Example 2

In a drive speed monitoring shall be disabled by controlling a bit in the drives control word.

As example the command shall disable speed monitoring

#DRIVE WR SYN [AX=X KEY=SPEED_MON VAL=0]

The command shall enable speed monitoring

#DRIVE WR SYN [AX=X KEY=SPEED_MON VAL=1] 

Parameterization of transmission

1. Alternative:

PROFIDRIVE, speed monitoring is controlled by bit 8 in the drives control word 2 (STW2).

The following parameters have to be set up in the axis parameter list:

antr.function[0].id              SPEED_MON
antr.function[0].commu           CYCLIC
antr.function[0].wr_ident[0]     STW2
antr.function[0].startup_value   1
antr.function[0].data_type       BITARRAY_16
antr.function[0].mask            BIT_8
#alternativ:
#antr.function[0].mask           0x100
#

2. Alternative:

SERCOS drive, speed monitoring is controlled by real time control bit 1.

The following parameters must be set up in the axis parameter list:

antr.function[0].id              SPEED_MON
antr.function[0].commu           CYCLIC
antr.function[0].wr_ident[0]     S-0-0134
antr.function[0].startup_value   1
antr.function[0].data_type       BITARRAY_16
antr.function[0].mask            0x40