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