Motion Kernel System Variables
| System Variable | Data Type | Specification | ||
|---|---|---|---|---|
| Y_FMK_AXISCOUNT_SERVO | UINT | Gives the count of Motion Axes connected to SERVOPACKs. | ||
| Y_FMK_AXISCOUNT_EXTERNAL | UINT |
Gives the count of the External Axes connected in the project.
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Y_FMK_AXISCOUNT_VIRTUAL
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UINT | Gives the count of Virtual axes and simulated axes in the project. | ||
| Y_FMK_AXISCOUNT_OTHER | UINT | Gives the count of axes other than VIRTUAL, EXTERNAL and SERVO are counted here | ||
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Y_FMK_AXISCOUNT_TOTAL
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UINT | Gives the total number of axes connected in the project. | ||
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Y_FMK_MOTIONSCAN_INFO
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FMK_MOTIONSCAN_TYPE |
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INTERVAL
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LINT |
Show the cycle time of the FMK (Flexible Motion Kernel). In most of the cases, this represent the EtherCAT cycle time, for more detail refer to #58102 |
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LAST_EXEC_DURATION
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LINT | Shows the duration of the last FMK Task execution. | |
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MIN_EXEC_DURATION
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LINT | Minimum execution time recorded in μs for the FMK tasks since the PLC was in Run Mode or from last execution of METRIC_RESET | |
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MAX_EXEC_DURATION
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LINT |
Maximum execution time recorded
in μs
for the FMK tasks since the PLC was in Run Mode or from last execution of METRIC_RESET
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LAST_ACTIVATION_DELAY
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LINT |
Represents the elapsed time between the start of the interval and the start of the execution of the FMK task for this task scan
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MIN_ACTIVATION_DELAY
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LINT |
Minimum delay time recorded of the FMK task in μs since the PLC was in Run Mode or from last execution of METRIC_RESET
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MAX_ACTIVATION_DELAY
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LINT | Maximum delay time recorded of the FMK task in μs since the PLC was in Run Mode or from last execution of METRIC_RESET | |
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EXEC_TIME_THRESHOLD_CNT
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UDINT |
Monitor the number of times the threshold has been triggered
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EXEC_TIME_THRESHOLD* | LINT | Defines threshold time in µs by the user | |
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METRICS_RESET* |
BOOL |
Reset all recorded FMK_MOTION_SCAN metrics
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* These structure members are "Output" to be written by the user. All the other members of this structure are monitor to be read.