FB_AX200X_Profibus

FB_AX200X_Profibus 1:

The FB_AX200X_Profibus function block combines the three previous function blocks. It offers the complete interface to the AX2000 with access to all functions (except parameters).

Inputs

VAR_INPUT
    bInit              : BOOL;(*Initialization*)
    bMode_DigitalSpeed : BOOL;(*OP-Mode digital speed instead of Positioning*)
    iDigitalSpeed      : DWORD;(*digital speed if OP-Mode = digital speed*)
    iVelocity          : DWORD;(*Velocity*)
    iPosition          : DINT;(*Position*)
    iRunningMode       : BYTE;(*0:digital speed, 1: motiontask, 2: JogMode, 3: Calibration*)
    imotion_tasknumber : WORD;(*number of EEPROM-saved motion-task*)
    imotion_blocktype  : WORD:=16#2000;(*optional Parameters of motion tasks, default:SI-values*)
    iJogModeBasicValue : INT;(*BasicVelocity for JogMode*)
    iCalVelo           : WORD;(* basic velocity of Calibration*)
    bSetRefPoint       : BOOL;(* set Reference Point*)
    bStart             : BOOL;(*START*)
    bStop              : BOOL;(*STOP*)
    bShortStop         : BOOL;(* break of motion task*)
    iSlaveAddress      : BYTE;(* Station Address of the Slave *)
    iFC310xDeviceId    : WORD;(* Device-ID of the FCxxxx *)
    bErrorResume       : BOOL;(*Error resume*)
    tTimeOut           : TIME := DEFAULT_ADS_TIMEOUT;
END_VAR

Name	Type	Description
bInit	BOOL	Initialization of the drive. If bInit is TRUE then operation mode 2, "positioning", is set in the drive.
bMode_DigitalSpeed	BOOL	This is set if the drive is to be set to ‘Digital speed’ operation mode during the initialization.
iDigitalSpeed	DWORD	Speed in the ‘Digital speed’ operation mode.
iVelocity	DWORD	The parameter contains the required velocity for a subsequent motion command, e.g. µm/s.
iPosition	DINT	Target position
iRunningMode	BYTE	0: Digital speed, 1: Motiontask, 2: JogMode, 3: Calibration.
imotion_tasknumber	WORD	Motion block number. This input can be used to select a motion block previously stored in the drive's memory.
imotion_blocktype	WORD	Motion block type (optional). This input can be used to modify properties of a direct motion command.
iJogModeBasicValue	INT	Basic velocity for jog mode; the actual velocity is derived from the basic velocity and the "v-jog mode" factor for the drive.
iCalVelo	WORD	Basic velocity for homing. The final velocity is composed of the basic velocity and the "v-jog mode" factor for the drive.
bSetRefPoint	BOOL	Setting the reference point
bStart	BOOL	Starting the action, depending on the state of iRunningMode.
bStop	BOOL	Stopping the action, depending on the state of iRunningMode.
bShortStop	BOOL
iSlaveAddress	BYTE	Station address
iFC310xDeviceId	WORD	Device-ID
bErrorResume	BOOL	An “AX200X error” is reset with a positive edge at this Boolean input (no TimeOut error).
tTimeOut	BOOL	Maximum time allowed for the execution of the command.

Inputs/outputs

VAR_IN_OUT
    stPZDIN    : ST_PZD_IN;
    stPZDOUT   : ST_PZD_OUT;
END_VAR

Name	Type	Description
stPZDIN	ST_PZD_IN	Data words from the drive to the PLC.
stPZDOUT	ST_PZD_OUT	Data words from the PLC to the drive.

Outputs

VAR_OUTPUT
    bBusy        : BOOL;
    bError       : BOOL;(*Errorstatus of Servo*)
    iErrID       : DWORD;
    bTimeOutErr  : BOOL;
    bInitOK      : BOOL;(*Initialization OK*)
    iactPosition : DINT;(*actual Position SI-value*)
END_VAR

Name	Type	Description
bBusy	BOOL	This output remains TRUE until the function block has executed a command. While Busy = TRUE, no new command will be accepted at the inputs. Note that it is not the execution of the service that is monitored in terms of time, but only its acceptance.
bError	BOOL	This output shows the error state.
iErrID	DWORD	Contains the command-specific error code of the most recently executed command. Is reset to 0 by the execution of a command at the inputs.
bTimeOutErr	BOOL	TimeOut error
bInitOK	BOOL	Initialization state of the drive, bInit:= TRUE: Drive is initialized and in operation mode 2 'Positioning'.
iactPosition	DINT	Current position display in RunningMode 1: Motiontask.

Requirements

Development environment	Target platform	IO hardware	PLC libraries to be integrated (category group)
TwinCAT v3.1.0	PC or CX (x86)	AX2000 Profibus box	Tc2_IoFunctions (IO)