: every REAL64 e.g. mm/ Following error veloc- Not imple-
s ity mented !

0x00n20021 Read R: every REAL64 e.g. mm Difference (deviation) Symbolic ac-

between the following cess: 'PosDiff-
error from master and Couple'
slave axis (master er-
ror minus slave error)
0x00n20022 Read R: every REAL64 e.g. mm PeakHold value for the Base Unit
maximum negative dif-
ference between mas-
ter and slave axis fol-
lowing error of the po-
sition
0x00n20023 Read R: every REAL64 e.g. mm PeakHold value for the Base Unit
maximum positive dif-
ference between mas-
ter and slave axis fol-
lowing error of the po-
sition

0x00n20101 Read R: P/PID (pos.) REAL64 e.g. mm/ Proportional compo-

s nent of the controller
in absolute units
0x00n20102 Read R: PID (pos.) REAL64 e.g. mm/ I-part of the controller
s in absolute units
0x00n20103 Read R: PID (pos.) REAL64 e.g. mm/ D-part of the controller
s in absolute units
0x00n20104 Read R: PID (pos.) UINT16 1 0/1 Limitation of the I-part
active?
0x00n20105 Read R: PID (pos.) UINT16 1 0/1 Limitation of the D-part
active?
0x00n20106 Read R: PID (pos.) UINT16 1 0/1 ARW measures of the Not imple-
I component active? mented !
ARW: Anti Reset
Windup

0x00n20110 Read R: PID (pos.) REAL64 e.g. mm/ Acceleration pre-con- Acceleration
s trol Yacc of the con- pre-control
troller in absolute
units, note: Function
depends on controller
type!
0x00n20111 Read R: PP (Pos.) REAL64 mm/s/ ≥0 Internal interpolated PP controller
mm proportional gain kp or
kv

0x00n20201 Read R: P,PID (ve- REAL64 e.g. mm/ Velocity part of the
locity) s controller
0x00n20202 Read R: P,PID (ve- REAL64 % Velocity part of the Cannot be
locity) controller in percent traced by oscil-
loscope!
0x00n20203 Read R: P,PID (ve- REAL64 V Velocity part of the Cannot be
locity) controller in volts traced by oscil-
loscope!
0x00n20201 Read R: P/PID (ve- REAL64 e.g. mm/ Proportional compo-
locity) s nent of the controller
in absolute units
0x00n20202 Read R: P/ PID (ve- REAL64 e.g. mm/ I-part of the controller
loc.) s in absolute units
0x00n20203 Read R: P/ PID (ve- REAL64 e.g. mm/ D-part of the controller
loc.) s in absolute units
0x00n20204 Read R: P/ PID (ve- UINT16 1 0/1 Limitation of the I-part
loc.) active?
0x00n20205 Read R: P/ PID (ve- UINT16 1 0/1 Limitation of the D-part
loc.) active?

TF5100 TwinCAT 3 NC I Version: 1.2 425

Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00n20206 Read R: P/ PID (ve- UINT16 1 0/1 ARW measures for the
loc.) I-part active?
(ARW: Anti Reset
Windup)
0x00n2020A Read R: P/ PID (ve- REAL64 e.g. mm/ Total input size of the
loc.) s velocity controller

0x00n20A00 Read R: PID (MW) REAL64 % [-1.0...1.0] Offsetting of the set reserved pa-
velocity (pre-control) rameters !
0x00n20A01 Read R: PID (MW) REAL64 e.g. mm/ Proportional compo- reserved pa-
s nent of the controller rameters !
in absolute units or
percent (according to
output weight)
0x00n20A02 Read R: PID (MW) REAL64 e.g. mm/ I-part of the controller reserved pa-
s in absolute units or rameters !
percent (according to
output weight)
0x00n20A03 Read R: PID (MW) REAL64 e.g. mm/ D-part of the controller reserved pa-
s in absolute units or rameters !
percent (according to
output weight)
0x00n20A04 Read R: PID (MW) UINT16 1 0/1 Limitation of the I-part reserved pa-
active? rameters !
0x00n20A05 Read R: PID (MW) UINT16 1 0/1 Limitation of the D-part reserved pa-
active? rameters !
0x00n20A06 Read R: PID (MW) UINT16 1 0/1 ARW measures of the reserved pa-
I component active? rameters !
ARW: Anti Reset
Windup
0x00n20A10 Read R: PID (MW) REAL64 e.g. mm/ Acceleration pre-con- reserved pa-
s trol Yacc of the con- rameters !
troller in absolute units

0x00n30001 Read D: every INT32 1 Error state of the drive

0x00n30002 Read D: every REAL64 e.g. mm/ Total output in abso- Symbolic ac-
s lute units cess: 'DriveOut-
put'
0x00n30003 Read D: every REAL64 % Total output in percent
0x00n30004 Read D: every REAL64 V Total output in volts Cannot be
traced by oscil-
loscope!
0x00n30005 Read D: every REAL64 e.g. mm/ PeakHold value for
s maximum negative to-
tal output
0x00n30006 Read D: every REAL64 e.g. mm/ PeakHold value for
s maximum positive to-
tal output
0x00n30007 Read D: every REAL64 e.g. Actual torque or actual NEW
100%=1 force (typically
000, 100%=1000)
e.g. Nm
or N

0x00n30013 Read D: every REAL64 % Total output in percent

(based on non-linear
characteristic curve!)
0x00n30014 Read D: every REAL64 V Total output in volt Cannot be
(based on non-linear traced by oscil-
characteristic curve!) loscope!

0x00n3011A Read D: Servo (Ser- REAL64 e. g. mm Optional Smoothingfil- NEW

cos, CANopen) ter: Filtered set posi- For Sercos,
tion CANopen
0x00n3011E Read D: Servo (Ser- REAL64 e. g. Optional Smoothingfil- NEW
cos, CANopen) mm/s ter: Filtered set veloc- For Sercos,
ity CANopen

426 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00n3011F Read D: Servo (Ser- REAL64 e. g. Optional Smoothingfil- NEW
cos, CANopen) mm/s^2 ter: For Sercos,
Filtered set accelera- CANopen
tion / deceleration

TF5100 TwinCAT 3 NC I Version: 1.2 427

Appendix

7.8.4.3 "Index offset" specification for Axis functions (Index group 0x4200 + ID)

428 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00000001 Write every VOID Reset axis For FIFO axes
too!
0x00000002 Write every VOID Stop axis For FIFO axes
too!
0x00000003 Write every VOID Clear axis (task) For FIFO axes
too!
0x00000004 Write every { Emergency stop (with Only for PTP
controlled ramp) axes!
REAL64 e.g. mm/ > 0.0 Deceleration (must be
s^2 greater than or equal
to the original deceler-
ation)
REAL64 e.g. mm/ > 0.0 Jerk (must greater
s^3 than or equal to the
original jerk)
}
0x00000005 Write PTP axis { Parameterizable stop For PTP axes
(with controlled ramp) only! Reserved
REAL64 e.g. mm/ > 0.0 deceleration function,
s^2 no standard!
REAL64 e.g. mm/ > 0.0 Jerk
s^3
}
0x00000009 Write PTP axis { Oriented stop Only for PTP
(oriented end position) axes!
REAL64 e.g. de- ≥ 0.0 Modulo end position
gree (modulo target posi-
tion)
REAL64 e.g. mm/ > 0.0 Deceleration (currently
s^2 not active)
REAL64 e.g. mm/ > 0.0 Jerk (currently not ac-
s^3 tive)
}

0x00000010 Write every VOID Reference axis ("cali-

bration")
0x00000011 Write every { New end position axis Modified from
UINT32 ENUM s. appendix TC3
End position type
[} 490] (see appendix)
UINT32 Reserve (TC3)
REAL64 e.g. mm ±∞ new end position (tar-
get position)
}
0x00000012 Write every { New end position and
new velocity axis
UINT32 ENUM s. appendix command type [} 490]
(s. appendix)
UINT32 ENUM s. appendix End position type
[} 490] (s. appendix)
REAL64 e.g. mm ±∞ new end position (tar-
get position)
REAL64 e.g. mm/ ≥ 0.0 New end velocity (re-
s quested travelling
speed)
REAL64 e.g. mm ±∞ Optional: Switching
position from which
the new travel profile
is activated
}

TF5100 TwinCAT 3 NC I Version: 1.2 429

Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00000015 Write every { New dynamic parame-
ters for active position-
ing
REAL64 e.g. mm/ > 0.0 Acceleration
s^2
REAL64 e.g. mm/ > 0.0 deceleration
s^2
REAL64 e.g. mm/ > 0.0 Optional: jerk (not yet
s^3 implemented)
}
0x00000016 ReadWrite every SERVO Write (80 Universal axis start Always to SAF
bytes) (UAS): Port 501!
merge of single com-
Modified from
mands, such as axis
TC3
start, and online
changes in combina-
tion with "Buffer
Mode" (see TcMc2.lib)
{
UINT32 ENUM s. appendix Start type [} 489] (s.
appendix)
UINT32 1 ≥0 Bit mask for checks
and operation modes
(default value: 0)
REAL64 e.g. mm ±∞ End position (target
position)
REAL64 e.g. mm/ ≥ 0.0 Required velocity
s Vrequ
REAL64 e.g. mm/ ≥ 0.0 Optional: Acceleration
s^2
REAL64 e.g. mm/ ≥ 0.0 Optional: deceleration
s^2
REAL64 e.g. mm/ ≥ 0.0 Optional: Jerk
s^3
UINT32 ENUM s. appendix Buffer Mode [} 489]
(command buffer)
UINT32 Reserve (TC3)
REAL64 e.g. mm ±∞ Optional: blending po-
sition (command
blending position)
REAL64 e.g. mm/ ≥ 0.0 Optional: segment
s start velocity Vi
(0 ≤ Vi ≤ Vrequ)
REAL64 e.g. mm/ ≥ 0.0 Optional: segment end
s velocity Vf
(0 ≤ Vf ≤ Vrequ)
}
Read
{
UINT16 1 ≥0 Command number
(job number)
UINT16 1 ≥0 Command status
}

430 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00000017 ReadWrite SERVO Write (80 "Master/slave decou- not yet re-
bytes) pling" and "Universal leased!
axis start (UAS)":
Merge of decoupling
command of a slave
axis (IdxOffset:
0x00000041) and the
subsequent universal
axis start (UAS) (Idx-
Offset: 0x00000016)
{
UINT32 ENUM s. appendix Start type [} 489] (s.
appendix)
UINT32 1 ≥0 Bit mask for checks
and operation modes
(default value: 0)
REAL64 e.g. mm ±∞ End position (target
position)
REAL64 e.g. mm/ ≥ 0.0 Required velocity
s Vrequ
REAL64 e.g. mm/ ≥ 0.0 Acceleration
s^2
REAL64 e.g. mm/ ≥ 0.0 deceleration
s^2
REAL64 e.g. mm/ ≥ 0.0 Jerk
s^3
UINT32 ENUM s. appendix Buffer Mode [} 489]
(command buffer)
UINT32 Reserve (TC3)
REAL64 e.g. mm ±∞ Optional: blending po-
sition (command
blending position)
REAL64 e.g. mm/ ≥ 0.0 Optional: segment
s start velocity Vi
(0 ≤ Vi ≤ Vrequ)
REAL64 e.g. mm/ ≥ 0.0 Optional: segment end
s velocity Vf
(0 ≤ Vf ≤ Vrequ)
}
Read
{
UINT16 1 ≥0 Command number
(job number)
UINT16 1 ≥0 Command status
}
0x00000018 Write every VOID Release axis lock for
motion commands
(TcMc2)
0x00000019 Write every UINT32 1 >0 Set external axis error Caution when
(runtime error) using!
0x00n0001A Write every { Set actual axis posi- Caution when
tion using! Also for
UINT32 ENUM s. appendix FIFO axes! Al-
Actual position type
ways at SAF
[} 490] (s. appendix) port 501!
UINT32 Reserve (TC3)
REAL64 e.g. mm ±∞ Actual position for
axes = 0: Standard en- Modified from
coder of the axis TC3
n > 0: n-th encoder for
the axis (optional)
}

TF5100 TwinCAT 3 NC I Version: 1.2 431

Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00n0001B Write every UINT32 1 0/1 Set reference flag Caution when
("calibrate flag")n = 0: using! Also for
standard encoder of FIFO axes!
the axis
n > 0: n-th encoder for
the axis (optional)
0x00n0001C Write SERVO { Set only actual axis Caution when
position without ma- using!
nipulating the set posi-
tion (also for slave and
with active process)
UINT32 ENUM s. appendix Actual position type
[} 490] (s. appendix)
REAL64 e.g. mm ±∞ Actual position for axis
n = 0: standard en-
coder of the axes > 0:
n-th axis encoder (op-
tional) Caution when
using!!!
}
0x00n0001D Write every { Set actual value of the Caution when
axis on the drive side using ! Only for
(Position interface and CANopen
encoder offset of null
required!)
n = 0: Standard en-
coder of the axis
n > 0: n-th encoder for
the axis (optional)
UINT32 ENUM s. appendix Actual position type
[} 490] (s. appendix)
REAL64 e.g. mm ±∞ actual position for axis
}
0x00n0001E Write every { Set a new encoder Caution when
scaling factor on the using!
fly Always to SAF
(also when axis is in Port 501!
motion)
UINT16 ENUM 1 Encoder scaling factor
type Modified from
1: Absolute TC3
2: Relative
UINT16 ControlWord
UINT32 Reserve (TC3)
REAL64 e.g. mm/ [1.0E-8 ... New encoder scaling
INC 100.0] factor
n = 0: Standard en-
coder of the axis
n > 0: n-th encoder for
the axis (optional)
}

432 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00n0001F Write every { Set actual axis posi- Caution when
tion on the fly using! Always
(also when axis is in on SAF port
motion) 501!
UINT32 ENUM Position type for set-
ting actual value on
the fly
1: Absolute
2: Relative
UINT32 1 Control double word,
e.g. for "clearing the
position lag"
REAL64 Reserve
REAL64 e.g. mm ±∞ New actual axis posi-
tion
UINT32 Reserve
UINT32 Reserve
}

0x00000020 Write every 1D start { Standard axis start: Modified from

UINT32 ENUM s. appendix TC3
Start type [} 489] (s.
appendix)
UINT32 Reserve (TC3)
REAL64 e.g. mm ±∞ End position (target
position)
REAL64 e.g. mm/ ≥0.0 required velocity
s
}
0x00000021 Write every 1D start { Extended axis start Modified from
(SERVO): TC3
UINT32 ENUM s. appendix Start type [} 489] (s.
appendix)
UINT32 Reserve (TC3)
REAL64 e.g. mm ±∞ End position (target
position)
REAL64 e.g. mm/ ≥ 0.0 required velocity
s
UINT32 0/1 0/1 Standard accelera-
tion?
UINT32 Reserve (TC3)
REAL64 e.g. mm/ ≥ 0.0 Acceleration
s^2
UINT32 0/1 0/1 Standard decelera-
tion?
UINT32 Reserve (TC3)
REAL64 e.g. mm/ ≥ 0.0 deceleration
s^2
UINT32 0/1 0/1 Standard jerk?
UINT32 Reserve (TC3)
REAL64 e.g. mm/ ≥ 0.0 Jerk
s^3
}

TF5100 TwinCAT 3 NC I Version: 1.2 433

Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00000022 Write SERVO(MW) { Special axis start Reserved start
(SERVO): function, no
UINT32 ENUM s. appendix standard!
Start type [} 489] (s.
appendix) Modified from
UINT32 Reserve (TC3) TC3
REAL64 e.g. mm ±∞ End position (target
position)
REAL64 mm/s ≥ 0.0 required start velocity
REAL64 e.g. mm ±∞ Position for a new ve-
locity level
REAL64 e.g. mm/ ≥ 0.0 new end velocity level
s
UINT32 0/1 0/1 Standard accelera-
tion?
UINT32 Reserve (TC3)
REAL64 e.g. mm/ ≥ 0.0 Acceleration
s^2
UINT32 0/1 0/1 Standard decelera-
tion?
UINT32 Reserve (TC3)
REAL64 e.g. mm/ ≥ 0.0 deceleration
s^2
UINT32 0/1 0/1 Standard jerk?
UINT32 Reserve (TC3)
REAL64 e.g. mm/ ≥ 0.0 Jerk
s^3
}
0x00000023 Write SERVO { Start external set Modified from
value specification TC3
(setting by cyclic axis
interface PLCtoNC)
UINT32 ENUM 1: Absolute start type [} 489]
2: Relative
UINT32 Reserve (TC3)
REAL64 e.g. mm ±∞ New end position (tar-
get position) optional !
REAL64 Reserve (TC3)
}
0x00000024 Write SERVO VOID Stop/disable external
set value specification
(cyclic axis interface
PLCtoNC)
0x00000025 Write SERVO { Start reversing opera- Modified from
tion for positioning TC3
(SERVO):
UINT32 ENUM 1 Start type [} 489] (de-
fault: 1)
UINT32 Reserve (TC3)
REAL64 e.g. mm ±∞ end position 1 (target
position)
REAL64 e.g. mm ±∞ end position 2 (target
position)
REAL64 0/1 0/1 required velocity
REAL64 s ≥ 0.0 idle time
}
0x00000026 Write every { Start drive output: Modified from
UINT32 ENUM s. appendix TC3
Output type [} 496] (s.
appendix)
UINT32 Reserve (TC3)
REAL64 e.g. % ±∞ required output value
(e.g. %)
}
0x00000027 Write every VOID Stop drive output

434 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00000028 Write every { Change the drive out-
put:
UINT32 ENUM s. appendix Output type [} 496] (s.
appendix)
REAL64 e.g. % ±∞ required output value
(e.g. %)
}
0x00000029 Write every VOID Instantaneously adopt reserved func-
current override value tion, no stan-
and freeze until next dard!
override change!
0x0000002A Write every { calculate and set en- reserved func-
32 bytes coder offset tion, no stan-
} dard!
0x0000002B ReadWrite every WriteData: see stop external setpoint reserved func-
'UAS' generator and continu- tion, no stan-
ReadData: s. ous endless motion dard!
'UAS' ('UAS': Universal axis
start)
0x0000002C Write every UINT32 ≥0 Set "homing state" (for New from TC3
internal use)

0x00000030 Write SERVO { Start section compen- Modified from

sation (SERVO) TC3
UINT32 ENUM s. appendix Compensation type
[} 490] (s. appendix)
UINT32 Reserve (TC3)
REAL64 e.g. mm/ ≥ 0.0 Max. acceleration in-
s^2 crease
REAL64 e.g. mm/ ≥ 0.0 Max. deceleration in-
s^2 crease
REAL64 e.g. mm/ > 0.0 Max. increase velocity
s
REAL64 e.g. mm/ > 0.0 Base velocity for the
s process
REAL64 e.g. mm ±∞ Path difference to be
compensated
REAL64 e.g. mm > 0.0 Path distance for com-
pensation
}

TF5100 TwinCAT 3 NC I Version: 1.2 435

Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00000030 ReadWrite SERVO returns { Start section compen- Modified from
the actually im- READ+WRITE: sation (SERVO) TC3
plemented pa- Note: contained only
rameters as re- in "TcMc2.lib"
turn values UINT32 ENUM s. appendix Compensation type
[} 490] (s. appendix)
UINT32 Reserve (TC3)
REAL64 e.g. mm/ ≥ 0.0 => Max. acceleration
s^2 increase
<= returns the imple-
mented acceleration
increase (new in
"TcMc2.lib")
REAL64 e.g. mm/ ≥ 0.0 => Max. deceleration
s^2 increase
<= returns the imple-
mented deceleration
increase (new in
"TcMc2.lib")
REAL64 e.g. mm/ > 0.0 => requested max. in-
s crease velocity
<= returns the imple-
mented velocity of in-
crease
REAL64 e.g. mm/ > 0.0 Base velocity for the
s process
REAL64 e.g. mm ±∞ => requested path dif-
ference to be compen-
sated
<= returns the imple-
mented path differ-
ence
REAL64 e.g. mm > 0.0 => requested max.
distance for compen-
sation
<= returns imple-
mented distance
UINT32 1 ≥0 <= returns Warning ID
(e.g. 0x4243)
UINT32 Reserve (TC3)
}
0x00000031 Write SERVO VOID Stop section compen-
sation (SERVO)
0x00000032 Write SERVO { Start reversing opera- Modified from
tion with velocity steps TC3
(SERVO):
(can be used to deter-
mine the velocity step
response)
UINT32 ENUM 1 Start type [} 489] (de-
fault: 1)
UINT32 Reserve (TC3)
REAL64 e.g. mm/ ±∞ Required velocity 1
s (negative values also
allowed)
REAL64 e.g. mm/ ±∞ Required velocity 2
s (negative values also
allowed)
REAL64 s > 0.0 Travel time for velocity
1 and 2
REAL64 s ≥ 0.0 idle time
UINT32 1 0, 1,2,3... Optional: number of
repetitions,
Default "0": unlimited
in time
UINT32 Reserve (TC3)
}

436 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00000033 Write SERVO { Sinus Oscillation Se- Modified from
quence TC3
- used as single sinus
oscillation (sinus gen-
erator)
- used as sinus oscilla-
tion sequence (e.g. for
bode plot)
UINT32 ENUM 1 Start type [} 489]
(fixed to start type 1
yet)
UINT32 Reserve (TC3)
REAL64 e.g. mm/ > 0.0 base amplitude (e.g.
s 2.5 mm/s)
REAL64 Hz [0.0 .... 10.0] base frequency (e.g.
1.953125 Hz)
REAL64 e.g. mm/ ≥ 0.0 start amplitude at be-
s gin (e.g. 0.0 mm/s)
REAL64 e.g. mm/ > 0.0 feed constant motor
REV (per motor turn) (e.g.
10.0 mm/REV)
REAL64 Hz ≥ 1.0 frequency range: start
frequency (e.g. 20.0
Hz)
REAL64 Hz ≤ 1/(2*dT) frequency range: stop
frequency (e.g. 500.0
Hz)
REAL64 s > 0.0 step duration (e.g.
2.048s)
UINT32 1 [1 ... 200] number of measure-
ments (step cycles)
(e.g. 20)
UINT32 1 number of parallel
measurements (e.g. 1)
not used yet!
}

TF5100 TwinCAT 3 NC I Version: 1.2 437

Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00000040 Write Master/Slave { Master/slave coupling Extension for
(0x00n00040) coupling: (SERVO): "flying saw"!
(SERVO) UINT32 ENUM s. appendix Slave type/ [} 491]cou- Angle >0.0 and
pling type (see appen- £ 90.0 degrees
dix) (parallel saw:
UINT32 1 [1...255] Axis ID of the master 90.0 degrees)
axis/group
UINT32 1 [0...8] Subindex n of the
master axis (default:
value: 0)
UINT32 1 [0...8] Subindex n of the
slave axis (default:
value: 0)
REAL64 1 [±1000000.0] Parameter 1: linear:
Gearing factor
FlySawVelo: Reserve
FlySaw: abs. synchron
position master [mm]
REAL64 1 [±1000000.0] Parameter 2: linear:
Reserve
FlySawVelo: Reserve
FlySawPos: Abs. syn-
chronous position
slave [mm]
REAL64 1 [±1000000.0] Parameter 3: linear:
Reserve
FlySawVelo: Angle of
inclination in [DE-
GREE]
FlySawPos: angle of
inclination in [DE-
GREE]
REAL64 1 [±1000000.0] Parameter 4: linear:
Reserve
FlySawVelo: Gearing
factor
FlySawPos: Gearing
factor
}

438 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00000040 Write Master/Slave { Master/slave coupling Multi-master
(0x00n00040) coupling: (SERVO): coupling
(SERVO) UINT32 ENUM s. appendix (MC_GearIn-
Slave type/ [} 491]cou-
MultiMaster)
pling type (see appen-
dix) Version V1 and
UINT32 1 [1...255] Axis ID of the master V2
axis/group Modified from
UINT32 1 [1...8] Subindex n of the TC3
master axis (default:
value: 0)
UINT32 1 [1...8] Subindex n of the
slave axis (default:
value: 0)
UINT32 1 [0...255] Axis ID master 2
UINT32 1 [0...255] Axis ID master 3
UINT32 1 [0...255] Axis ID master 4
UINT32 1 [0...255] Reserve (axis ID mas-
ter 5)
UINT32 1 [0...255] Reserve (axis ID mas-
ter 6)
UINT32 1 [0...255] Reserve (axis ID mas-
ter 7)
UINT32 1 [0...255] Reserve (axis ID mas-
ter 8)
UINT32 Reserve (TC3)
REAL64 e.g. mm/ Maximum accelera-
s^2 tion/deceleration of the
slave axis
UINT32 1 ≥0 Control mask, not yet
in use
(check and operation
mode for profile)
UINT32 Reserve (TC3)
Extension V2 (Optional):
REAL64 e.g. mm/ ≥ 0.0 Maximum deceleration
s^2 of the slave axis
REAL64 e.g. mm/ ≥ 0.0 Maximum jerk of the
s^3 slave axis
REAL64 e.g. mm/ ≥ 0.0 Maximum velocity of
s the slave axis
REAL64 Reserve
REAL64 Reserve
} 64 or 104
bytes

0x00000041 Write Master/slave VOID Master/slave decou-

decoupling pling (SERVO)
(SERVO)

TF5100 TwinCAT 3 NC I Version: 1.2 439

Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00000041 Write Master/slave { Master/slave decou- not yet re-
decoupling with pling with configurable leased!
configurable fol- follow-up function (e.g.
Modified from
low-up function new end position, new
TC3
(SERVO) velocity, stop, E-stop)
(SERVO)
UINT32 ENUM s. appendix Decoupling type
[} 491] (see appendix)
UINT32 Reserve (TC3)
REAL64 e.g. mm ±∞ Optional: new end po-
sition
REAL64 e.g. mm/ > 0.0 Optional: new re-
s quested velocity
REAL64 e.g. mm/ ≥ 0.0 Optional: acceleration
s^2 (0: Default) for new end position,
new velocity and
emergency stop (E-
stop)
REAL64 e.g. mm/ ≥ 0.0 Optional: deceleration
s^2 (0: Default) for new end position,
new velocity and
emergency stop (E-
stop)
REAL64 e.g. mm/ ≥ 0.0 Optional: jerk for new
s^3 (0: Default) end position, new ve-
locity and emergency
stop (E-stop)
}
0x00000042 Write Master / slave { Change of the cou-
coupling type: pling parameters
LINEAR (SERVO):
(&SPECIAL) REAL64 1 [±1000000.0] Parameter 1: Linear:
Gearing factor
REAL64 1 [±1000000.0] Parameter 2: Linear:
Reserve
REAL64 1 [±1000000.0] Parameter 3: Linear:
Reserve
REAL64 1 [±1000000.0] Parameter 4: Linear:
Reserve
}
0x00000043 Write Master / slave { Change of the table
table- coupling coupling parameters
type: TABULAR (SERVO):
REAL64 mm ±∞ Slave position offset
REAL64 mm ±∞ Master position offset
}
0x00000043 Write Master / slave { Change of the table Also for "Motion
table- coupling coupling parameters Function"
type: TABULAR (SERVO):
and REAL64 mm ±∞ Slave position offset
"Motion Func-
tion" REAL64 mm ±∞ Master position offset
REAL64 1 ±∞ (<> 0.0) Slave position scaling
REAL64 1 ±∞ (<> 0.0) Master position scal-
ing
}

440 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00000043 Write Master / slave { Change of the table
table- coupling coupling parameters
type: TABULAR (SERVO):
REAL64 mm ±∞ Slave position offset
REAL64 mm ±∞ Master position offset
REAL64 1 ±∞ (<> 0.0) Slave position scaling
REAL64 1 ±∞ (<> 0.0) Master position scal-
ing
REAL64 e.g. mm ±∞ Absolute master acti-
vation position
}
0x00000044 Write Slave-Stop VOID Stop the "flying Only for "flying
(SERVO) saw" (SERVO) saw"
0x00000045 Write Master/slave ta- { Master/slave table
(0x00n00045) ble coupling coupling (SERVO):
(SERVO) UINT32 ENUM s. appendix Slave type/coupling
type [} 491] (see ap-
pendix)
UINT32 1 [1...255] Axis ID of the master
axis
UINT32 1 [0...8] Subindex n of the
master axis (default:
value: 0)
UINT32 1 [0...8] Subindex n of the
slave axis (default:
value: 0)
SOLO TABLE SEC-
TION:
REAL64 mm ±∞ Slave position offset
(type: TABULAR)
REAL64 mm ±∞ Master position offset
(type: TABULAR)
UINT32 1 [0,1] Slave positions abso-
lute (type: TABULAR)
UINT32 1 [0,1] Master positions abso-
lute (type: TABULAR)
UINT32 1 [1...255] Table ID of the cou-
pling table (type: TAB-
ULAR)
MULTI-TABLE SEC-
TION:
UINT16 1 [0...8] Number of tables
(type: MULTITAB)
Note: misused as in-
terpolation type for
solo tables
UNIT16 1 [0...8] Number of profile ta-
bles (type: MULTI-
TAB)
UNIT32[8] 1 [1...255] Tables IDs of the cou-
pling tables (type:
MULTITAB)
}
0x00000046 Write Master / slave UINT32 1 [1...255] Correction table acti-
multi-tables vation, correction table
ID
0x00000046 Write Master / slave { Activation of correction Modified from
multi-tables table TC3
UINT32 1 [1...255] correction table ID
UINT32 Reserve (TC3)
REAL64 e.g. mm ±∞ Absolute master acti-
vation position
}

TF5100 TwinCAT 3 NC I Version: 1.2 441

Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00000047 Write Master / slave UINT32 1 [1..255] Deactivation of profile
multi-tables table at the end of the
cycle, table ID of the
current monocyclic
profile table
0x00000048 ReadWrite Master / slave Write: UINT32 1 [1..255] Read the last correc-
multi-tables tion offset: Table ID of
the correction table
Read: REAL32 e.g. mm ±∞ Offset by departing the
correction table with
the according table ID
0x00000049 Write Master / slave REAL64 1 ±∞ Change the slave ta-
table- coupling ble scaling factor for
type: TABULAR the slave table column
(default value: 1.0)

442 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x0000004A(0x Write Master / slave { Master / slave solo ta- Modified from
00n0004A) universal table ble coupling (SERVO): TC3
coupling UINT32 ENUM s. appendix Slave type/coupling
(SERVO)
type [} 491] (see ap-
pendix)
UINT32 1 [1...255] Axis ID of the master
axis
UINT32 1 [0...8] Subindex n of the
master axis (default:
value: 0)
UINT32 1 [0...8] Subindex n of the
slave axis (default:
value: 0)
UINT32 1 1...255] Table ID of the cou-
pling table (type: TAB-
ULAR)
UINT32 1 Tabular interpolation
type
REAL64 mm ±∞ Slave position offset
(type: TABULAR)
REAL64 mm ±∞ Master position offset
(type: TABULAR)
REAL64 mm ±∞ Slave position scaling
(type: TABULAR)
REAL64 mm ±∞ Master position scal-
ing (type: TABULAR)
UINT32 1 [0,1] Slave position abso-
lute ?
(Type: TABULAR)
UINT32 1 [0,1] Master position abso-
lute ?
(Type: TABULAR)
UINT32 ENUM s. appendix Activation type of the
change:
0: 'instantaneous' (de-
fault)
1: 'at master cam posi-
tion'
2: 'at master axis posi-
tion'
3: 'next cycle'
UINT32 Reserve (TC3)
REAL64 mm ±∞ Activation position
UINT32 ENUM s. appendix Master scaling type:
0: user defined (de-
fault)
1: scaling with auto
offset
2: off
UINT32 ENUM s. appendix Slave scaling type:
0: user defined (de-
fault)
1: scaling with auto
offset
2: off
}

TF5100 TwinCAT 3 NC I Version: 1.2 443

Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x0000004A(0x Write Master / slave { Master / slave solo ta- Modified from
00n0004A) universal table ble coupling (SERVO): TC3
coupling UINT32 ENUM s. appendix Slave type/coupling
(SERVO)
type [} 491] (see ap-
pendix)
UINT32 1 [1...255] Axis ID of the master
axis
UINT32 1 [0...8] Subindex n of the
master axis (default:
value: 0)
UINT32 1 [0...8] Subindex n of the
slave axis (default:
value: 0)
UINT32 1 1...255] Table ID of the cou-
pling table (type: TAB-
ULAR)
UINT32 1 Tabular interpolation
type
REAL64 mm ±∞ Slave position offset
(type: TABULAR)
REAL64 mm ±∞ Master position offset
(type: TABULAR)
REAL64 mm ±∞ Slave position scaling
(type: TABULAR)
REAL64 mm ±∞ Master position scal-
ing (type: TABULAR)
UINT32 1 [0,1] Slave position abso-
lute ?
(Type: TABULAR)
UINT32 1 [0,1] Master position abso-
lute ?
(Type: TABULAR)
UINT32 ENUM s. appendix Activation type of the
change:
0: 'instantaneous' (de-
fault)
1: 'at master cam posi-
tion'
2: 'at master axis posi-
tion'
3: 'next cycle'
UINT32 Reserve (TC3)
REAL64 mm ±∞ Activation position
UINT32 ENUM s. appendix Master scaling type:
0: user defined (de-
fault)
1: scaling with auto
offset
2: off
UINT32 ENUM s. appendix Slave scaling type:
0: user defined (de-
fault)
1: scaling with auto
offset
2: off
Extension for MultiCam:
UINT32 ENUM s. appendix Cam Operation Mode
UINT32 1 [1…255] Reference table ID
BYTE[104] Reserve (TC3)
}

444 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x0000004B(0x Write Master / slave { Master / slave syn- Modified from
00n0004B) universal flying chronizing coupling TC3
saw (SERVO) (SERVO):
UINT32 ENUM s. appendix Slave type/coupling
type (see appendix)
UINT32 1 [1...255] Axis ID of the master
axis
UINT32 1 [0...8] Subindex n of the
master axis (default:
value: 0)
UINT32 1 [0...8] Subindex n of the
slave axis (default:
value: 0)
REAL64 1 ±∞ (<> 0.0) Gearing factor
REAL64 mm ±∞ Master synchron posi-
tion
REAL64 mm ±∞ Slave synchron posi-
tion
REAL64 mm/s ≥ 0.0 Slave velocity (op-
tional)
REAL64 mm/s^2 ≥ 0.0 Slave acceleration
(optional)
REAL64 mm/s^2 ≥ 0.0 Slave deceleration
(optional)
REAL64 mm/s^3 ≥ 0.0 Slave jerk (optional)
UINT32 1 ≥0 Bit mask (default
value: 0)
UINT32 Reserve (TC3)
}

0x0000004D(0x Write Master / slave { Change of the table Modified from

00n0004D) table- coupling scaling (SERVO): TC3
type: TABULAR UINT32 ENUM s. appendix Activation type of the
and MF change0: 'instanta-
neous' (default)
1: at master cam posi-
tion'
2: 'at master axis posi-
tion'
3: 'next cycle'
UINT32 Reserve (TC3)
REAL64 e.g. mm ±∞ Activation position
UINT32 ENUM s. appendix Master scaling type
0: user defined (de-
fault)
1: scaling with auto
offset
2: off
UINT32 ENUM s. appendix Slave scaling type
0: user defined (de-
fault)
1: scaling with auto
offset
2: off
REAL64 e.g. mm ±∞ Master position offset
REAL64 e.g. mm ±∞ Slave position offset
REAL64 1 ±∞ (<> 0.0) Master position scal-
ing
REAL64 1 ±∞ Slave position scaling
Optional extension for MultiCam:
UINT32 1 ≥0 Cam Table ID
UINT32 Reserve (TC3)
}

0x00000050 Write every VOID Deactivate complete

axis (disable)

TF5100 TwinCAT 3 NC I Version: 1.2 445

Appendix

Index offset Access Axis type Data type Phys. Definition Description Note
( Hex ) unit range
0x00000051 Write every VOID Activate complete axis
(enable)
0x00000052 Write SERVO { Change of the active Modified from
axis control loop (triple TC3
from encoder, con-
troller and axis inter-
faces) with/without ex-
ternal set value speci-
fication:
UINT32 1 ≥0 Number/index of the
axis control loop
(default -value: 0)
UINT32 ENUM see Annex (>0) Switching type for syn-
chronization behavior
[} 500]
1: 'Standard'
REAL64 1 ±∞ Synchronization value
for switching (optional)
UINT32 0/ 1 0/1 External set value
specification by means
of axis interface ?
Note: not used so far!
UINT32 Reserve (TC3)
}

0x00000060 Write every VOID Deactivate drive out-

put (disable)
0x00000061 Write every VOID Activate drive output
(enable)
0x00000062 Write high/low UINT16 1 0/1 Release parking
brake? 0: automatic
activation (default)
1: must always be re-
leased! Note:
reset to '0' when reset-
ting the axis!
0x00000063 Write for SERCOS/ { Activate "Drive Opera- NEW from TC
SoE only tion Mode" (e.g. Posi- 3.1 B4020 (NC
tion Velo, Torque, etc.) 4249)
UINT32 ENUM [0; 101, 102, …, new "Drive Operation Always to SAF
[} 497] 107] Mode" (generic Port 501!
(see ap- modes)
pendix)
UINT32 1 0 Reserve
UINT32 1 0 Reserve
UINT32 1 0 Reserve
}

0x00000070 Write every VOID Return of the axis

from, e.g. a 3D group
to its own PTP group

446 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

7.8.4.4 "Index offset" specification for cyclic Axis process data (Index group
0x4300 + ID)

TF5100 TwinCAT 3 NC I Version: 1.2 447

Appendix

Index-Offset Access Axis type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00n00000 Read / Write every { 128 bytes} STRUCT see AXIS STRUCTURE Write command
(PLC→NC) axis interface (PLC→NC) n = 0: only optional!
standard axis interface Be aware of
n > 0: n-th axis inter- safety aspects!
face (optional) PLCTONC_AXI
S_REF
0x00n00001 Read / Write every UINT32 1 >0 Control double word Write command
(PLC→NC) only optional!
0x00n00002 Read / Write every UINT16 1 0/1 Enable controller Cannot be
(PLC→NC) traced by oscil-
loscope!
0x00n00003 Read / Write every UINT16 1 0/1 Feed enable plus Cannot be
(PLC→NC) traced by oscil-
loscope!
0x00n00004 Read / Write every UINT16 1 0/1 Feed enable minus Cannot be
(PLC→NC) traced by oscil-
loscope!
0x00n00007 Read / Write every UINT16 1 0/1 Referencing cam Cannot be
(PLC→NC) traced by oscil-
loscope!

0x00n00021 Read / Write every UINT32 % 0...1000000 speed override Write command
(PLC→NC) (1000000 == 100%) only optional!
0x00n00022 Read / Write every UINT32 1 ENUM operation mode axis Write command
(PLC→NC) only optional!
0x00n00025 Read / Write every REAL64 e.g. mm Actual position correc- Write command
(PLC→NC) tion value (measure- only optional!
ment system error cor-
rection)

0x00n00026 Read / Write every REAL64 e.g. mm/ External controller Write command
(PLC→NC) s component (position only optional!
controller component)

0x00n00027 Read / Write every { External setpoint gen- Write command

(PLC→NC) eration only optional!
REAL64 e.g. mm ±∞ External set position
REAL64 e.g. mm/ ±∞ External set velocity Modified from
s TC3
REAL64 e.g. mm/ ±∞ External set accelera-
s^2 tion
INT32 1 +1, 0, -1 External set travel di-
rection
UINT32 Reserve (TC3)
REAL64 Reserve (TC3)
}

0x00n00080 Read every { 256 bytes} STRUCT see AXIS STRUCTURE Changed from
(PLC→NC) axis interface (NC→PLC) Note: Size TC3.NCTO-
and alignment PLC_AXIS_RE
changed, n = 0: stan- F
dard axis interface
n > 0: n-th axis inter-
face (optional)
0x00n00071 Read every UINT8 1 >0 Status double word:
(PLC→NC) Byte 1
0x00n00072 Read every UINT8 1 >0 Status double word:
(PLC→NC) Byte 2
0x00n00073 Read every UINT8 1 >0 Status double word:
(PLC→NC) Byte 3
0x00n00074 Read every UINT8 1 >0 Status double word:
(PLC→NC) Byte 4
0x00n00081 Read every UINT32 1 >0 Status double word
(PLC→NC) (complete)
0x00n00082 Read every UINT16 1 0/1 Axis is ready for oper- Cannot be
(PLC→NC) ation traced by oscil-
loscope!

448 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index-Offset Access Axis type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00n00083 Read every UINT16 1 0/1 Axis has been refer- Cannot be
(PLC→NC) enced traced by oscil-
loscope!
0x00n00084 Read every UINT16 1 0/1 Axis in protected oper- Cannot be
(PLC→NC) ation mode (e.g. slave traced by oscil-
axis) loscope!
0x00n00085 Read every UINT16 1 0/1 Axis is in rapid mode Cannot be
(PLC→NC) traced by oscil-
loscope!
0x00n00088 Read every UINT16 1 0/1 Axis has invalid IO Cannot be
(PLC→NC) data traced by oscil-
loscope!
0x00n00089 Read every UINT16 1 0/1 Axis is in an error Cannot be
(PLC→NC) state traced by oscil-
loscope!
0x00n0008A Read every UINT16 1 0/1 Axis moving to larger Cannot be
(PLC→NC) values traced by oscil-
loscope!
0x00n0008B Read every UINT16 1 0/1 Axis moving to smaller Cannot be
(PLC→NC) values traced by oscil-
loscope!
0x00n0008C Read every UINT16 1 0/1 Axis is at logical Cannot be
(PLC→NC) standstill traced by oscil-
(only set values are loscope!
considered)
(position controller?)
0x00n0008D Read every UINT16 1 0/1 Axis is being refer- Cannot be
(PLC→NC) enced traced by oscil-
loscope!
0x00n0008E Read every UINT16 1 0/1 Axis is in position win- Cannot be
(PLC→NC) dow traced by oscil-
loscope!
0x00n0008F Read every UINT16 1 0/1 Axis is at target posi- Cannot be
(PLC→NC) tion (target position traced by oscil-
reached) loscope!

0x00n00090 Read every UINT16 1 0/1 Axis has constant ve- Cannot be
(PLC→NC) locity or rotary speed traced by oscil-
loscope!
0x00n0009A Read every UINT16 1 0/1 Operation mode not Cannot be
(PLC→NC) executed (busy) traced by oscil-
loscope!
0x00n0009B Read every UINT16 1 0/1 Axis has instructions, Cannot be
(PLC→NC) is carrying instructions traced by oscil-
out loscope!

0x00n000B1 Read every UINT32 1 ≥0 Axis error code

(PLC→NC)
0x00n000B2 Read every UINT32 1 ENUM Motion state of the
(PLC→NC) axis (master state
[} 497] / slave state
[} 498])
0x00n000B3 Read every UINT32 1 ENUM Operation mode of the
(PLC→NC) axis (rev. NC)
0x00n000B4 Read every UINT32 1 ENUM Axis referencing status
(PLC→NC)
0x00n000B5 Read every UINT32 1 ENUM Axis coupling state
(PLC→NC)
0x00n000B6 Read every UINT32 1 ≥0 SVB entries/tasks of
(PLC→NC) the axis (PRE table)
0x00n000B7 Read every UINT32 1 ≥0 SAF entries/tasks of
(PLC→NC) the axis (EXE table)
0x00n000B8 Read every UINT32 1 ≥0 Axis ID
(PLC→NC)

TF5100 TwinCAT 3 NC I Version: 1.2 449

Appendix

Index-Offset Access Axis type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00n000B9 Read every UINT32 1 ≥0 Operation mode status
(PLC→NC) double word: bit 0: po-
sition range monitoring
active?
Bit 1: target position
window monitoring ac-
tive?
Bit 2: Loop path ac-
tive?
Bit 3: physical move-
ment monitoring ac-
tive?
Bit 4: PEH time moni-
toring active?
Bit 5: backlash com-
pensation active?
Bit 6: delayed error re-
action mode active?
Bit 7: modulo opera-
tion mode active
(modulo axis)?
Bit 16: trailing separa-
tion monitoring posi-
tion active?
Bit 17: following error
monitoring speed ac-
tive?
Bit 18: end position
monitoring min. ac-
tive?
Bit 19: end position
monitoring max. ac-
tive?
Bit 20: actual position
correction active?
0x00n000BA Read every REAL64 e.g. mm Actual position (calcu-
(PLC→NC) lated absolute value)
0x00n000BB Read every REAL64 e.g. mm Modulo actual position
(PLC→NC)
0x00n000BC Read every INT32 1 Modulo rotations
(PLC→NC)
0x00n000BD Read every REAL64 e.g. mm/ Actual velocity (op-
(PLC→NC) s tional)
0x00n000BE Read every REAL64 e.g. mm Following error posi-
(PLC→NC) tion
0x00n000BF Read every REAL64 e.g. mm Set position
(PLC→NC)
0x00n000C0 Read every REAL64 e.g. mm/ Set velocity
(PLC→NC) s
0x00n000C1 Read every REAL64 e.g. mm/ Set acceleration
(PLC→NC) s^2

0x00n10000 Read / Write Encoder: every { 40 bytes STRUCT see ENCODER-OUTPUT- Write command
(NC→IO) } encoder IO in- STRUCTURE only optional!
terface (NC→IO, 40 bytes) Consider safety
NCENCODER- aspects!
STRUCT_OUT2
0x00n10080 Read Encoder: every { 40 bytes STRUCT see ENCODER-INPUT-
(IO→NC) } encoder IO in- STRUCTURE
terface (IO→NC, 40
bytes)NCENCODER-
STRUCT_IN2

0x00n30000 Read / Write Drive: every { 40 bytes STRUCT see DRIVE-OUTPUT- Write command
(NC→IO) } drive IO inter- STRUCTURE only optional!
face (NC→IO, 40 bytes) Consider safety
NC- aspects!
DRIVESTRUCT_OUT
2

450 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index-Offset Access Axis type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00n30080 Read Drive: every { 40 bytes STRUCT see DRIVE-INPUT-
(IO→NC) } drive IO inter- STRUCTURE
face (NC→IO, 40 bytes)
NC-
DRIVESTRUCT_IN2

TF5100 TwinCAT 3 NC I Version: 1.2 451

Appendix

7.8.5 Specification Encoder

7.8.5.1 "Index offset" specification for Encoder parameter (Index group 0x5000 +
ID)

452 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index offset Access group- type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x00000001 Read every UINT32 1 [1 ... 255] Encoder ID
0x00000002 Read every UINT8[30+1] 1 30 symbol Encoder name
0x00000003 Read every UINT32 1 s. ENUM (>0) Encoder type [} 493]
0x00000004 Read / Write every UINT32 1 Byteoffset input address offset (IO- change I/O ad-
Input-Image) dress
0x00000005 Read / Write every UINT32 1 Byteoffset output address offset (IO- change I/O ad-
Output-Image) dress
0x00000006 Read / Write every REAL64 e.g. mm/ [1.0E-12 ... resulting scaling factor
INC 1.0E+30] (numerator / denomina-
tor)

Note: From TC3 there

exists two components
for the encoder scaling
factor, numerator and de-
nominator (default: 1.0).
0x00000007 Read / Write every REAL64 e.g. mm [1.0E+9] position offset
0x00000008 Read / Write every UINT16 1 [0,1] encoder count direction
0x00000009 Read / Write every REAL64 e.g. mm [0.001 ... 1.0E modulo factor
+9]
0x0000000A Read / Write every UINT32 1 s. ENUM (>0) Encoder mode [} 494]
0x0000000B Read / Write every UINT16 1 0/1 soft end min. monitor-
ing ?
0x0000000C Read / Write every UINT16 1 0/1 soft end max. monitor-
ing ?
0x0000000D Read / Write every REAL64 mm soft end position min.
0x0000000E Read / Write every REAL64 mm soft end position max.
0x0000000F Read / Write every UINT32 1 s. ENUM (≥0)s. encoder analysis direc-
appendix tion [} 494]
0x00000010 Read / Write every REAL64 s [0.0...60.0] filter time for actual posi-
tion value in seconds (P-
T1)
0x00000011 Read / Write every REAL64 s [0.0...60.0] filter time for actual veloc-
ity value in seconds (P-
T1)
0x00000012 Read / Write every REAL64 s [0.0...60.0] filter time for actual accel-
eration value in seconds
(P-T1)
0x00000013 Read / Write every UINT8[10+1] 1 physical unit Not imple-
mented!
0x00000014 Read / Write every UINT32 1 interpretation of the units Not imple-
(position, velocity, time) mented!
Bit 0: velocity in x/min in- Bitarray
stead of x/s
Bit 1: position in thou-
sand part of the base unit
0x00000015 Read every UINT32 INC [0x0... Standard Encoder Mask NEW
0xFFFFFFFF] (maximum incremental
encoder feedback value) ReadOnly pa-
rameters.
Note: The Encoder param. "En-
Mask can hold any value coder Sub
(e.g. 3600000), not only a Mask"
continuous sequence of
binary 1 bits (2n-1).
0x00000015 Read every (for 64 bit UINT64 INC [0x0... Optional 64 Bit Encoder NEW from TC3
encoder feed- 0x0000FFFFFF Mask (maximum incre-
back) FFFFFF] mental encoder feedback
value)

Note: Only supported for

the encoder type MDP
513 with 64 bit interface
like EL5032 (DS402, En-
Dat2.2).

TF5100 TwinCAT 3 NC I Version: 1.2 453

Appendix

Index offset Access group- type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x00000016 Read / Write every UINT16 1 0/1 actual position compen-
sation
(measuring system error
compensation )?
0x00000017 Read / Write every REAL64 s [0.0...60.0] filter time for actual posi-
tion compensation in sec-
onds (P-T1)
0x00000018 Read / Write every UINT32 1 [0x0... filter mask for row incre-
0xFFFFFFFF] mantal value(0x0: full
passage)
0x00000019 Read / Write every UINT32 1 s. ENUM (≥0)s. encoder absolute dimen-
appendix sioning system [} 494]
0x0000001B Read / Write every REAL64 e.g. mm [≥0, modulo- tolerance window for
factor/2] modulo-start
0x0000001C Read every UINT32 1 s. ENUM (≥0) encoder sign interpreta-
tion [} 494] (data type)
0x0000001D Read every UINT16 1 0/1 Incremental- or absolut-
encoder ?
0: incremental encoder
type
1: absolute encoder type
0x00000020 Read / Write every UINT32 1 s. ENUM (≥0) Encoder dead time com-
pensation mode
0: OFF (Default)
1: ON (with velocity)
2: ON (with velocity and
acceleration)
0x00000021 Read / Write every UINT32 1 Control double word (32
Bit) for the encoder dead
time compensation:Bit 0
= 0: relative IO time (de-
fault)
Bit 0 = 1: absolute IO
time
0x00000022 Read / Write every INT32 ns [1.0E+9] Sum of the parameter-
ized time shift for the en-
coder dead time compen-
sation (typically positive
values)
0x00000023 Read / Write every REAL64 e.g. mm/ [1.0E-12 ... component of the scaling NEW from TC3
INC 1.0E+30] factor: numerator
(=> scaling factor numer-
ator / scaling factor de-
nominator)
0x00000024 Read / Write every REAL64 1 [1.0E-12 ... component of the scaling NEW from TC3
1.0E+30] factor: denominator
(=> scaling factor numer-
ator / scaling factor de-
nominator)
default: 1.0
0x00000025 Read / Write every { NEW from TC3
REAL64 e.g. mm/ [1.0E-12 ... component of the scaling
REAL64 INC 1.0E+30] factor: numerator
} 1 [1.0E-12 ... component of the scaling
1.0E+30] factor: denominator
(=> scaling factor numer-
ator / scaling factor de-
nominator)
0x00000030 Read / Write every UINT32 1 Internal Encoder Control NEW from TC3
DWord

0x00000101 Read / Write INC UINT16 1 [0,1] search direction for Ref.
cam inverse?
0x00000102 Read / Write INC 1 [0,1] search direction for sync
pulse inverse?
0x00000103 Read / Write INC REAL64 e.g. mm [1.0E+9] reference positon
0x00000104 Read / Write INC UINT16 1 [0,1] distance moitoring be- Not imple-
tween Ref. cams and mented!
sync pulse active?

454 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index offset Access group- type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x00000105 Read / Write INC UINT32 INC [0 ...65536] minimum distance be- Not imple-
tween Ref. cams and mented!
sync pulse in increments
0x00000106 Read / Write INC UINT16 1 [0,1] external sync pulse?
0x00000107 Read / Write INC UINT32 1 s. ENUM (>0) reference mode [} 495]
s. appendix s.appendix
0x00000108 Read / Write INC UINT32 1 [0x0000000F... Encoder Sub Mask (max- NEW
0xFFFFFFFF]Bi- imum incremental value
nary mask: (2n - of the enocder absolute s. param. "En-
1) range) coder Mask"
For example used as ref-
erence signal for homing
with "Software Sync" or
used for the NC Retain
Data ("ABSOLUTE
(MODULO)", "INCRE-
MENTAL (SINGLETURN
ABSOLUTE)" ).

Note 1: The Encoder

Sub Mask must be less
or equal than the En-
coder Mask.
Note 2: The Encoder
Mask must be an integer
multiple of the Encoder
Sub Mask.
Note 3: The Encoder
Sub Mask must be a con-
tinuous sequence of bi-
nary 1 bits (2n-1); e.g.
0x000FFFFF.

0x00000110 Read / Write INC (encoder REAL64 1 [0.0 ... scaling/weight of the
simulation) 1000000.0] noise part for the simula-
tion encoder

TF5100 TwinCAT 3 NC I Version: 1.2 455

Appendix

7.8.5.2 "Index offset" specification for Encoder state (Index group 0x5100 + ID)

456 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index-Offset Access Group type Data type Phys. Definition Description Note
(Hex) unit range
0x00000001 Read every INT32 error state encoder
0x00000002 Read every REAL64 Actual position symbolic ac-
(charge with actual po- cess possible!
sition compensation 'fPosIst'
value)
0x00000003 Read every REAL64 Modulo actual position symbolic ac-
cess possible!
'FModuloPosIst'
0x00000004 Read every INT32 Modulo actual rotation symbolic ac-
cess possible!
'nModuloTurns'
0x00000005 Read every REAL64 Optional: actual veloc- Base Unit / s
ity Symbolic ac-
cess possible!
'fVeloIst'
0x00000006 Read every REAL64 Optional: Actual accel- Base unit / s^2
eration Symbolic ac-
cess possible!
'fAccIst'
0x00000007 Read every INT32 Encoder actual incre- symbolic ac-
ments cess possible!
'nHardIncs'
0x00000008 Read every INT64 Software - actual in- symbolic ac-
crement counter cess possible!
'nSoftIncs'
0x00000009 Read / Write every UINT16 Reference flag ("cali-
brate flag")
0x0000000A Read every REAL64 Actual position correc-
tion value (measure-
ment system error cor-
rection)
0x0000000B Read every REAL64 Actual position without
actual position com-
pensation value
0x0000000C Read every REAL64 e.g. mm Actual position com-
pensation value due to
the dead time com-
pensation
0x0000000D Read every REAL64 s Sum of the time shifts
for encoder dead time
compensation
(parameterized and
variable dead time)
Note: a dead time is
specified in the system
as a positive value.
0x0000000E Read every REAL64 e.g. mm Internal position offset
as a correction value
for a value reduction
to the base period
(modulo range)
0x00000010 Read every REAL64 e.g. mm/ Actual velocity without
s actual position com-
pensation value
0x00000012 Read every REAL64 e.g. mm Unfiltered actual posi-
tion (charge with ac-
tual position compen-
sation value)
0x00000014 Read Type: SoE, REAL64 e.g. mm/ Optional: Actual drive Base Unit / s
CoE, MDP 742 s velocity (transferred
NEW from
directly from SoE, CoE
TC3.1
or MDP 742 drive)
B4020.30
0x00000015 Read every REAL64 e.g. mm/ Optional: Unfiltered Base Unit / s
s actual velocity

TF5100 TwinCAT 3 NC I Version: 1.2 457

Appendix

Index-Offset Access Group type Data type Phys. Definition Description Note
(Hex) unit range
0x00000016 Read every READ(16 bytes Read the actual posi-
* N) tion buffer
{
UINT32 ns ≥0 DcTimeStamp with 32
bits
UINT32 Reserve
REAL64 e.g. mm ±∞ Actual position for the
associated time stamp
} [N]

0x00000101 Read INC REAL64 e.g. mm Read back the posi- Cannot be
tion difference be- traced by oscil-
tween the hardware loscope!
latch being activated
and becoming valid

0x00000200 ReadWrite function group WRITE(24 read "Touch Probe" Only for SAF-
"Touch- bytes) state (state of external port 501
ProbeV2":- latch)
SERCOS/SoE, {
- EtherCAT/
CoE UINT32 1 [1,2,3,4] probe unit (probe 1, 2,
(CANopen 3, 4)
DS402) UINT32[5] reserved
- SoftDrive }
(TCom),
- MDP 511 READ (64
(EL5101, bytes)
EL5151, {
EL5021, UINT32 1 [0/1] touch probe rising
EL7041, edge active?
EL7342)
UINT32 1 [0/1] touch probe rising
edge became valid?
REAL64 e.g. mm touch probe rising
edge position value
UINT32 1 ≥0 touch probe rising
edge counter (continu-
ous mode)
UINT32 reserved
UINT32 1 [0/1] touch probe falling
edge active?
UINT32 1 [0/1] touch probe falling
edge became valid?
REAL64 e.g. mm touch probe falling
edge position value
UINT32 1 ≥0 touch probe falling
edge counter (continu-
ous mode)
UINT32[5] reserved
}
0x00000201 Read KL5101, UINT16 1 [0,1] "External latch func- Cannot be
SERCOS, tion" active ? traced by oscil-
AX2xxx, or loscope!
ProviDrive "Measuring probe
function" active ?
(edge-independent)
0x00000201 Read CANopen UINT32[4] 1 [0,1] "External latch func- Cannot be
tions 1 to 4" active ? traced by oscil-
or loscope!
"Measuring probe
functions 1 to 4" ac-
tive ?
0x00000202 Read KL5101, UINT16 1 [0,1] External latch value see also Axis
SERCOS, became valid? interface NcTo-
AX2xxx, or Plc (status dou-
ProviDrive Measuring probe ble word)
latched ? (edge-inde-
pendent)

458 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index-Offset Access Group type Data type Phys. Definition Description Note
(Hex) unit range
0x00000202 Read CANopen UINT32[4] 1 [0,1] Have external latch see also Axis
values 1 to 4 become interface NcTo-
valid? Or is measuring Plc (status dou-
probe 1 to 4 latched? ble word)
0x00000203 Read KL5101, UINT32 INC External / measuring
SERCOS, probe hardware incre-
AX2xxx, mental latch value
ProviDrive
0x00000204 Read KL5101, UINT64 INC External / measuring
SERCOS, probe software incre-
AX2xxx, mental latch value
ProviDrive
0x00000205 Read KL5101, REAL64 e.g. mm External / measuring Base Unit
SERCOS, probe position latch
AX2xxx, value
ProviDrive
0x00000205 Read CANopen REAL64[4] e.g. mm External measuring Base Unit
sensor values / posi-
tion latch values
0x00000206 Read KL5101, UINT32 INC Difference hardware Cannot be
SERCOS, incremental latch val- traced by oscil-
AX2xxx, ues (NewLatch - Last- loscope!
ProviDrive Latch)
0x00000207 Read KL5101, UINT64 INC Difference software in- Cannot be
SERCOS, cremental latch values traced by oscil-
AX2xxx, (NewLatch - Last- loscope!
ProviDrive Latch)
0x00000208 Read KL5101, REAL64 e.g. mm Difference software in- Cannot be
SERCOS, cremental latch values traced by oscil-
AX2xxx, (NewLatch - Last- loscope! Base
ProviDrive Latch) Unit

0x00000210 Read KL5101, UINT16 1 [0,1] "External latch func- Cannot be

AX2xxx, tion" for rising edge traced by oscil-
ProviDrive active? loscope!
or
"Measuring probe
function" for rising
edge active?
0x00000210 Read CANopen UINT16[4] 1 [0,1] "External latch func- Cannot be
tion" for rising edge traced by oscil-
active? loscope!
or
"Measuring probe
function" for rising
edge active?
0x00000211 Read KL5101, UINT16 1 [0,1] "External latch func- Cannot be
AX2xxx, tion" for falling edge traced by oscil-
ProviDrive active? loscope!
or
"Measuring probe
function" for falling
edge active?
0x00000211 Read CANopen UINT16[4] 1 [0,1] "External latch func- Cannot be
tion" for falling edge traced by oscil-
active? loscope!
or
"Measuring probe
function" for falling
edge active?

TF5100 TwinCAT 3 NC I Version: 1.2 459

Appendix

7.8.5.3 "Index offset" specification for Encoder functions (Index group 0x5200 +
ID)

460 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index-Offset Access Group type Data type Phys. Definition Description Remarks
(Hex) unit range
0x0000001A Write every { Set actual position en- Base Unit
coder/axis
UINT32 ENUM s. appendix Actual position type
[} 490] (s. appendix)
REAL64 mm ±∞ Actual position for en-
coder/axis Caution
when using !
}
0x0000001B Write every VOID Re-initialization of the NEW from TC3
actual encoder posi-
tion
Note: Only takes effect
for reference system
“ABSOLUTE (with sin-
gle overflow)”.

0x00000200 Write function group { activate "Touch only for SAF-

"Touch- Probe" (external latch) port 501
ProbeV2": UINT32 1 [1,2,3,4] probe unit (probe 1, 2,
3, 4)
- SERCOS/
SoE, UINT32 1 [0,1] signal edge (0=rising
- EtherCAT/ edge, 1=falling edge)
CoE UINT32 1 [1,2] probe mode (1=single,
(CANopen 2=continuous, ...)
DS402) UINT32 1 [1,2,3,4; signal source (1=input
- SoftDrive 128,129] 1, 2=input 2, ...)
(TCom),
- MDP 511 UINT32 reserved
(EL5101, UINT32 reserved
EL5151, } 24 bytes
EL5021,
EL7041,
EL7342)
0x00000201 Write KL5101,SER- VOID Activate "External
COS,AX2xxx,P Latch" or
ROFIDrive Activate "measuring
probe function" (typi-
cally rising edge)
0x00000201 Write CANopen UINT32[4] Activate "External
Latch" 1 to 4 or
Activate "measuring
probe function" 1 to 4
(typically rising edge)
0x00000202 Write KL5101,SER- VOID Activate "external
COSAX2xxx,P latch" or activate
ROFIDrive "measuring probe
function" (falling edge)
0x00000202 Write CANopen UINT32[4] Activate "external
latch" 1 to 4 or activate
"measuring probe
function" 1 to 4 (falling
edge)
0x00000205 Write function group { Deactivate "touch only for SAF-
"Touch- probe" (external latch) port 501
ProbeV2": UINT32 1 [1,2,3,4] probe unit (probe 1, 2,
3, 4)
- SERCOS/
SoE, UINT32 1 [0,1] signal edge (0=rising
- EtherCAT/ edge, 1=falling edge)
CoE UINT32 reserved
(CANopen UINT32 reserved
DS402)
- SoftDrive UINT32 reserved
(TCom), UINT32 reserved
- MDP 511 } 24 bytes
(EL5101,
EL5151,
EL5021,
EL7041,
EL7342)

TF5100 TwinCAT 3 NC I Version: 1.2 461

Appendix

Index-Offset Access Group type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00000205 Write KL5101,SER- VOID Deactivate "external
COS,AX2xxx,P latch" or deactivate
ROFIDrive "measuring probe
function"
0x00000205 Write CANopen UINT32[4] Deactivate "external
latch" or deactivate
"measuring probe
function"

0x00000210 Write KL5101,SER- REAL64 e.g. mm ±∞ Set "External latch Only for Ether-
COS,AX2xxx,P event" and "External CAT:
ROFIDrive latch position"

462 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

7.8.5.4 "Index offset" specification for cyclic Encoder process data (Index group
0x5300 + ID)

TF5100 TwinCAT 3 NC I Version: 1.2 463

Appendix

Index offset Access group- type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x00000000 Read / Write every (NC→IO) { STRUCT s. en- ENCODER-OUTPUT- Write command
coder-interface STRUCTURE (NC→IO, only optional!
40 Byte)NCENCODER- Consider safety
STRUCT_OUT2 aspects !
INT32 INC ≥0 nDataOut1
INT32 INC ≥0 nDataOut2
UINT8 1 ≥0 nCtrl1
UINT8 1 ≥0 nCtrl2
UINT8 1 ≥0 nCtrl3
UINT8 1 ≥0 nCtrl4
INT32 INC ≥0 nDataOut3
INT32 INC ≥0 nDataOut4
INT32 INC ≥0 nDataOut5
INT32 INC ≥0 nDataOut6
UINT8 1 ≥0 nCtrl5
UINT8 1 ≥0 nCtrl6
UINT8 1 ≥0 nCtrl7
UINT8 1 ≥0 nCtrl8
INT32 1 ≥0 reserved
INT32 1 ≥0 reserved
} 40 bytes
0x00000000 Read / Write every { STRUCT s. en- optional ENCODER- Write command
(NC→IO), op- coder-interface OUTPUT-STRUCTURE only optional!
tional 64 bit en- (NC→IO, 80 Byte)NCEN- Consider safety
coder interface CODERSTRUCT_OUT3 aspects !NEW
(e.g. MDP513 from TC3
with 64Bit) UINT64 INC ≥0 nDataOut1
UINT64 INC ≥0 nDataOut2
UINT64 INC ≥0 nDataOut3
UINT64 INC ≥0 nDataOut4
UINT64 INC ≥0 nDataOut5
UINT64 INC ≥0 nDataOut6
UINT64 INC ≥0 nDataOut7
UINT64 INC ≥0 nDataOut8
UINT16 1 ≥0 nCtrl1
UINT16 1 ≥0 nCtrl2
UINT16 1 ≥0 nCtrl3
UINT16 1 ≥0 nCtrl4
UINT16 1 ≥0 nCtrl5
UINT16 1 ≥0 nComCtrl
INT32 1 ≥0 reserved
} 80 bytes

464 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index offset Access group- type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x00000001 Write Every { STRUCT s. En- Bitwise access to Write command
(NC→IO) coder-Interface only optional!
ENCODER-OUTPUT-
Consider safety
STRUCTURE (NC→IO,
aspects !NEW
40 Byte) NC-
from TC3
DRIVESTRUCT_OUT2
UINT32 1 [0 … 39] ByteOffset
Relative address offset
[0..39] in drive output
structure.
E.G.: To write “nCon-
trol1” the ByteOffset must
be 8.
UINT32 1 [0x00000000… BitSelectMask (BSM)
0xFFFFFFFF]
The mask defines write
enabled bits in a
DWORD. Zero bits are
protected and remain un-
affected.
UINT32 1 [0x00000000… Value
0xFFFFFFFF]
Only those bits in value
are overwritten where
BSM equals 1.
}

0x00000080 Read every (IO→NC) { STRUCT s. en- ENCODER-INPUT-

coder-interface STRUCTURE (IO→NC,
40 Byte)NCENCODER-
STRUCT_IN2
INT32 INC ≥0 nDataIn1
INT32 INC ≥0 nDataIn2
UINT8 1 ≥0 nState1
UINT8 1 ≥0 nState2
UINT8 1 ≥0 nState3
UINT8 1 ≥0 nState4 (Bit0: WcState,
Bit1: InputToggle)
INT32 INC ≥0 nDataIn3
INT32 INC ≥0 nDataIn4
INT32 INC ≥0 nDataIn5
INT32 INC ≥0 nDataIn6
UINT8 1 ≥0 nState5
UINT8 1 ≥0 nState6
UINT8 1 ≥0 nState7
UINT8 1 ≥0 nState8
INT32 [ns] ≥0 nDcInputTime (absolute/
relative DcInputShift for
deadtime compensation)
INT32 1 ≥0 reserved
} 40 bytes

TF5100 TwinCAT 3 NC I Version: 1.2 465

Appendix

Index offset Access group- type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x00000080 Read every { STRUCT s. en- optional ENCODER-IN- NEW from TC3
(NC→IO), op- coder-interface PUT-STRUCTURE
tional 64 bit en- (IO→NC, 80 Byte)NCEN-
coder interface CODERSTRUCT_IN3
(e.g. MDP513 UINT64 INC ≥0 nDataIn1
with 64Bit)
UINT64 INC ≥0 nDataIn2
UINT64 INC ≥0 nDataIn3
UINT64 INC ≥0 nDataIn4
UINT64 INC ≥0 nDataIn5
UINT64 INC ≥0 nDataIn6
UINT64 INC ≥0 nDataIn7
UINT64 INC ≥0 nDataIn8
UINT16 1 ≥0 nState1
UINT16 1 ≥0 nState2
UINT16 1 ≥0 nState3
UINT16 1 ≥0 nState4
UINT16 1 ≥0 nState5
UINT16 1 ≥0 nComState (Bit0: Wc-
State, Bit1: InputToggle)
INT32 [ns] ≥0 nDcInputTime (absolute/
relative DcInputShift for
deadtime compensation)
} 80 bytes

466 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

7.8.6 Specification Controller

7.8.6.1 "Index offset" specification for Controller parameter (Index group 0x6000
+ ID)

TF5100 TwinCAT 3 NC I Version: 1.2 467

Appendix

Index offset Access controller type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x00000001 Read every UINT32 1 [1 ... 255] controller ID
0x00000002 Read every UINT8[30+1] 1 30 symbol controller name
0x00000003 Read every UINT32 1 s. ENUM (>0) controller type [} 492]
0x0000000A Read / Write every UINT32 1 s. ENUM (>0) controller mode DEFAULT:
1=STANDARD
0x0000000B Read / Write every REAL64 % [0.0 ... 1.0] weight of the velocity pre
control (standard value:
1.0 = 100 %)

0x00000010 Read / Write every UINT16 1 0/1 following error monitoring

positon?
0x00000011 Read / Write every UINT16 1 0/1 following error monitoring
velocity?
0x00000012 Read / Write every REAL64 mm [0.0…1.0E.6] max. following error posi-
tion
0x00000013 Read / Write every REAL64 s [0.0...600] max. following error time
position
0x00000014 Read / Write every REAL64 mm/s [0.0…1.0E.6] max. following error ve-
locity
0x00000015 Read / Write every REAL64 s [0.0…1.0E.6] max. following error time
velocity

0x00000021 Read / Write every REAL64 1 [0.0...1000000. scaling factor (multiplier) reserved func-
0] for position differences tion,
between master and no standard!
slave axis (conversion in
the same coordinate sys-
tem)

0x00000100 Read / Write P/PID (Pos., REAL64 1 [0.0...1.0] Maximum output limita- (Standard
(velocity) tion ( ) for controller total value: 0.5 ==
output 50%)
0x00000102 Read / Write P/PID (Pos.) REAL64 mm/s/ [0.0...1000.0] proportional amplification base unit / s /
mm factor kp resp. kv base unit posi-
tion control
0x00000103 Read / Write PID (Pos.) REAL64 s [0.0 ... 60.0] Integral-action time Tn position control
0x00000104 Read / Write PID (Pos.) REAL64 s [0.0 ... 60.0] Derivative action time Tv position control
0x00000105 Read / Write PID (Pos.) REAL64 s [0.0 ... 60.0] Damping time Td position control
0x00000106 Read / Write PP (Pos.) REAL64 mm/s/ [0.0...1000.0] add. proportional amplifi- base unit / s /
mm cation factor kp resp. kv, base unit posi-
that applies above a limit tion control
velocity in percent.
0x00000107 Read / Write PP (Pos.) REAL64 % [0.0...1.0] Threshold level velocity (Standard
in percent, above which value: 0.01 ==
the additional propor- 1%)
tional amplification factor
kp resp. kv applies.
0x00000108 Read / Write P/PID (Acc.) REAL64 s [0.0 ... 100.0] proportional amplification acceleration pre
factor ka control
0x0000010A Read / Write every UINT32 1 ENUM Filter for maximum slope reserved func-
of the nominal velocity tion,
(acceleration restricted): no standard!
0: Off, 1: Velo, 2: Pos
+Velo
0x0000010B Read / Write every REAL64 mm/s^2 Filter value for the maxi- reserved func-
mum slope of the nomi- tion,
nal velocity (max. accel- no standard!
eration)
0x0000010D Read / Write P/PID REAL64 mm [0.0 ... 10000.0] 'dead band' for position reserved func-
error (position deviation) tion
(for P/PID-controller with
velocity or torque inter-
face)
0x0000010F Read / Write P/PP/PID REAL64 (mm/s) / [0.0...1000.0] slave coupling control: slave coupling
(Pos.) mm proportional gain kcp for control
slave-control position deviation be-
tween master and slave

468 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index offset Access controller type Data type Phys. Definition Description Remarks
( Hex ) unit range

0x00000110 Read / Write P (Pos.) UINT16 1 0/1 automatic offset calibra-

tion:
active/passive
0x00000111 Read / Write P (Pos.) UINT16 1 0/1 automatic offset calibra-
tion:
hold mode
0x00000112 Read / Write P (Pos.) UINT16 1 0/1 automatic offset calibra-
tion:
fading mode
0x00000114 Read / Write P (Pos.) REAL64 % [0.0 ... 1.0] automatic offset calibra- (Standard
tion: value: 0.05 ==
pre control limit 5%)
0x00000115 Read / Write P (Pos.) REAL64 s [0.1 ... 60.0] automatic offset calibra-
tion:
time constant
0x00000116 Read / Write PID (Pos.) REAL64 % [0.0...1.0] Maximum output limita-
tion ( ) for I- part in per-
cent (default setting: 0.1
== 10 %)
0x00000117 Read / Write PID (Pos.) REAL64 % [0.0...1.0] Maximum output limita-
tion ( ) for D- part in per-
cent (default setting: 0.1
== 10 %)
0x00000118 Read / Write PID (Pos.) UINT16 1 0/1 Switch off the I-part dur-
ing an active positioning
process (as far as I-part
active)? (default setting:
0 = FALSE)
0x00000120 Read / Write P/PID (Pos.) REAL64 s ≥0 PT-1 Filtertime for posi- reserved func-
tion error (position-differ- tion,
ence) no standard!

0x00000202 Read / Write P/PID (velocity) REAL64 1 [0.0...1000.0] proportional amplification velocity control
factor kp resp. kv
0x00000203 Read / Write PID (velocity) REAL64 s [0.0 ... 60.0] Integral-action time Tn velocity control
0x00000204 Read / Write PID (velocity) REAL64 s [0.0 ... 60.0] Derivative action time Tv velocity control
0x00000205 Read / Write PID (velocity) REAL64 s [0.0 ... 60.0] Damping timeTd velocity control
0x00000206 Read / Write PID (velocity) REAL64 % [0.0...1.0] Maximum output limita- velocity control
tion ( ) for I-part in per-
cent (default setting: 0.1
== 10 %)
0x00000207 Read / Write PID (velocity) REAL64 % [0.0...1.0] Maximum output limita- velocity control
tion ( ) for D-part in per-
cent (default setting: 0.1
= 10 %)
0x0000020D Read / Write P/PID (velocity) REAL64 mm/s [0.0 ... 10000.0] 'dead band' for velocity reserved func-
error (velocity deviation) tion
(for P/PID-controller with
velocity or torque inter-
face)
0x00000220 Read / Write P/PID (velocity) REAL64 s ≥0 PT-2 Filtertime for veloc- velocity control,
ity error (velocity-differ- no standard!
ence)
0x00000221 Read / Write P/PID (velocity) REAL64 s ≥0 PT-1 Filtertime for veloc- reserved func-
ity error (velocity-differ- tion,
ence) no standard!

0x00000250 Read / Write P/PI (observer) UINT32 1 s. ENUM (≥0) OBSERVER-mode [} 492]
for controller with torque
interface 0: OFF (default)
1: LUENBERGER
0x00000251 Read / Write P/PI (observer) REAL64 Nm / A >0.0 motor:
torque constant KT
0x00000252 Read / Write P/PI (observer) REAL64 kg m2 >0.0 motor:
moment of inertia JM

TF5100 TwinCAT 3 NC I Version: 1.2 469

Appendix

Index offset Access controller type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x00000253 Read / Write P/PI (observer) REAL64 Hz [100.0 ... bandwidth f0
2000.0] Default:
500
0x00000254 Read / Write P/PI (observer) REAL64 1 [0.0 ... 2.0] De- correction factor kc
fault: 1.0
0x00000255 Read / Write P/PI (observer) REAL64 s [0.0 ... 0.01] velocity filter (1. order):
Default: 0.001 filter time constant T

0x00000A03 Read / Write PID (MW) REAL64 cm^2 [0.0 ...1000000] cylinder area AA of side A
in cm^2
0x00000A04 Read / Write PID (MW) REAL64 cm^2 [0.0 ...1000000] cylinder area AB of side B
in cm^2
0x00000A05 Read / Write PID (MW) REAL64 cm^3/s [0.0 ...1000000] nominal volume flow Qnenn
in cm^3/s
0x00000A06 Read / Write PID (MW) REAL64 bar [0.0 ...1000000] nominal pressure resp.
valve pressure reduction
Pnenn in bar
0x00000A07 Read / Write PID (MW) UINT32 1 [1 ... 255] axis ID for the system
pressure Po

470 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

7.8.6.2 "Index offset" specification for Controller state (Index group 0x6100 + ID)

TF5100 TwinCAT 3 NC I Version: 1.2 471

Appendix

Index-Offset Access Controller type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00000001 Read every INT32 error state controller Symbolic ac-
[} 353] cess possible!
'nErrState'
0x00000002 Read every REAL64 e.g. mm/ Controller output in Base unit / s
s absolute units Symbolic ac-
cess possible!
'fOutput'
0x00000003 Read every REAL64 % Controller output in Cannot be
percent traced by oscil-
loscope!
0x00000004 Read every REAL64 V Controller output in Cannot be
volts traced by oscil-
loscope!

0x0000000D Read every REAL64 mm Following error posi- Base Unit

tion (without dead time
compensation)
0x0000000E Read every REAL64 mm Following error posi- Base Unit
tion (without set posi-
tion correction)
0x0000000F Read every REAL64 mm Following error posi- Base unit Sym-
tion (with set position bolic access
correction and dead possible!
time compensation) 'fPosDiff'
0x00000010 Read every REAL64 mm Peak hold value for Base Unit
maximum negative fol-
lowing error of the po-
sition
0x00000011 Read every REAL64 mm Peak hold value for Base Unit
minimum positive fol-
lowing error of the po-
sition
0x00000012 Read every REAL64 mm/s Following error veloc- Base Unit / s
ity

0x00000021 Read every REAL64 mm Difference (deviation) Base unit Sym-

between the following bolic access via
error from master and axis possible!
slave axis (master er- fPosDiffCouple
ror minus slave error)
0x00000022 Read every REAL64 mm PeakHold value for the Base Unit
maximum negative dif-
ference between mas-
ter and slave axis fol-
lowing error of the po-
sition
0x00000023 Read every REAL64 mm PeakHold value for the Base Unit
maximum positive dif-
ference between mas-
ter and slave axis fol-
lowing error of the po-
sition

0x00000101 Read P/PID (pos.) REAL64 e.g. mm/ Proportional compo-

s nent of the controller
in absolute units
0x00000102 Read PID (pos.) REAL64 e.g. mm/ I-part of the controller
s in absolute units
0x00000103 Read PID (pos.) REAL64 e.g. mm/ D-part of the controller
s in absolute units
0x00000104 Read PID (pos.) UINT16 1 0/1 Limitation of the I-part
active?
0x00000105 Read PID (pos.) UINT16 1 0/1 Limitation of the D-part
active?
0x00000106 Read PID (pos.) UINT16 1 0/1 ARW measure for the ARW: Anti Re-
I-part active? set Windup

472 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index-Offset Access Controller type Data type Phys. Definition Description Remarks
(Hex) unit range
0x0000010F Read P/PP/PID (ve- REAL64 e.g. mm/ Proportion of auto- NEW
loc.) s matic offset compen-
sation in absolute
units

0x00000110 Read PID (pos.) REAL64 e.g. mm/ Acceleration pre-con- acceleration
s trol Yacc of the con- pre-control
troller in absolute
units, note: Function
depends on controller
type!
0x00000111 Read PP (Pos.) REAL64 mm/s/ ≥0 Internal interpolated PP controller
mm proportional gain kp or
kv

0x0000011A Read P (Pos.) UINT32 1 Set velocity filter: In- List! Reserved
0x0000011B REAL64 mm ternalPhase function,
0x0000011C REAL64 mm/s InternalPosSollError ! no standard!
0x0000011D REAL64 mm/s TestVeloSet
0x0000011E REAL64 mm/s^2 InternalLimited-
0x0000011F REAL64 mm VeloSoll
0x00000120 REAL64 mm InternalAccSollRel
0x00000121 REAL64 mm/s InternalPosSollRel
0x00000122 REAL64 mm/s^2 PosSetCorrected !
0x00000123 REAL64 mm/s VeloSetCorrected !
0x00000124 REAL64 mm/s^2 AccSollCorrected !
TestVeloSetCorrected
TestAccSetCorrected

0x00000201 Read P,PID (velocity) REAL64 e.g. mm/ Velocity part of the Base Unit / s
s controller
0x00000202 Read P,PID (velocity) REAL64 % Velocity part of the Cannot be
controller in percent traced by oscil-
loscope!
0x00000203 Read P,PID (velocity) REAL64 V Velocity part of the Cannot be
controller in volts traced by oscil-
loscope!
0x00000201 Read P/PID (velocity) REAL64 e.g. mm/ Proportional compo-
s nent of the controller
in absolute units
0x00000202 Read P/PID (velocity) REAL64 e.g. mm/ I-part of the controller
s in absolute units
0x00000203 Read P/PID (velocity) REAL64 e.g. mm/ D-part of the controller
s in absolute units
0x00000204 Read P/PID (velocity) UINT16 1 0/1 Limitation of the I-part
active?
0x00000205 Read P/PID (velocity) UINT16 1 0/1 Limitation of the D-part
active?
0x00000206 Read P/PID (velocity) UINT16 1 0/1 ARW measure for the ARW: Anti Re-
I-part active? set Windup
0x0000020A Read P/PID (velocity) REAL64 e.g. mm/ Total input size of the
s velocity controller

0x00000250 Read P/PI (observer) REAL64 e.g. mm Observer: Position dif-

ference (actual posi-
tion - observer position
0x00000251 Read P/PI (observer) REAL64 e.g. mm Observer: Position

0x00000252 Read P/PI (observer) REAL64 e.g. mm/ Observer: Velocity 2

s (for proportional com-
ponent)
0x00000253 Read P/PI (observer) REAL64 e.g. mm/ Observer: Velocity 1
s (for I-part)
0x00000254 Read P/PI (observer) REAL64 e.g. mm/ Observer: Accelera-
s^2 tion

TF5100 TwinCAT 3 NC I Version: 1.2 473

Appendix

Index-Offset Access Controller type Data type Phys. Definition Description Remarks
(Hex) unit range
0x00000255 Read P/PI (observer) REAL64 A Observer: actual mo-
tor current

0x00000256 Read P/PI (observer) UINT16 1 0/1 Observer: Limitation of

the I-part active?

0x00000A00 Read PID (MW) REAL64 % [-1.0...1.0] Calculation of the set

speed (pilot control) in
percent
0x00000A01 Read PID (MW) REAL64 e.g. mm/ Proportional compo-
s nent of the controller
in absolute units or
percent (according to
output weight)
0x00000A02 Read PID (MW) REAL64 e.g. mm/ I-part of the controller
s in absolute units or
percent (according to
output weight)
0x00000A03 Read PID (MW) REAL64 e.g. mm/ D-part of the controller
s in absolute units or
percent (according to
output weight)
0x00000A04 Read PID (MW) UINT16 1 0/1 Limitation of the I-part
active?
0x00000A05 Read PID (MW) UINT16 1 0/1 Limitation of the D-part
active?

0x00000A10 Read PID (pos.) REAL64 e.g. mm/ Acceleration pre-con- Acceleration
s trol Yacc of the con- pre-control
troller in absolute units

7.8.6.3 "Index offset" specification for Controller functions (Index group 0x6200
+ ID)
Index offset Access controller - Data type Phys. Definition Description Remarks
( Hex ) type unit range

474 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

7.8.7 Specification Drive

7.8.7.1 "Index offset" specification for Drive parameter (Index group 0x7000 + ID)

TF5100 TwinCAT 3 NC I Version: 1.2 475

Appendix

Index offset Access Drive- type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x00000001 Read every UINT32 1 [1 ... 255] Drive ID
0x00000002 Read every UINT8[30+1] 1 30 symbol Drive name
0x00000003 Read every UINT32 1 s. ENUM (>0) Drive type [} 496]
0x00000004 Read / Write every UINT32 1 Byteoffset Input address offset (IO- change I/O ad-
Input-Image) dress
0x00000005 Read / Write every UINT32 1 Byteoffset output address offset (IO- change I/O ad-
Output-Image) dress
0x00000006 Read / Write every UINT16 1 [0,1] Motor polarity
0x0000000A Read / Write every UINT32 1 s. ENUM (>0) Drive mode Default:
1=STANDARD
0x0000000B Read / Write every REAL64 % [-1.0 ... 1.0] Minimum output limit
(output limitation) (default
setting: -1.0 == -100%)
0x0000000C Read / Write every REAL64 % [-1.0 ... 1.0] Maximum output limit
(output limitation) (default
setting: 1.0 == 100%)
0x0000000D Read every UINT32 INC Maximum number of out-
put increments (output
mask)
0x00000010 Read / Write every UINT32 1 Internal Drive Control Reserved !
DWord
0x00000011 Read / Write every UINT32 1 ≥5 Internal Drive Reset Reserved !
Counter
(time in nc-cycles for 'en-
able' and 'reset')
0x00000020 Read / Write every UINT32 1 s. ENUM (≥0) Drive dead time compen- s. appendix
sation mode
0: OFF (Default)
1: ON (with velocity)
2: ON (with velocity and
acceleration)
0x00000021 Read / Write every UINT32 1 Control double word (32
Bit) for the drive dead
time compensation: Bit 0
= 0: relative IO time (de-
fault)
Bit 0 = 1: absolute IO
time
0x00000022 Read / Write every INT32 ns [1.0E+9] Sum of the parameter-
ized time shift for the
drive dead time compen-
sation (typically positive
values)
0x00000031 Read / Write every REAL64 e.g. %/ [0.0 ... 1.0E+30] Scaling factor for actual NEW from
INC torque TC3.1
(resp. force or current)
e.g. AX5xxx: 0.1 =>
±100%
0x00000032 Read / Write every REAL64 s [0.0 ... 60.0] P-T1 filter time for actual NEW from
torque TC3.1
(resp. force or current)
0x00000033 Read / Write every REAL64 s [0.0 ... 60.0] P-T1 filter time for actual NEW from
torque derivative TC3.1
(resp. force or current)

0x00000101 Read / Write Servo REAL64 e.g. mm/ >0.0 reference velocity at ref- base unit / s
s erence output
0x00000102 Read / Write Servo REAL64 % [0.0 ... 5.0] reference output in per-
cent
0x00000103 Read Servo REAL64 e.g. mm/ >0.0 resultant velocity at 100% base unit / s
s output
0x00000104 Read / Write Servo REAL64 e.g. mm/ ∞ velocity offset (DAC off- base unit / s
s set) for drift calibration
(offset calibration) of the
axis

476 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index offset Access Drive- type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x00000105 Read / Write Servo (Sercos, REAL64 1 [0.0 ... velocity scaling (scaling For Sercos,
Profi Drive, 100000000.0] factor to react to the Profi Drive,
AX200x, weight in the drive) AX200x,
CANopen) CANopen
0x00000106 Read / Write Profi Drive DSC UINT32 0.001 * ≥0 Profibus/Profi Drive DSC: Only for Profi
1/s proportional gain 'Kpc' Drive DSC
0x00000107 Read / Write Profi Drive DSC REAL64 1 ≥ 0.0 Profibus/Profi Drive DSC: Only for Profi
scaling factor for calculat- Drive DSC
ing 'Xerr' (default setting:
1.0)
0x00000109 Read / Write Servo (Sercos, REAL64 1 [0.0 ... position scaling (scaling For Sercos,
CANopen) 100000000.0] factor to react to the CANopen
weight in the drive)
0x0000010A Read / Write Servo (Sercos, REAL64 1 [0.0 ... acceleration scaling For Sercos,
Profi Drive, 100000000.0] (scaling factor to react to Profi Drive,
AX200x, the weight in the drive) AX200x,
CANopen) CANopen
0x0000010B Read / Write Servo (Sercos, REAL64 1 [0.0 ... torque scaling (rotary mo- For Sercos,
Profi Drive, 100000000.0] tor) resp. force scaling Profi Drive,
AX200x, (linear motor) (scaling AX200x,
CANopen) factor to react to the CANopen
weight in the drive)
0x0000010D Read / Write Servo (Sercos, REAL64 s [0.0 ... 1.0] delay for drive velocity For Sercos,
CANopen) output CANopen
0x0000010E Read / Write Servo (Sercos, REAL64 s [0.0 ... 1.0] delay for drive accelera- For Sercos,
CANopen) tion output CANopen
0x0000010F Read / Write Servo (Sercos, REAL64 s [0.0 ... 1.0] delay for drive torque For Sercos,
CANopen) resp. force output CANopen

0x00000120 Read / Write Servo/ Hy- UINT32 1 ≥0 table-ID Only for

draulic (0: no table) KL4xxx,
M2400, Univer-
sal
0x00000121 Read / Write Servo/ Hy- UINT32 1 ≥0 Interpolation-type 0: Lin- Only for
draulic ear KL4xxx,
2: Spline M2400, Univer-
sal
0x00000122 Read / Write Servo/ Hy- REAL64 % [-1.0 ... 1.0] Output offset in per- Only for
draulic centRemark: KL4xxx,
effects after the charac- M2400, Univer-
teristic table ! sal

0x00000151 Read / Write Servo / non lin- REAL64 1 [0.0 ... 100.0] quadrant equalizing fac-
ear tor (relation between I
and III quadr.)
0x00000152 Read / Write Servo / non lin- REAL64 1 [0.01 ... 1.0] velocity calibration point
ear in percent (1.0 == 100 %)
0x00000153 Read / Write Servo / non lin- REAL64 1 [0.01 ... 1.0] output calibration point in
ear percent (1.0 ==100 %)

0x00000301 Read / Write Stepper motor UINT8 Bit mask: cycle 1

0x00000302 Read / Write Stepper motor UINT8 Bit mask: cycle 2
0x00000303 Read / Write Stepper motor UINT8 Bit mask: cycle 3
0x00000304 Read / Write Stepper motor UINT8 Bit mask: cycle 4
0x00000305 Read / Write Stepper motor UINT8 Bit mask: cycle 5
0x00000306 Read / Write Stepper motor UINT8 Bit mask: cycle 6
0x00000307 Read / Write Stepper motor UINT8 Bit mask: cycle 7
0x00000308 Read / Write Stepper motor UINT8 Bit mask: cycle 8
0x00000310 Read / Write Stepper motor UINT8 Bit mask: holding current

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Appendix

7.8.7.2 "Index offset" specification for Drive state (Index group 0x7100 + ID)
Index offset Access Drive- type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x00000001 Read every INT32 error state drive symbolic Ac-
cess possi-
ble!'nErrState'
0x00000002 Read every REAL64 mm/s total output in absolute base unit / s
units symbolic Ac-
cess possi-
ble!'fOutput'
0x00000003 Read every REAL64 % total output in per cent
0x00000004 Read every REAL64 V total output in Volt Cannot be
traced by oscil-
loscope!!
0x00000005 Read every REAL64 e.g. mm/ PeakHold value for maxi- Base Unit / s
s mum negative total out-
put
0x00000006 Read every REAL64 e.g. mm/ PeakHold value for maxi- Base Unit / s
s mum positive total output
0x00000007 Read every REAL64 e.g. actual torque resp. actual NEW
100%=1 force value
000, (typically 100%=1000)
e.g. Nm
resp. N

0x0000000C Read every REAL64 e.g. mm set position compensa-

tion value for the drive
output because of the
dead time compensation
0x0000000D Read every REAL64 s total time shift for the
drive dead time compen-
sation
(parameterized and vari-
able dead time)Remark:
A dead time is defined in
the system as a positive
value.

0x00000013 Read every REAL64 % total output in percenty

(after non linear valve di-
agramm !)
0x00000014 Read every REAL64 V total output in voltage (af- Cannot be
ter non linear valve dia- traced by oscil-
gramm !) loscope!!

0x0000011A Read Servo (Sercos, REAL64 e. g. mm Optional Smoothingfilter: NEW

CANopen) Filtered set position For Sercos,
CANopen
0x0000011E Read Servo (Sercos, REAL64 e. g. Optional Smoothingfilter: NEW
CANopen) mm/s Filtered set velocity For Sercos,
CANopen
0x0000011F Read Servo (Sercos, REAL64 e. g. Optional Smoothingfilter: NEW
CANopen) mm/s^2 Filtered set acceleration / For Sercos,
deceleration CANopen

7.8.7.3 "Index offset" specification for Drive functions (Index group 0x7200 + ID)
Index offset Access Drive- type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x00000102 Write SERVO { Remove and delete the only for SAF-
characteristic drive table port 501!
ULONG 1 >0 Table-ID
s.a. axis function with in-
dex offset 0x00000012
}

478 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

7.8.7.4 "Index offset" specification for cyclic Drive process data (Index group
0x7300 + ID)

TF5100 TwinCAT 3 NC I Version: 1.2 479

Appendix

Index offset Access Drive- type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x00000000 Read / Write every (NC→IO) { STRUCT s. DRIVE-OUTPUT- Write command
drive-interface STRUCTURE (NC→IO, only optional!
40 Byte)NC- Consider safety
DRIVESTRUCT_OUT2 aspects !
INT32 INC ≥0 nOutData1
INT32 INC 2^31 nOutData2
UINT8 1 ≥0 nControl1
UINT8 1 ≥0 nControl2
UINT8 1 ≥0 nControl3
UINT8 1 ≥0 nControl4
INT32 INC ≥0 nOutData3
INT32 INC ≥0 nOutData4
INT32 INC ≥0 nOutData5
INT32 INC ≥0 nOutData6
UINT8 1 ≥0 nControl5
UINT8 1 ≥0 nControl6
UINT8 1 ≥0 nControl7
UINT8 1 ≥0 nControl8
INT32 1 ≥0 reserved
INT32 1 ≥0 reserved
}
0x00000001 Write every (NC→IO) { STRUCT s. Bitwise access to DRIVE- Write command
Drive-Interface OUTPUT-STRUC- only optional!
TURE(NC→IO, 40 Byte) Consider safety
NC- aspects
DRIVESTRUCT_OUT2
UINT32 1 [0 … 39] ByteOffset
Relative address offset
[0..39] in drive output
structure.
E.G.: To write “nCon-
trol1” the ByteOffset must
be 8.
UINT32 1 [0x00000000… BitSelectMask (BSM)
0xFFFFFFFF]
The mask defines write
enabled bits in a
DWORD. Zero bits are
protected and remain un-
affected.
UINT32 1 [0x00000000… Value
0xFFFFFFFF]
Only those bits in value
are overwritten where
BSM equals 1.
}

480 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index offset Access Drive- type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x00000080 Read every (IO→NC) { STRUCT s. DRIVE-INPUT-STRUC-
drive-interface TURE (IO→NC, 40
Byte)NC-
DRIVESTRUCT_IN2
INT32 INC ≥0 nInData1
INT32 INC ≥0 nInData2
UINT8 1 ≥0 nStatus1
UINT8 1 ≥0 nStatus2
UINT8 1 ≥0 nStatus3
UINT8 1 ≥0 nStatus4
INT32 INC ≥0 nInData3
INT32 INC ≥0 nInData4
INT32 INC ≥0 nInData5
INT32 INC ≥0 nInData6
UINT8 1 ≥0 nStatus5
UINT8 1 ≥0 nStatus6
UINT8 1 ≥0 nStatus7
UINT8 1 ≥0 nStatus8
INT32 1 ≥0 reserved
INT32 1 ≥0 reserved
}

TF5100 TwinCAT 3 NC I Version: 1.2 481

Appendix

7.8.8 Specification Tables

7.8.8.1 "Index offset" specification for Table parameter (Index group 0xA000 + ID)

482 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index offset Access table - type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x00000001 Read every UINT32 1 [1 ... 255] table ID
0x00000002 Read every UINT8[30+1] 1 30 symbol table name
0x00000003 Read every UINT32 1 s. ENUM (>0) table sub type [} 498]
0x00000004 Read every UINT32 1 s. ENUM (>0) table main type [} 498]

0x00000010 Read every UINT32 1 [0... 16777216] number of lines (n)

0x00000011 Read every UINT32 1 [0... 16777216] number of columns (m)
0x00000012 Read every UINT32 1 ≥0 number of total elements
(n*m)
0x00000013 Read equidistant Tab. REAL64 e.g. mm ≥0.0 step width (position delta) base unit
(equidistant table )
0x00000014 Read cyclic Tab. REAL64 e.g. de- ≥0.0 master period (cyclic ta- base unit
gree ble )
0x00000015 Read cyclic Tab. REAL64 e.g. de- ≥0.0 slave difference per mas- base unit
gree ter period (cyclic table )

0x0000001A Read /Write "Motion Func- { activation mode for online

tion" change from table data
(only MF)
UINT32 ENUM s. appendix activation mode:
0: 'instantaneous' (de-
fault)
1: 'master cam pos.'
2: 'master' axis pos.'
3: 'next cycle'
4: 'next cycle once'
5: 'as soon as possible'
6: 'off'
7: 'delete queued data'
REAL64 e.g. mm ±∞ activation position
UINT32 ENUM s. appendix master scaling type
0: user defined (default)
1: scaling with auto offset
2: off
UINT32 ENUM s. appendix slave scaling type
0: user defined (default)
1: scaling with auto offset
2: off
}

0x00000020 Read /Write every { write single value [n,m]:

UINT32 1 [0 ... 16777216] n-th line
UINT32 1 [0 ... 16777216] m-th column
REAL64 e.g. mm ±∞ single value base unit
}
0x00000021 ReadWrite every *REAL64 e.g. mm ±∞ Read slave position to
the given master position
(relates only to the "row
values" of the table)

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Appendix

Index offset Access table - type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x00000022 ReadWrite "Motion Func- Write Read the "Motion Func- only line by line
tion" tion" as fixed values possible!(multi-
("scatter plot") ple integer)
{
UINT16 1 0/1 Initialisation of data (copy
of actual data) ?
UINT16 1 Bitmask (≥0) Select bit mask (number
of columns is one column
for the masterposition
plus number of bits):Bit 0:
Pos (Slave)
Bit 1: Velo (Slave)
Bit 2: Acc (Slave)
Bit 3: Jerk (Slave)
REAL64 z.B. mm ±∞ Startposition (Master)
REAL64 z.B. mm > 0.0 Inkrement
}
Read
{
REAL64[x*m] z.B. mm ±∞ Generating the values of
x rows beginning with the
master start position:
(x*m)-values (one or
more rows)
}
0x00000023 ReadWrite every Write Read slave values to
given master position (re-
lates only to the "row val-
ues" of the table)
REAL64 z.B. mm ±∞ master position
Read
{
REAL64 z.B. mm ±∞ slave position
REAL64 mm/s ±∞ slave velocity
REAL64 mm/s^2 ±∞ slave acceleration
}

0x00000050 Read /Write every REAL64 [64] 1 ±∞ Characteristic table val-

ues [} 500]
0x00000050 ReadWrite every Write Read the characteristic
table values in depen-
dency to the nominal
master velocity
REAL64 [64] ... ±∞ optional nominal master
velocity "fMaster-
VeloNom" (normed =>
1.0 mm/s),
the other values are not
used
Read
REAL64 [64] ... ±∞ Read the characteristic
table values [} 500]

484 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Index offset Access table - type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x00000115 Write monoton linear, { set /change the table
monoton zykl., scaling:
REAL64 1 [±1000000.0] Original wightning of the
table
REAL64 e.g. mm [±1000000.0] Position offset of the
master column
REAL64 1 [±1000000.0] Scaling of the master col-
umn
REAL64 e.g. mm [±1000000.0] Position offset of the
slave column
REAL64 1 [±1000000.0] Scaling of the slave col-
umn
REAL64 e.g. mm [±1000000.0] lower area boundary
(start position)
REAL64 e.g. mm [±1000000.0] upper area boundary
(end position)
}

0x01000000 Read / every { ±∞ read/write x lines from only line by line

+n-te start line Write[<=16777 REAL64[x*m] } e.g. mm the n-th line: (x*m)-values possible! (multi-
216] (one or more lines )value ple integer)
range n: [0 ... 16777216]

0x02000000 Read / every { ∞ read/write x columns only column by

+m-te Start- Write[<=16777 REAL64[x*n] } e.g. mm from m-th column: (x*n)- column possi-
spold 216] values (one or more col- ble! (multiple in-
umns )value range m: teger)
[0 ... 16777216]

0x05000000 Read / "Motion Func- { read/write x lines from only line by line
+n-te start line Write[<=16777 tion"(law of mo- the n-th line: (x*m)-values possible! (multi-
216] tion)Data:STRU (one or more lines )value ple integer)
CT[x*m] range n: [0 ... 16777216]
UINT32 1 absolute point index
(not checked)
UINT16 ENUM function type
1: Polynom 1
15: Polynom 5
UINT16 ENUM point type
0: default
1: ignore
INT32 1 relative adressindex to
target point
(default: 1)
REAL64 mm master position
REAL64 mm slave position
REAL64 mm/s slave velocity
REAL64 mm/s^2 slave acceleration
REAL64 mm/s^3 slave jerk
}

TF5100 TwinCAT 3 NC I Version: 1.2 485

Appendix

Index offset Access table - type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x06000000 Read / "Motion Func- { read/write x columns only column by
+m-te Start- Write[<=16777 tion"(law of mo- from m-th column: (x*n)- column possi-
spold 216] tion)Data:STRU values (one or more col- ble! (multiple in-
CT[x*n] umns )value range m: teger)
[0 ... 16777216]
UINT32 1 absolute point index
(not checked)
UINT16 ENUM function type
1: Polynom 1
15: Polynom 5
UINT16 ENUM point type
0: default
1: ignore
INT32 1 relative adressindex to
target point
(default: 1)
REAL64 mm master position
REAL64 mm slave position
REAL64 mm/s slave velocity
REAL64 mm/s^2 slave acceleration
REAL64 mm/s^3 slave jerk
}

7.8.8.2 "Index offset" specification for Table state (Index group 0xA100 + ID)
Index offset Access table - type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x0000000A Read every INT32 1 ≥0 'User Counter' Cannot be
(number of table user) traced by oscil-
loscope!

486 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

7.8.8.3 "Index offset" specification for Table functions (Index group 0xA200 + ID)
Index offset Access table - type Data type Phys. Definition Description Remarks
( Hex ) unit range
0x00010000 Write every { generates table with di- table types:
mension (n*m): 1,2,3,4 Dimen-
UINT32 1 s. ENUM (>0) sion: at least
table type [} 498] (s. ap-
2x1
pendix)
UINT32 1 [2...16777216] quantitiy of lines
UINT32 1 [1...16777216] quantitiy of columns
}

0x00010001 Write valve diagram { generatesvalve diagram table types: 1,3

table with dimension Dimension: at
(n*m): least 2x1
UINT32 1 s. ENUM (>0) table type [} 498] (s. ap-
pendix)
UINT32 1 [2...16777216] quantitiy of lines
UINT32 1 [1...16777216] quantitiy of columns
}

0x00010010 Write "Motion Func- { generates"Motion Func- table types: 3,4

tion" tion" table with dimension Dimension: at
(law of motion) (n*m): least 2x1
UINT32 1 s. ENUM (>0) table type (s. appendix)
UINT32 1 [2...16777216] quantitiy of lines
UINT32 1 [1...16777216] quantitiy of columns
}

0x00020000 Write every VOID deletes table with dimen- table types:
sion (n*m) 1,2,3,4
0x00030000 Write every VOID initialised table
Initialisation is no longer
needed, because now it
happens automatically in
the following casesa) by
coupling with table b) by
selecting the slave posit-
tion (s. table para.)

7.8.9 Appendix

Enum Channel types

Define Channel types
1 Standard
2 Interpreter
3 FIFO
4 Kinematic transformation

Enum Interpreter types

Define Interpreter types
0 NOT DEFINED
1 reserved
2 DIN 66025 (Siemens dialect)

TF5100 TwinCAT 3 NC I Version: 1.2 487

Appendix

Enum Interpreter Operation modes

Define interpreter/channel operation mode
0x0 Default (deactivates the other modes)
0x1 Single block mode in the NC core (Block execution task/SAF)
0x1000 reserved
0x2000 reserved
0x4000 Single block mode in the interpreter

Enum Interpolation load log mode

Define Load log mode
0 Loader log off
1 Source only
2 Source & Compiled

Enum Interpolation Trace mode

Define Trace mode
0 Trace off
1 Trace line numbers
2 Trace Source

Enum Interpreter state

moved to: System Manager interface for the interpreter - interpreter element

Enum Group types

Define Group types
0 NOT DEFINED
1 PTP-Group + x Slave
2 1D-Group + x Slave
3 2D-Group + x Slave
4 3D-Group + x Slave
5 High/low speed + x Slave
6 Low cost stepper motor (dig. IO) + x Slave
7 Table Group + x Slave
9 Encoder Group + x Slave
11 FIFO Group + x Slave
12 Kinematic Transformation Group + x Slave

Enum Curve velocity reduction method

moved to: System Manager interface for the interpreter - group element

Enum Axis types

Define Axis types
0 NOT DEFINED
1 Continuous axis (Servo)
2 Discrete axis (high/low speed)
3 Continuous axis (stepper motor)

Enum Stepper motor operation mode

Define Stepper motor operation mode
0 NOT DEFINED
1 2-phase excitation (4 cycles)
2 1-2-phase excitation (6 cycles)
3 Power section

488 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Enum Override types for PTP axes (velocity override)

Define Override types
1 Reduced
Old variant, replaced by "(3) Reduced (iterated)"
2 Original
Old variant, replaced by "(4) Original (iterated)"
3 Reduced (iterated)
Default value: the override value is related to the velocity which is
internally reduced in a special case. This results in a directly pro-
portional velocity (=> linear relationship) for the entire override
range from 0 to 100%.
4 Original (iterated)
The override value is always referred to the velocity programmed
by the user. If this velocity cannot be driven, however, then a maxi-
mum override value results from which no higher velocity can be
reached (=> limitation).

Enum Group/axis start types

Define Group/axis start types
0 NOT DEFINED
1 Absolute start
2 Relative start
3 Continuous start positive
4 Continuous start negative
5 Modulo start (OLD)
261 Modulo start on the shortest distance
517 Modulo start in positive direction (with modulo tolerance window)
773 Modulo start in negative direction (with modulo tolerance window)
4096 Stop and lock (axis locked for motion commands)
8192 Halt (without motion lock)

Enum Command buffer types (buffer mode) for universal axis start (UAS)
Define Buffer mode
0 ABORTING (default) (instantaneous, aborts current movement and
deletes any buffered commands)
1 BUFFERED
(stored in command buffer to be executed after an active move-
ment)
18 BLENDING LOW
(buffered, no stop, runs through intermediate target position at the
lowest velocity of two commands)
19 BLENDING PREVIOUS
(buffered, no stop, runs through intermediate target position at the
velocity of the active command)
20 BLENDING NEXT
(buffered, no stop, runs through intermediate target position at the
velocity of the buffered command)
21 BLENDING HIGH
(buffered, no stop, runs through intermediate target position at the
highest velocity of two commands)

TF5100 TwinCAT 3 NC I Version: 1.2 489

Appendix

Enum End position types (new end position)

Define End position types
0 NOT DEFINED
1 Absolute position
2 Relative position
3 Continuous position positive
4 Continuous position negative
5 Modulo position

Enum Command types for new end position with new velocity (new end position and/or new velocity)
Define Command types for new end position with new velocity
0 NOT DEFINED
1 Position (instantaneous)
2 Velocity (instantaneous)
3 Position and velocity (instantaneous)
9 Position (switching position)
10 Velocity (switching position)
11 Position and velocity (switching position)

Enum Actual position types (set actual position)

Define Actual position types
0 NOT DEFINED
1 Absolute position
2 Relative position
5 Modulo position

Enum Compensation types (section compensation or superimposed)

Define Compensation types
0 NOT DEFINED
1 VELOREDUCTION_ADDITIVEMOTION
The max. velocity VelocityDiff is reduced. The path over which the
compensation trip is effective consists of length + distance.
2 VELOREDUCTION_LIMITEDMOTION
The max. velocity VelocityDiff is reduced. The path over which the
compensation trip is effective is defined by the Length parameter.
3 LENGTHREDUCTION_ADDITIVEMOTION
The max. available path is reduced and consists of length + dis-
tance. The system tries to utilize the max. veloc. VelocityDiff.
4 LENGTHREDUCTION_LIMITEDMOTION
The max. available path is reduced and is limited by the Length pa-
rameter. The system tries to utilize the max. veloc. VelocityDiff.

490 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Enum Slave types

Define Slave types
0 NOT DEFINED
1 Linear
2 Flying saw (velocity, jerk restricted profile)
3 Flying saw (position and velocity, jerk restricted profile)
5 Synchronization generator (velocity, jerk restricted profile)
6 Synchronization generator (position and velocity, jerk restricted
profile)
10 Tabular
11 Multi-tabular
13 'Motion Function' (MF)
15 Linear with cyclic gearing factor change (ramp filter for acceleration
limits)
100 Specific

Enum Slave decoupling types (for subsequent axis command)

Define Slave decoupling types (for subsequent axis command)
0 Stop, E-stop or P-stop (default)
(STOP)
1 Oriented stop (O-stop)
(ORIENTEDSTOP)
2 Reduce any acceleration to 0 (force-free) and continue to endless
target position
(ENDLESS)
3 Continue to endless target position at new requested velocity
(ENDLESS_NEWVELO)
4 New end position
(NEWPOS)
5 New end position and new requested velocity
(NEWPOSANDVELO)
6 Logical decoupling and stopping of axis immediately without veloc-
ity ramp
(INSTANTANEOUSSTOP)

TF5100 TwinCAT 3 NC I Version: 1.2 491

Appendix

Enum Controller types

Define Controller types
0 NOT DEFINED
1 P-controller (standard)
(Position)
2 PP-controller (with ka)
(Position)
3 PID-controller (with ka)
(Position)
5 P-controller
(Velocity)
6 PI controller
(Velocity)
7 High/low speed controller
(Position)
8 Stepper motor controller
(Position)
9 SERCOS controller
(Position in the drive)
10 RESERVED
11 RESERVED
12 RESERVED
13 RESERVED
14 TCom Controller (Soft Drive)
(Position in the drive)

Enum Controller Observer mode

Define Controller observer mode
0 No observer active (default)
1 "Luenberger" observer (classic observer design)

492 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Enum Encoder types

Define Encoder types
0 NOT DEFINED
1 Simulation Encoder
(Incremental)
2 M3000 Encoder (Multi/Single-Turn)
(Absolute)
3 M31x0 / M2000 Encoder
(Incremental)
4 MDP 511 Encoder: EL7041, EL7342, EL5101, EL5151, EL2521,
EL5021, IP5101
(Incremental)
5 MDP 500/501 Enc.: EL5001, IP5009, KL5001 (SSI)
(Absolute)
6 MDP 510 Encoder: KL5051, KL2502-30K Encoder (BiSSI)
(Incremental)
7 KL30xx Encoder (Analog)
(Absolute)
8 SERCOS and EtherCAT SoE (Position)
(Incremental)
9 SERCOS and EtherCAT SoE (Position and velocity)
(Incremental)
10 Binary encoder (0/1)
(Incremental)
11 M2510 Encoder
(Absolut)
12 FOX50 Encoder
(Absolute)
14 AX2000 (Lightbus)
(Incremental)
15 Provi-Drive MC (Simodrive 611U)
(Incremental)
16 Universal encoder (variable bit mask)
(Incremental)
17 NC rear panel
(Incremental)
18 Special CANopen type (e.g. Lenze Drive 9300)
(Incremental)
19 MDP 513 (DS402): CANopen and EtherCAT CoE (AX2xx-B1x0/
B510, EL7201)
(Incremental)
20 AX2xx-B900 (Ethernet)
(Incremental)
21 KL5151 Encoder
(Incremental)
24 IP5209 Encoder
(Incremental)
25 KL2531/KL2541 Encoder (Stepper Motor)
(Incremental)
26 KL2532/KL2542 Encoder (DC motor), KL2535/KL2545 (PWM cur-
rent terminal)
(Incremental)
27 Time base encoder (Time Base Generator)
(Incremental)
28 TCom Encoder (Soft Drive)
(Incremental)

TF5100 TwinCAT 3 NC I Version: 1.2 493

Appendix

Enum Encoder mode

Define Encoder mode
0 NOT DEFINED
1 Determination of position
2 Determination of position and velocity
3 Determination of position, velocity and acceleration

Enum encoder evaluation direction (log. counting direction)

Define Encoder evaluation direction (log. counting direction)
0 Evaluation in positive and negative counting direction (default con-
figuration, i.e. compatible with the previous state)
1 Evaluation only in positive counting direction
2 Evaluation only in negative counting direction
3 Evaluation neither in positive nor in negative counting direction
(evaluation blocked)

NOTE! Not for all encoder types; only for KL5101, KL5151, KL2531, KL2541, IP5209, Universal
encoder, etc.
Encoder types
Encoder evaluation direction KL5101, ... Universal Encoder other types
(log. counting direction)
0: positive and negative √ √ —
1: only positive √ √ —
2: only negative √ √ —
3: blocked √ √ —

Enum Encoder sign interpretation (data type)

Define Sign interpretation (data type) of the encoder actual incre-
ments
0 NOT DEFINED (default configuration, i.e. compatible with the pre-
vious state)
1 UNSIGNED: unsigned interpretation of the encoder actual incre-
ments
2 SIGNED: signed interpretation of the encoder actual increments

NOTE! For KL30xx/KL31xx only for the time being

Enum Encoder absolute dimensioning system

Define Encoder absolute dimensioning system
0 INC: Incremental absolute dimension system with underflow and
overflow offset (default, i.e. compatible with the previous state)
1 ABS: Absolute dimension system without underflow and overflow
offset (no underflow or overflow of the encoder allowed)
2 ABS MODULO: Conditionally absolute dimension system, since it
has underflow and overflow offset (absolute value that modulo
(endless) continues)

NOTE! Not for all encoder types; only for Profi Drive MC, M3000, KL5001/EL5001, IP5009, SERCOS,
UNIVERSAL, etc.

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 Appendix

Enum Reference mode for incremental encoder

Define Reference mode for incremental encoder
0 NOT DEFINED (default configuration, i.e. compatible with the pre-
vious state)
1 Latch event: shutdown of the PLC cam (falling edge)
2 Latch event: Hardware sync pulse (zero track)
3 Latch event: External hardware latch with rising edge (measuring
probe or, respectively, measurement on the fly with rising edge)
4 Latch event: External hardware latch with negative edge (measur-
ing probe or flying measurement with neg. edge)
5 Latch event: Synthetically emulated software sync pulse (software
zero track); REQUIREMENT: absolute per motor revolution, e.g.
resolver!
6 Latch event: Hardware latch event defined in the drive with rising
edge (e.g. for SoftDrive) (NEW)
7 Latch event: Hardware latch event defined in the drive with falling
edge (e.g. for SoftDrive) (NEW)
20 User-specific implementation of the referencing (PLC code): User
request is signaled to the PLC with the ApplicationRequest-Bit
(NEW)

: Latch event
Encoder types 0: not defined 1: PLC cam (neg. 2: Hardware 3: External hard- 4: External hard- 5: Software sync
edge) sync pulse (zero/ ware latch with ware latch with pulse (software
C-track) pos. edge neg. edge zero track)
AX2xxx- — √ √ √ √ √ (resolver only)
B200(Lightbus)
AX2xxx- — √ — — — √
B510(CANopen) (only resolver)
(see "Reference
mask" parameter)
AX2xxx- — √ √ √ √ √
B1x0(EtherCAT) (only resolver)
(fixed 20-bit)
AX2xxx- — √ √ √ √ √ (resolver only)
B900(Ethernet)
Sercos — √ √ √ √ √ (see "Reference
(AX5xxx specific mask" parameter)
implemented)
Profi Drive — √ √ √ √ √
KL5101 — √ √ √ √ √
IP5109
KL5111 — √ √ — — √
KL5151 — √ √ √ √ √ (not meaningful)
IP5209 — √ √ — — √ (not meaningful)
CANopen (e.g. — √ — √ (input E1) √ (input E2) √ (resolver only)
Lenze) (fixed 16-bit)
other types — — — — — —

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Appendix

Enum Drive types

Define Drive types
0 NOT DEFINED
1 Analog Servo Drive: M2400 DAC 1
(Analog)
2 Analog Servo Drive: M2400 DAC 2
(Analog)
3 Analog Servo Drive: M2400 DAC 3
(Analog)
4 Analog Servo Drive: M2400 DAC 4
(Analog)
5 MDP 252 Drive: Analog Servo Drive: KL4xxx, KL2502-30K
(Analog)
6 MDP 252 Drive: Analog Servo Drive (non-linear): KL4xxx,
KL2502-30K
(Analog)
7 High/low speed drive
(Digital)
8 Stepper motor drive
(Digital)
9 SERCOS-Drive
(Digital)
10 MDP 510 Drive: KL5051 (BiSSI-Interface)
(Digital)
11 AX2000 (Lightbus)
(Digital)
12 Provi-Drive MC (Simodrive 611U)
(Digital)
13 Universal Drive
(Analog)
14 NC rear panel
(Analog)
15 Special CANopen type (e.g. Lenze Drive 9300)
(Digital)
16 MDP 742 (DS402): CANopen and EtherCAT CoE (AX2xx-B1x0/
B510)
(Digital)
17 AX2xx-B900 Drive (Ethernet)
(Digital)
20 KL2531/KL2541 Encoder (Stepper Motor)
(Digital)
21 KL2532/KL2542 Encoder (DC motor), KL2535/KL2545 Encoder
(PWM current terminal)
(Digital)
22 TCom Drive (Soft Drive)
(Digital)
23 MDP 733 Drive: Profile MDP 733 (EL7332, EL7342, EP7342)
(Digital)
24 MDP 703 Drive: Profile MDP 703 (EL7031, EL7041, EP7041)
(Digital)

Enum Drive-Output-Start types

Define Enum Drive-Output-Start types
0 NOT DEFINED
1 Output value in percent
2 Output as velocity, e.g. m/min

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 Appendix

Enum Drive Operation Mode

Define Drive Operation Mode (generic operation modes

independent from drive)
0 DEFAULT Mode
(reactivates the NC default operation mode if mode is
known)
1 (standard type) torque control
2 (standard type) velocity control with feedback 1
3 (standard type) velocity control with feedback 2
4 (standard type) position control with feedback 1 (lag less)
5 (standard type) position control with feedback 2 (lag less)
17 (oversampling type) torque control using dynamic container
18 (oversampling type) velocity control with feedback 1 using dynamic
container
19 (oversampling type) velocity control with feedback 2 using dynamic
container
20 (oversampling type) position control with feedback 1 (lag less) using
dynamic container
21 (oversampling type) position control with feedback 2 (lag less) using
dynamic container
100 (Sercos/SoE specific) Sercos/SoE primary operation mode 0 (s. S-0-0032)
101 (Sercos/SoE specific) Sercos/SoE secondary operation mode 1 (s.
S-0-0033)
102 (Sercos/SoE specific) Sercos/SoE secondary operation mode 2 (s.
S-0-0034)
103 (Sercos/SoE specific) Sercos/SoE secondary operation mode 3 (s.
S-0-0035)
104 (Sercos/SoE specific) Sercos/SoE secondary operation mode 4 (s.
S-0-0284)
105 (Sercos/SoE specific) Sercos/SoE secondary operation mode 5 (s.
S-0-0285)
106 (Sercos/SoE specific) Sercos/SoE secondary operation mode 6 (s.
S-0-0286)
107 (Sercos/SoE specific) Sercos/SoE secondary operation mode 7 (s.
S-0-0287)

Enum Moving phases / Movement state for master axes

Define Moving phases / Movement state (distinction between internal
and external setpoint generation)
Internal setpoint generation
0 Setpoint generator not active (INACTIVE)
1 Setpoint generator active (RUNNING)
2 Velocity override is zero (OVERRIDE_ZERO)
3 Constant velocity (PHASE_VELOCONST)
4 Acceleration phase (PHASE_ACCPOS)
5 Deceleration phase (PHASE_ACCNEG)
External setpoint generation:
41 External setpoint generation active (EXTSETGEN_MODE1)
42 Internal and external setpoint generation active (EXTSET-
GEN_MODE2)

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Appendix

Enum Moving phases / Movement state for slave axes

Define Moving phases / Movement state
0 Slave generator not active (INACTIVE)
11 Slave is in a movement pre-phase (PRE-PHASE)
12 Slave is synchronizing (SYNCHRONIZING)
13 Slave is synchronized and moves synchronously (SYNCHRON)

NOTE! Only for slaves of the type synchronization generator for the time being

Enum Table main types

Define Table main types
1 (n*m) Cam plate tables (Camming)
10 (n*m) Characteristic curves tables (Characteristics) (e.g. hydraulic
valve characteristic curves)
Only non-cyclic table sub-types (1, 3) are supported!
16 (n*m) "Motion Function" tables (MF)
Only non-equidistant table sub-types (3, 4) are supported!

Enum Table sub-types

Define Table sub types
1 (n*m) Table with equidistant master positions and no cyclic contin-
uation of the master profile (equidistant linear)
2 (n*m) Table with equidistant master positions and cyclic continua-
tion of the master profile (equidistant cyclic)
3 (n*m) Table with non-equidistant, but strictly monotonously in-
creasing master positions and a non-cyclic continuation of the
master profile (monotonously linear)
4 (n*m) Table with non-equidistant, but strictly monotonously in-
creasing master positions and a cyclic continuation of the master
profile (monotonously cyclic)

Enum Table interpolation types

Define Table interpolation types between the reference points
0 Linear interpolation (NC_INTERPOLATIONTYPE_LINEAR) (Stan-
dard)
1 4-point interpolation (NC_INTERPOLATIONTYPE_4POINT) (for
equidistant table types only)
2 Cubic spline interpolation of all reference points ("global spline")
(NC_INTERPOLATIONTYPE_SPLINE
3 Sliding cubic spline interpolation via n interpolation points ("local
spline") (NC_INTERPOLATIONTYPE_SLIDINGSPLINE)

Enum table operation mode

Define Table operation mode for adding, exchange and removal of ta-
bles
0 (default)
1 Additive – addition of a further table
2 Exchange – replacement of an existing table with a new table
3 Remove – removal of an existing table

498 Version: 1.2 TF5100 TwinCAT 3 NC I

 Appendix

Structure of tabular (cam) coupling informationen

Tables (CAM) Coupling information
nTableID; 1. cam table ID
nTableMainType; 2. e.g. CAMMING, CHARACTERISTIC, MO-
TIONFUNCTION
nTableSubType; 3. e.g. EQUIDIST_LINEAR, EQUIDIST_CY-
CLE, NONEQUIDIST_LINEAR,
NONEQUIDIST_CYCLE
nInterpolationType; 4. e.g. LINEAR, 4POINT, SPLINE

nNumberOfRows; 5. number of rows/elements

nNumberOfColumns; 6. number of columns
fMasterCamStartPos 7. master camming start position (first point in
tabular)
fSlaveCamStartPos 8. slave camming start position (first point in
tabular)
fRawMasterPeriod; 9. master period/cycle (raw value, not scaled)
fRawSlaveStroke; 10. slave difference per master period/cycle
(raw value, not scaled)
fMasterAxisCouplingPos 11. total absolute master offset of cam origin
when slave has been coupled
fSlaveAxisCouplingPos 12. total absolute slave offset of cam origin
when slave has been coupled
nMasterAbsolute 13. master absolute position (0/1)
nSlaveAbsolute 14. slave absolute position (0/1)
fMasterOffset; 15. total master offset
fSlaveOffset; 16. total slave offset
fMasterScaling; 17. total master scaling
fSlaveScaling; 18. total slave scaling
fSumOfSlaveStrokes 19. sum of the slave srokes up to “fActualMas-
terAxisPos”
fSumOfSuperpositionDistance 20. sum of superposition distance (position
compensation offset)
fActualMasterAxisPos; 21. actual master axis setpos (absolute)
fActualSlaveAxisPos; 22. actual slave axis setpos (absolute)
fActualMasterCamPos; 23. actual master cam setpos
fActualSlaveCamPos; 24. actual master cam setpos
nSlaveStateDWord 25. slave state DWORD (s. AxisRef)
... ... ...

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Appendix

Structure of the characteristic values

Characteristic values
fMasterVeloNom; 1. master nominal velocity (standardized: =>
1.0)
fMasterPosStart; 2. master start position
fSlavePosStart; 3. slave start position
fSlaveVeloStart; 4. slave start velocity
fSlaveAccStart; 5. slave start acceleration
fSlaveJerkStart; 6. slave start jerk
fMasterPosEnd; 7. master end position
fSlavePosEnd; 8. slave end position
fSlaveVeloEnd; 9. slave end velocity
fSlaveAccEnd; 10. slave end acceleration
fSlaveJerkEnd; 11. slave end jerk
fMPosAtSPosMin; 12. master pos. at slave min. position
fSlavePosMin; 13. slave minimum position
fMPosAtSVeloMin; 14. master pos. at slave min. velocity
fSlaveVeloMin; 15. slave minimum velocity
fMPosAtSAccMin; 16. master pos. at slave min. acceleration
fSlaveAccMin; 17. slave minimum acceleration
fSVeloAtSAccMin; 18. slave velocity at slave min. acceleration
fSlaveJerkMin; 19. slave minimum jerk
fSlaveDynMomMin; 20. slave minimum dynamic momentum (NOT
SUPPORTED YET !)
fMPosAtSPosMax; 21. master pos. at slave max. position
fSlavePosMax; 22. slave maximum position
fMPosAtSVeloMax; 23. master pos. at slave max. velocity
fSlaveVeloMax; 24. slave maximum velocity
fMPosAtSAccMax; 25. master pos. at slave max. acceleration
fSlaveAccMax; 26. slave maximum acceleration
fSVeloAtSAccMax; 27. slave velocity at slave max. acceleration
fSlaveJerkMax; 28. slave maximum jerk
fSlaveDynMomMax; 29. slave minimum dynamic momentum (NOT
SUPPORTED YET !)
fSlaveVeloMean; 30. slave mean absolute velocity
fSlaveAccEff; 31. slave effective acceleration
nCamTableID; 32. Cam table ID
nNumberOfRows; 33. Number of rows/entries e.g. number of
points
nNumberOfColums; 34. Number of columns (typically1 or 2)
nCamTableType; 35. cam table type (10=EQUIDIST,
11=NONEQUIDIST, 22=MOTIONFUNC,
23=CHARACTERISTIC)
nPeriodic; 36. linear or cyclic/periodic
nReserved 37. reserved

Enum Axis control loop switch types

Define Axis control loop switch types
0 NOT DEFINED
1 Simple switching (similar to an axis reset)
(STANDARD)
2 Switching/synchronization by means of I/D-part of the controller to
an internal initial value (jerk-free/smooth)
3 Switching/synchronization by means of I/D-part of the controller to
a parameterizable initial value

500 Version: 1.2 TF5100 TwinCAT 3 NC I