SERVO Struct Reference

Describes one servo drive (or axis) More...

#include <tgm.h>

Public Attributes
uint32_t	Number
	Logical servo number.
uint32_t	Node
	Communication node number.
uint32_t	Axis
	Axis number (valid for multi-axis servo drives)
SERVO_TYPE	Type
	Servo type.
uint32_t	Resolution
	Motor resolution [ inc/rev ].
int32_t	SerialNumber
	Serial number of servo drives.
volatile uint32_t	Control
volatile int32_t	Status
int32_t	Mode
	Servo modes.
uint32_t	Error
	Fault code.
uint32_t	EtherCATState
	State of communications on the ETHERCAT.
uint32_t	DigitalIn
	State of servo digital inputs.
uint32_t	DigitalOut
	State of servo digital outputs, writing causes setting servo digital outputs.
int32_t	TorqueFeedForward
	Torque feed forward, scaling is 0.001 of rated torque.
uint32_t	ControlWord
	copy of CAN control word
uint32_t	StatusWord
	copy of CAN status word
uint32_t	SysTimeDifference
	last known difference between local time and reference time in ns
ECAT_REGISTER	ecatRegister
	ECAT register communication channel.
uint32_t	ECATBusPosition
	found physical position on the bus
uint32_t	ResolutionBits
	Motor resolution in bits (RO)
uint32_t	LatchControlWord
	Latch control word (ServoStar 700 only)
int32_t	FeedbackType
int32_t	Revision
	servo revision number
uint32_t	ExtEncoderResolution
	external encoder resolution, only for TGMcontroller, default 1024
int32_t	IReserve [89]
	reserved
float64_t	WritePosition
	Wanted servo position [ inc ] RW.
float64_t	Position
	Actual position reading from the servo [ inc ] R.
float64_t	RefPosition
	Actual shift position from the servo [ inc ] R.
float64_t	ExtPosition
	Actual external position reading from the servo [ inc ] R.
float64_t	Offset
	Shift of the position [ inc ] W.
float64_t	Correction
	Correction of position [ inc ] W.
float64_t	PositionError
	Actual position error [ inc ] R.
float64_t	WriteSpeed
	Actual speed writing to servo [ inc/s ] R.
float64_t	Speed
	Actual speed reading from the servo [ inc/s ] R.
float64_t	LimitCurrent
	Drive current limitation [ inc ] - depends on servo type W.
float64_t	Current
	Actual drive current [ inc ] - depends on servo type R.
float64_t	MaxCurrent
	Max. drive current [ mA ] - depends on servo type R.
float64_t	AnalogIn
	Actual value from analog input [ inc ] - depends on servo type R.
float64_t	WriteAcc
	Actual acceleration writing to servo [ inc/s2 ] R.
float64_t	AccMaxTorqueFeedForward
	Acceleration for max feed forward [ inc/s2 ] W.
float64_t	TransformedPosition
	Value to be copied to WritePosition in case of Mode == 9 (MODE_USER)
float64_t	Position_SecondAxis
	for double axes servo, the second axis actual position
float64_t	AnalogIn_SecondAxis
	for double axes servo, second analog input
float64_t	DReserve [86]
	reserved
PG	Pg
	Profile generator.
SDO	Sdo
	SDO communication object.
GEAR	Gear
	Gear generator.
MAP_CNC	Cnc
	Mapping of interpolator axis to servo.
CAPTURE	Capture
	Capture control.
COMMAND	Command
	Interface which simplifies Profile and Gear generator settings.

Static Public Attributes
static constexpr uint32_t	RESET_FAULT_BIT0 { 0x0001U }
	Value for SERVO::Control - reset.
static constexpr uint32_t	DISABLE_TORQUE_BIT1 { 0x0002U }
	Value for SERVO::Control - disable torque (AKD & ServoStar)
static constexpr uint32_t	RESET_ETHERCAT_BIT2 { 0x0004U }
	Value for SERVO::Control - reset device on EtherCAT (reserved)
static constexpr uint32_t	CALC_TORQUE_BIT3 { 0x0008U }
	Value for SERVO::Control - automatic torque calculation (AKD & TGZ)
static constexpr uint32_t	EMULATE_INC_ENCODER_OUTPUT_BIT16 { 0x00010000U }
	special bit for TGMcontroller: use emulated incremental encoder output
static constexpr int32_t	COMMUNICATIONS_FAULT { -1 }
	Values for SERVO::Status.
static constexpr int32_t	NO_RESPONSE { 0 }
static constexpr int32_t	FAULT { 1 }
static constexpr int32_t	READY_DISABLE { 2 }
static constexpr int32_t	READY_ENABLE { 3 }
static constexpr int32_t	FEEDBACK_DSL { 1 }
	Values for SERVO::FeedbackType.
static constexpr int32_t	FEEDBACK_ENDAT { 2 }
static constexpr int32_t	FEEDBACK_SSI { 3 }

Detailed Description

Describes one servo drive (or axis)

Structure size is 2048 bytes

Member Data Documentation

Control

volatile uint32_t SERVO::Control

Servo control

bit number	description
0	reset fault,
1	disable torque,
2	reset ETHERCAT Communication,
3	automatic calculate of torque feed forward on/off

FeedbackType

int32_t SERVO::FeedbackType

feedback type (set by Servo[xx].FeedbackType= entry in the INI file):

value	type
0	DSL
1	EnDat
2	SSI
-1	not set/used

Status

volatile int32_t SERVO::Status

Servo status:

value	description
-1	communications fault
0	no response
1	fault
2	ready disable
3	ready enable

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The documentation for this struct was generated from the following file:

• tgm.h