Equipments (Devices) > SCA06

The following variables contained in the GLOBAL_SYSTEM group of the variables table, have the fixed tag. The tag of system markers were divided into groups and subgroups, where:

Groups:

•	SCA: reading and writing variables of the SCA06 servo drive;

•	CO: reading and writing variables of the CANopen network.

Subgroups:

•	STS: reading variable (status);

•	CMD: writing variable (command).

Reading System Markers (Status)

Address	Bit	Modbus	Tag	Descrição	Data Type
Ladder
%SB6000	0	0	FREQ_2HZ	Oscillator with frequency of 2 Hz	BOOL
%SB6000	1	1	PULSE_1SCAN	Pulse during the first scan cycle	BOOL
%SB6000	2	2	FALSE	Allways 0	BOOL
%SB6000	3	3	TRUE	Allways 1	BOOL
%SW6002	--	3001	ELAPSED_SCAN_CYCLES	Elapsed scan cycles	WORD
Real Axis
%SW6004	--	3002	REAL_AXIS_STATUS	Real axis status (see note)	WORD
%SD6008	--	3004	REAL_AXIS_VELOCITY	Real axis velocity	REAL
%SL6024	--	3012	REAL_AXIS_POSITION	Real axis position	LREAL
Virtual Axis
%SW6006	--	3003	VIRTUAL_AXIS_STATUS	Virtual axis status (see note)	WORD
%SD6012	--	3006	VIRTUAL_AXIS_VELOCITY	Virtual axis velocity	REAL
%SL6032	--	3016	VIRTUAL_AXIS_POSITION	Virtual axis position	LREAL
Current
%SD6016	--	3008	MOTOR_CURRENT	Motor current	REAL
Position in the DI´s transition
%SD6040	--	3020	POSITION_STORED_DI1	Position stored in the DI1 transition	LREAL
%SD6048	--	3024	POSITION_STORED_DI2	Position stored in the DI2 transition	LREAL
%SD6056	--	3028	POSITION_STORED_DI3	Position stored in the DI3 transition	LREAL
Counters
%SD6064	--	3032	BUILT_IN_COUNTER	Built-in counter value	DINT
%SD6068	--	3034	BUILT_IN_COUNTER_DI3	Built-in counter stored in the DI3 transition	DINT
%SD6072	--	3036	ENC1_COUNTER	Encoder 1 counter value	DINT
%SD6076	--	3038	ENC2_COUNTER	Encoder 2 counter value	DINT
%SD6080	--	3040	ENC_COUNTER_Z1	Encoder counter stored in the Z1 transition as defined in P00511	DINT
%SD6084	--	3042	ENC_COUNTER_Z2	Encoder counter stored in the Z2 transition as defined in P00521	DINT
CANopen
%SB6100	0	800	CO_STS_MASTER_CONTACTED	The CANopen master contacted all the slaves	BOOL
%SB6100	1	801	CO_STS_MASTER_CONFIG_OK	The CANopen master downloaded the configurations of the slaves	BOOL
%SB6100	2	802	CO_STS_MASTER_ERROR_CTRL_OK	Error control protocol (node guarding/heartbeat) initiated with the slaves	BOOL
%SB6100	3	803	CO_STS_MASTER_INIT_FINISHED	The CANopen master initialized all the slaves	BOOL
%SB6100	4	804	CO_STS_MASTER_INIT_ERROR	A slave presented an initialization error	BOOL
%SB6100	5	805	CO_STS_MASTER_ERROR_CTRL	The CANopen master detected a fault in a slave through the error detection protocol	BOOL
%SB6100	6	806	CO_STS_MASTER_EMCY	A slave reported EMCY	BOOL
%SB6101	0	808	CO_STS_MASTER_NMT_TOGGLE	NMT command toggle bit feedback	BOOL
%SB6101	5	813	CO_STS_MASTER_BUS_OFF	The CANopen master is in bus off	BOOL
%SB6101	6	814	CO_STS_MASTER_POWER_OFF	The CANopen master has no power supply at the CAN interface	BOOL
%SB6101	7	815	CO_STS_MASTER_COMM_DISABLED	Disabled CANopen master communication	BOOL
%SB6102	0	816	CO_STS_SLAVE1_CONTACTED	The CANopen master successfully contacted the slave in the indicated address	BOOL
%SB6102	1	817	CO_STS_SLAVE1_CONFIG_OK	The CANopen master successfully configured the slave	BOOL
%SB6102	2	818	CO_STS_SLAVE1_ERROR_CTRL_OK	Error control protocol (node guarding/heartbeat) initiated with the slave	BOOL
%SB6102	3	819	CO_STS_SLAVE1_INIT_FINISHED	Concluded slave initialization	BOOL
%SB6102	4	820	CO_STS_SLAVE1_INIT_ERROR	Initialization error in the indicated address slave	BOOL
%SB6102	5	821	CO_STS_SLAVE1_ERROR_CTRL_FAIL	Fault detected in some slave from the CANopen master error detection protocol	BOOL
%SB6102	6	822	CO_STS_SLAVE1_EMCY	The slave in the indicated address reported EMCY error	BOOL
%SB6104	0	832	CO_STS_SLAVE2_CONTACTED	The CANopen master successfully contacted the slave in the indicated address	BOOL
%SB6104	1	833	CO_STS_SLAVE2_CONFIG_OK	The CANopen master successfully configured the slave	BOOL
%SB6104	2	834	CO_STS_SLAVE2_ERROR_CTRL_OK	Error control protocol (node guarding/heartbeat) initiated with the slave	BOOL
%SB6104	3	835	CO_STS_SLAVE2_INIT_FINISHED	Concluded slave initialization	BOOL
%SB6104	4	836	CO_STS_SLAVE2_INIT_ERROR	Initialization error in the indicated address slave	BOOL
%SB6104	5	837	CO_STS_SLAVE2_ERROR_CTRL_FAIL	Fault detected in some slave from the CANopen master error detection protocol	BOOL
%SB6104	6	838	CO_STS_SLAVE2_EMCY	The slave in the indicated address reported EMCY error	BOOL
...	...	...	...	...
%SB6354	0	2832	CO_STS_SLAVE127_CONTACTED	The CANopen master successfully contacted the slave in the indicated address	BOOL
%SB6354	1	2833	CO_STS_SLAVE127_CONFIG_OK	The CANopen master successfully configured the slave	BOOL
%SB6354	2	2834	CO_STS_SLAVE127_ERROR_CTRL_OK	Error control protocol (node guarding/heartbeat) initiated with the slave	BOOL
%SB6354	3	8235	CO_STS_SLAVE127_INIT_FINISHED	Concluded slave initialization	BOOL
%SB6354	4	2836	CO_STS_SLAVE127_INIT_ERROR	Initialization error in the indicated address slave	BOOL
%SB6354	5	2837	CO_STS_SLAVE127_ERROR_CTRL_FAIL	Fault detected in some slave from the CANopen master error detection protocol	BOOL
%SB6354	6	2838	CO_STS_SLAVE127_EMCY	The slave in the indicated address reported EMCY error	BOOL
%SW6360	--	3180	CO_SDO_ERROR_NODE_ID	SDO error: address of the slave with the last detected SDO error	WORD
%SW6362	--	3181	CO_SDO_ERROR_OBJECT_INDEX	SDO error: object index	WORD
%SW6364	--	3182	CO_SDO_ERROR_OBJECT_SUBINDEX	SDO error: object sub-index	WORD
%SW6366	--	3183	CO_SDO_ERROR_FUNCTION	SDO error: function (writing/reading)	WORD
%SD6368	--	3184	CO_SDO_ERROR_VALUE	SDO error: value	DWORD
%SD6372	--	3186	CO_SDO_ERROR_CODE	SDO error: error code	DWORD
%SB6380	--	3190	CO_EMCY_SLAVE_ID	Last reported EMCY: slave address	BYTE
%SB6382	--	3191	CO_EMCY_DATA	Last reported EMCY: object data	BYTE

Writing / Reading System Markers (Command)

Address	Bit	Modbus	Tag	Description
CANopen
%CB6000	--	3000	CO_CMD_NMT_COMMAND	NMT command transmission by the CANopen master: command code
%CB6001	0	8	CO_CMD_NMT_TOGGLE	NMT command transmission by the CANopen master: toggle bit
%CB6001	7	15	CO_CMD_DISABLE	Disables the CANopen communication
%CB6002	--	3001	CO_CMD_NMT_SLAVE_ADDR	NMT command transmission by the CANopen master: slave address

NOTE!

Below description of the real axis and virtual status:

0. Disabled.

1. Errorstop.

2. Standstill.

3. Stopping.

4. Homing.

5. Continuous Motion.

6. Discrete Motion.

7. Synchronized Motion.

wpsresourceprojectplcsca06extension_system_markers_img001

Note 1: When the drive is in "Stopping" on "Errorstop" every block can be called, but only MC_Reset block is executed;

Note 2: Attempt to enable the drive, but the drive is in fault;

Note 3: Enabling the drive and the drive is not in fault;

Note 4: MC_Stop.Done is true and MC_Stop.Execute is false;

Note 5: MC_StepDirect, MC_StepRefPulse or MC_FinishHoming.