Yt_AxisInfo
Yt_AxisInfo: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| Number |
UINT | Corresponds to Axis_Ref.AxisNum. | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.Number |
| Node |
UINT | Node number of the drive associated with the axis. |
g_PN_VFD_AxisData.AxisArray[index].AxisInfo.Node |
| Module | UINT | Module index of the axis in case of multi module drive. | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.Module |
| AxisType |
Yt_AxisType | Type of axis. | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.AxisType#VFD |
| DriveConversion |
Yt_DriveConversion | Structure that contains information like scale multiplier, offset etc. | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.DriveConversion.posScale |
| SoftLimit | Yt_SoftLimitConstraint | Structure that contains state limits in positive and negative directions. |
g_PN_VFD_AxisData.AxisArray[index].AxisInfo.SoftLimit.Position.Enabled |
| Status | Yt_AxisStatusStruct | Structure that contains boolean states of the axis. | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.Status.P_OT |
| StatusDetails | Yt_AxisStatusDetails | Structure that contains non boolean states of the axis. | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.StatusDetails.OperationMode |
| Position | Yt_AxisStateStruct | Commanded and Actual position of the axis. | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.Position.Commanded |
| Velocity | Yt_AxisStateStruct | Commanded and Actual velocity of the axis. | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.Velocity.Commanded |
| Torque | Yt_AxisStateStruct | Commanded and Actual torque of the axis. | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.Torque.Commanded |
| Acceleration | Yt_AxisStateStruct | Commanded and Actual acceleration of the axis. | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.Acceleration.Commanded |
| Deceleration | Yt_AxisStateStruct | Commanded and Actual deceleration of the axis. | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.Deceleration.Commanded |
| PositionError | LREAL | Position error. | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.PositionError |
| Valid | Yt_AxisDataValid | Structure that displays if a reported state value is valid or not. | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.Valid.Position.Commanded |
Yt_DriveConversion: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| posScale |
LREAL | Scaling between default units on the drive and the user's programming units | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.DriveConversion.posScale |
| posOffset |
LREAL | Position offset between axis frame on the drive and the user's programming frame | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.DriveConversion.posOffset |
| torqueScale | LREAL | Scaling between default torque units on the drive and the user's programming units | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.DriveConversion.torqueScale |
Yt_SoftLimitConstraint: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| Position |
Yt_Constraint | Structure that defines the position limits of the axis | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.SoftLimit.Position.Enabled |
| Velocity | Yt_Constraint | Structure that defines the velocity limits of the axis |
g_PN_VFD_AxisData.AxisArray[index].AxisInfo.SoftLimit.Velocity.Enabled |
| Acceleration | Yt_Constraint | Structure that defines the acceleration limits of the axis |
g_PN_VFD_AxisData.AxisArray[index].AxisInfo.SoftLimit.Acceleration.Enabled |
| Deceleration | Yt_Constraint | Structure that defines the deceleration limits of the axis |
g_PN_VFD_AxisData.AxisArray[index].AxisInfo.SoftLimit.Deceleration.Enabled |
| Torque |
Yt_Constraint | Structure that defines the torque limits of the axis |
g_PN_VFD_AxisData.AxisArray[index].AxisInfo.SoftLimit.Torque.Enabled |
Yt_Constraint: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| Constraint |
Yt_ConstraintType | Describes if the limit is symmetric in both directions or not | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.SoftLimit.Position.Constraint#Symmetric |
| Enabled | BOOL | Defines if the limit is active or not | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.SoftLimit.Position.Enabled |
| Minimum | LREAL | Minimum value of the limit | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.SoftLimit.Position.Minimum |
| Maximum | LREAL | Maximum value of the limit | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.SoftLimit.Position.Maximum |
Yt_AxisStatusDetails: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| OperationMode |
UINT | Control mode of the axis | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.StatusDetails.OperationMode |
| AxisState |
UINT | State of the axis | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.StatusDetails.AxisState |
| Alarm | UINT | Alarm ID number | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.StatusDetails.Alarm |
| AlarmClass | UINT | Alarm class number | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.StatusDetails.AlarmClass |
| AlarmDetails | UINT | Details on alarm | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.StatusDetails.AlarmDetails |
| AlarmRecovery | UINT | Details on how to recover from the alarm | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.StatusDetails.AlarmRecovery |
| NumMotionSegments | UINT | Total number of motion segments available | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.StatusDetails.NumMotionDetails |
| FreeMotionSegments | UINT | Number of free motion segments in the queue | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.StatusDetails.FreeMotionDetails |
Yt_AxisStateStruct: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| Commanded |
LREAL | Commanded state of the axis | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.Position.Commanded |
| Actual |
LREAL | Actual state of the axis | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.Position.Actual |
Yt_AxisDataValid: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| Position |
Yt_AxisStateValidStruct | Structure flag to indicate if position value is valid | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.Valid.Position |
| Velocity |
Yt_AxisStateValidStruct | Structure flag to indicate if velocity value is valid |
g_PN_VFD_AxisData.AxisArray[index].AxisInfo.Valid.Velocity |
| Acceleration | Yt_AxisStateValidStruct | Structure flag to indicate if acceleration value is valid |
g_PN_VFD_AxisData.AxisArray[index].AxisInfo.Valid.Acceleration |
| Deceleration | Yt_AxisStateValidStruct | Structure flag to indicate if deceleration value is valid |
g_PN_VFD_AxisData.AxisArray[index].AxisInfo.Valid.Deceleration |
| Torque | Yt_AxisStateValidStruct | Structure flag to indicate if torque value is valid |
g_PN_VFD_AxisData.AxisArray[index].AxisInfo.Valid.Torque. |
| PositionError | BOOL | Flag to indicate if position error value is valid |
g_PN_VFD_AxisData.AxisArray[index].AxisInfo.Valid.PositionError |
| Status | Yt_AxisStatusStruct | Flags to indicate if boolean states are valid | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.Valid.Status.P_OT |
Yt_AxisStateValidStruct: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| Commanded |
BOOL | Describes if commanded state is valid | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.Valid.Position.Commanded |
| Actual |
BOOL | Describes if actual state is valid | g_PN_VFD_AxisData.AxisArray[index].AxisInfo.Valid.Position.Actual |