Data Types; St_Syncmode - Beckhoff TwinCAT 2 Manual

The axis data structure of type AXIS_REF addresses an axis uniquely within the system. Among other
parameters it contains the current axis status, including position, velocity or error status.
12.3

Data types

12.3.1

ST_SyncMode

TYPE ST_SyncMode :
STRUCT
(* mode *)
GearInSyncMode : E_GearInSyncMode;
(* 32 bit check mask ... *)
GearInSync_CheckMask_MinPos : BOOL;
GearInSync_CheckMask_MaxPos : BOOL;
GearInSync_CheckMask_MaxVelo : BOOL;
GearInSync_CheckMask_MaxAcc : BOOL;
GearInSync_CheckMask_MaxDec : BOOL;
GearInSync_CheckMask_MaxJerk : BOOL;
GearInSync_CheckMask_OvershootPos : BOOL;
GearInSync_CheckMask_UndershootPos : BOOL;
GearInSync_CheckMask_OvershootVelo : BOOL;
GearInSync_CheckMask_UndershootVelo : BOOL;
GearInSync_CheckMask_OvershootVeloZero : BOOL;
GearInSync_CheckMask_UndershootVeloZero : BOOL;
(* operation masks ... *)
GearInSync_OpMask_RollbackLock : BOOL;
GearInSync_OpMask_InstantStopOnRollback : BOOL;
GearInSync_OpMask_PreferConstVelo : BOOL;
GearInSync_OpMask_IgnoreMasterAcc : BOOL;
GearInSync_OpMask_IgnoreSlaveAcc : BOOL;
GearInSync_OpMask_DetailedErrorCodes : BOOL;
END_STRUCT
END_TYPE
TYPE E_GearInSyncMode :
(
(* synchronization based on the master position, slave dynamics depend on master dynamics *)
GEARINSYNCMODE_POSITIONBASED,
(* synchronization based on a standalone slave PTP profile, master independet slave dynamics *)
GEARINSYNCMODE_TIMEBASED
);
END_TYPE
The time-based motion profile (GEARINSYNCMODE_TIMEBASED) is currently only implemented
for the function block MC_GearInVelo.
See also:
Operation of the individual bits [} 18]
Error Codes
TS5055 Version: 1.3
PLC API
41