Status information of the drive of an axis

Drive type

Description

Type of drive of an axis.

For each axis, the drive type is specified in the axis machine parameters under entry kenngr.antr_typ.

Information flow

CNC -> PLC

ST path

pAC[axis_idx]^.addr^.StateLR_Data.W_DriveType

Data type

UINT

Value range

1 Conventional drive (+-10 V), not used

2 SERCOS drive

3 Profidrive

4 Drive simulation

5 Lightbus

6 Terminalachse (+-10V) via bus

7 Realtime ethernet

16 Virtual drive

32 CAN drive (option)

Access

PLC reads

Characteristics

 

Drive ready for power connection

Description

The drive of the axis is ready for power connection

Information flow

CNC -> PLC

ST path

pAC[axis_idx]^.addr^.StateLR_Data.X_ReadyPowerOn

Data type

BOOL

Value range

[TRUE = Ready for power connection, FALSE]

Access

PLC reads

Characteristics

SERCOS drives

In the case of SERCOS drives, this information is derived from bit 14 of the status word.

Drive ready for operation

Description

Drive control section and power supply are ready for operation.

Information flow

CNC -> PLC

ST path

pAC[axis_idx]^.addr^.StateLR_Data.X_ReadyControlLoopOn

Data type

BOOL

Value range

[TRUE = Drive ready for operation, FALSE]

Access

PLC reads

Characteristics

SERCOS drives

In the case of SERCOS drives, this information is derived from bit 15 of the status word.

Moreover, this data item is related as follows to X_ReadyPowerOn in the case of SERCOS drives:

  • If
    (pAC[axis_idx]^.addr^.StateLR_Data.X_ReadyControlLoopOn == TRUE) &&
    (pAC[axis_idx]^.addr^.StateLR_Data.X_ReadyPowerOn == FALSE) this means that the drive control section and power supply are ready for operation but the drive is currently idle.
  • If
    (pAC[axis_idx]^.addr^.StateLR_Data.X_ReadyControlLoopOn == TRUE) &&
    (pAC[axis_idx]^.addr^.StateLR_Data.X_ReadyPowerOn == TRUE) this means that the drive is ready for operation,
    i.e.
    “Feed Enable, Axis “ and “Drive On“ are set to TRUE and are effective. This means that the drive has torque and follows the position setpoint preset of the NC kernel.

Drive error

Description

An error has occurred in the drive. The drive is thus interlocked.

Information flow

CNC -> PLC

ST path

pAC[axis_idx]^.addr^.StateLR_Data.X_Error

Data type

BOOL

Value range

[TRUE = Error has occurred, FALSE]

Access

PLC reads

Characteristics

SERCOS drives

In the case of SERCOS drives, this information is derived from bit 13 of the status word.

Drive-specific state

Description

Drive-specific state corresponding to the specification of the drive (SERCOS, CAN, ...)

Information flow

CNC -> PLC

ST path

pAC[axis_idx]^.addr^.StateLR_Data.N_NativeDriveState

Data type

UINT

Access

PLC reads

Remark

Corresponds for SERCOS to the drive state (S-0-00135).

Read drive data

Description

Data transferred from the drive to the NC kernel. The content is application-specific

This data is also provided in parallel in the state of the control unit, see read / write drive data cyclically

Information flow

CNC -> PLC

ST path

pAC[axis_idx]^.addr^.StateLR_Data.D_Word1

pAC[axis_idx]^.addr^.StateLR_Data.D_Word2

pAC[axis_idx]^.addr^.StateLR_Data.D_Word3

pAC[axis_idx]^.addr^.StateLR_Data.D_Word4

Data type

UDINT

Access

PLC reads

Characteristics

The data transfer can be used currently only in the case of SERCOS drives.

For this purpose, transfer of the value to the drive must be enabled in the axis parameter list, e.g.:

# Cyclic reading of the 4 byte PLC value uns32_3 at S-0-0819
antr_digital.typ.sercos.at[1].ident_nr 0819 
antr_digital.typ.sercos.at[1].ident_len 4
antr_digital.typ.sercos.at[1].nc_ref LR_VAR3_IN

DRIVE_STATE_MODE_0

Description

Present mode OF drive, i.e. position loop control DRIVE_STATE_MODE_0 0x00000001

Information flow

CNC -> PLC

ST path

pAC[axis_idx]^.addr^.StateLR_Data.X_Mode0

Data type

BOOL

Value range

 

Access

PLC reads

Characteristics

 

DRIVE_STATE_MODE_1

Description

DRIVE_STATE_MODE_1 0x00000002

Information flow

CNC -> PLC

ST path

pAC[axis_idx]^.addr^.StateLR_Data.X_Mode1

Data type

BOOL

Value range

 

Access

PLC reads

Characteristics

 

DRIVE_STATE_MODE_2

Description

DRIVE_STATE_MODE_2 0x00000003

Information flow

CNC -> PLC

ST path

pAC[axis_idx]^.addr^.StateLR_Data.X_Mode2

Data type

BOOL

Value range

 

Access

PLC reads

Characteristics

 

DRIVE_STATE_MODE_3

Description

DRIVE_STATE_MODE_3 0x00000004

Information flow

CNC -> PLC

ST path

pAC[axis_idx]^.addr^.StateLR_Data.X_Mode3

Data type

BOOL

Value range

 

Access

PLC reads

Characteristics

Is currently not programmed

DRIVE_STATE_MODE_4

Description

DRIVE_STATE_MODE_4 0x00000005

Information flow

CNC -> PLC

ST path

pAC[axis_idx]^.addr^.StateLR_Data.X_Mode4

Data type

BOOL

Value range

 

Access

PLC reads

Characteristics

Is currently not programmed

DRIVE_STATE_MODE_5

Description

DRIVE_STATE_MODE_5 0x00000016

Information flow

CNC -> PLC

ST path

pAC[axis_idx]^.addr^.StateLR_Data.X_Mode5

Data type

BOOL

Value range

 

Access

PLC reads

Characteristics

Is currently not programmed

DRIVE_STATE_MODE_6

Description

DRIVE_STATE_MODE_6 0x00000007

Information flow

CNC -> PLC

ST path

pAC[axis_idx]^.addr^.StateLR_Data.X_Mode6

Data type

BOOL

Value range

 

Access

PLC reads

Characteristics

Is currently not programmed