User Manual

Rockwell Automation Publication CC-QS033A-EN-P - February 2014 71
Appendix B
Global Variables
This appendix contains the global variables used for the user program interfacing.
Table 15 - Global Variable
Variable Name Data Type Variable Description
(User-defined prefix)_Cfg_MoveMode_Auto INT 0: Maintenance mode (lets only the axis jog)
1: Velocity Move mode
2: Absolute Move mode
3: Relative Move mode
(User-defined prefix)_Cfg_EnNegative_Auto BOOL Enable motion in the negative direction.
(User-defined prefix)_Cfg_EnPositive_Auto BOOL Enable motion in the positive direction.
(User-defined prefix)_Cmd_Reset_Auto BOOL Execute to clear FB fault.
(User-defined prefix)_Cmd_RsetDrv_Auto BOOL Execute to clear servo drive fault.
(User-defined prefix)_Cmd_Home_Auto BOOL Execute to home axis.
(User-defined prefix)_Cmd_Move_Auto BOOL Execute to move axis according to Move mode, acceleration, deceleration, jerk, position,
direction and velocity value.
(User-defined prefix)_Cmd_Enable_Auto BOOL Execute to power on servo drive.
(User-defined prefix)_Cmd_Stop_Auto BOOL Execute to stop PTO with reference to emergency stop profile (Setting not available in
faceplate).
(User-defined prefix)_Cmd_Halt_Auto BOOL Execute to stop Pulse Train Output (PTO).
(User-defined prefix)_Cfg_HomeMode_Auto SINT Selection of homing method.
(User-defined prefix)_Par_AccData_Auto REAL Set acceleration value for Move command.
(User-defined prefix)_Par_DecData_Auto REAL Set deceleration value for Move and Halt command.
(User-defined prefix)_Par_StopDec_Auto REAL Set deceleration value for Stop command. (Setting not available in faceplate)
(User-defined prefix)_Par_DirData_Auto SINT Set direction value for Move command.
(User-defined prefix)_Par_JerkData_Auto REAL Set jerk value for Move command.
(User-defined prefix)_Par_StopJerk_Auto REAL Set jerk value for Stop command. (Setting not available in faceplate)
(User-defined prefix)_Par_PositionData_Auto REAL Set Position value Move command.
(User-defined prefix)_Par_HomePosition_Auto REAL Set the absolute home position value when axis is homed.
(User-defined prefix)_Par_VelocityData_Auto REAL Set velocity value for Move command.
(User-defined prefix)_Cfg_Channel_Auto
Channel number of serial port for communication to drive
UINT For drive communication.
(User-defined prefix)_Par_Interval_Auto
Set polling interval for drive
UDINT For drive communication.
(User-defined prefix)_Cfg_NodeAddr_Auto
Set the node address of drive. For communication with controller
USINT For drive communication.
(User-defined prefix)_Cmd_HscDsEn_Auto
Execute to disable High Speed Counter
BOOL Applicable only when using an encoder.
(User-defined prefix)_Cmd_HscEn_Auto
Execute to enable High Speed Counter
BOOL Applicable only when using an encoder.