Drive states
Digital drives supply inside the cyclic telegram information about the internal drive state. This information are evaluated inside the NC kernel and then they are made available for the PLC on the HLI.
The state signals can be red in the sector:
pAC[achs_index]^.addr^.StateLR_Data
There the signals are:
- X_ReadyPowerOn: The drive is ready for power connection.
- X_ReadyControlLoopOn: The drive turns into control. If the required releases (see chapter 3.1) are set, the drive follows the position commands of ther NC kernel.
Dependend on the drive type not all signals are supported on the HLI: The following table gives an overview about which drive type supports which state signals.
State signal | SERCOS | PROFIDRIVE | Terminal | Lightbus | RTEthernet | CANopen |
|---|---|---|---|---|---|---|
ReadyPowerOn | X | X |
| X | X | X |
ReadyControl-LoopOn | X | X |
|
|
| X |