Process image "PLC control"

Process image "PLC control" 1:

In the following sections, the letter n serves as a placeholder for the channel number.

Screenshots showing process data objects of channel 1 are used as examples for both channels. The process data objects of channel 1 and channel 2 have the same content structure.

DI Inputs

Process image "PLC control" 2:

The input variables map the logic level of the digital inputs/outputs in the process data.

Make sure that the corresponding output variable in the "DO Outputs" process data object is set to 0 if you want to use a digital input/output as an input.

The different designations "Input x" and "Control input x" are only relevant in ZPA mode. In operation without ZPA all digital inputs are equivalent.

Assignment of connections and process data

STM Status Channel n

Process image "PLC control" 3:

The input variables "Status" contain the status bits of the motor channels.

Ready to enable

  • TRUE: all prerequisites for enabling the motor are fulfilled.
  • FALSE: the motor channel cannot be enabled (output variable "enable") because an error message is pending.

Ready

  • TRUE: the motor is being energized.

Warning

  • TRUE: the motor channel is in a borderline state.

Error

  • TRUE: the motor channel has been disabled due to an error message. To determine the cause of the error, see chapter Diagnosis bits.

Moving positive

  • TRUE: the motor velocity is higher than zero.

Moving negative

  • TRUE: the motor velocity is lower than zero.

TxPDO Toggle

This bit is inverted each time the status bit is updated.

STM Synchron info data Channel n

Process image "PLC control" 4:

The input variables “Info data x” contain measured values. You can choose which measured values are mapped to these variables in the CoE directory:

  • Select the measured values for Channel 1 in CoE object 8022.
  • Select the measured values for Channel 2 in CoE object 8032.

STM Inputs Device

Process image "PLC control" 5:

"STM Inputs Device" contains diagnostic bits that you can use to narrow down the cause of a warning or an error. See chapter Diagnosis bits.

DO Outputs

Process image "PLC control" 6:

Output variables for the digital inputs/outputs.

The different designations "Output x" and "Control output x" are only relevant in ZPA mode. In operation without ZPA, all eight digital outputs are equivalent.

STM Control Channel n

Process image "PLC control" 7:

Enable

This bit enables the motor channel. The bit has no effect if the variable Ready to enable is FALSE.

Reset

Apply a rising signal edge to this bit to acknowledge an error.

Invert direction

If this bit is set, the setpoint velocity is multiplied by "-1" to change the direction.

Brake output (EP7402-0057 only)

Output variable for switching the motor brake output.

STM Target Velocity Channel n

Process image "PLC control" 8:

Velocity

Target velocity.
This value is the setpoint for the velocity controller.
However, any value less than parameter 80n00:09 start velocity, is interpreted as zero.

Unit: °/s

Acceleration

This value determines the maximum acceleration. If this value is zero, the acceleration is not limited.

Unit: °/s2

Deceleration

This value determines the maximum deceleration. A deceleration is not limited if this value is zero.

Unit: °/s2

Further Information