Parameter handling
The servo drives from the AX5000 series use a new method for managing their configuration parameters (IDNs).
In contrast to conventional servo drives (e.g. AX2000) these parameter are not stored on the AX5000 itself, but in the TwinCAT project for the higher-level control system (NC on the IPC).
The parameter are transferred from the NC to the servo drive during startup of the EtherCAT system. Due to the high data transfer rate offered by EtherCAT this process is very fast, even in larger systems.
Transitions
During startup the EtherCAT system passes through the following states: Init, Pre-Operational, Safe-Operational, and Operational (see section EtherCAT state machine).
| IP: | Transition from Init to Pre-Operational |
PS: | Transition from Pre-Operational to Safe-Operational | |
SO: | Transition from Safe-Operational to Operational | |
OS: | Transition from Operational to Safe-Operational | |
SP: | Transition from Safe-Operational to Pre-Operational | |
PI: | Transition from Pre-Operational to Init |
In practice the parameters (IDNs) are transferred from the higher-level control system to the AX5000 during transitions IP, PS and SO.
The TwinCAT System Manager indicates at which transition the individual AX5000 parameters can be transferred.
