Control commands of a drive
Control commands of a drive
Read/write drive data cyclically | |
Description | Four elements are available and these can be written by the PLC in each interpolation cycle and transferred to the drives via the subordinate drive protocol. The content and action are application-specific (dependent on the drives) |
Data type | MCControlUNS32Unit |
Characteristics | Data transfer can currently be used 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.: # antr_digital.typ.sercos.mdt[1].ident_nr antr_digital.typ.sercos.mdt[1].ident_len 4 antr_digital.typ.sercos.mdt[1].nc_ref LR_VAR1_OUT # 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 |
Access | PLC reads Request + State and writes Command + Enable |
ST path | pAC[axis_idx]^.addr^.McControlLr_Data.MCControlUNS32Unit_D<i> where i [1; 4] |
Commanded and requested value | |
ST element | .D_Command .D_Request |
Data type | UDINT |
Return value | |
ST path | .D_State |
Data type | UDINT |
Characteristics | These values are also provided at the position controller interface. See read drive data cyclically (pAC[axis_idx]^.addr^.StateLR_Data.D_Word1) |
Redirection | |
ST path | .X_Enable |
Operating mode | |
Description | Various drive operating modes can be commanded via these elements by the PLC (or operation). SERCOS-Antriebe: In the case of SERCOS drives, this information is derived from bit 8 and bit 9 of the control word. This allows switchover between main and ancillary operating modes of the drive. Mode0 corresponds to the lowest operating mode control bit of the drive. Currently, variables Mode0 and Mode1 are used only for SERCOS drives. PROFIDRIVE-Antriebe: MCControlBoolUnit_Mode0 With this control unit drive functionality parking axis is selected by setting bit 7 of drive control word 2 (STW2). The state element indicates if the functionality is active in the drive (value of bit 7 in drive status word 2 (ZSW2)). For a parked axis folluw up operation mode is selected internally. MCControlBoolUnit_Mode1 : With this control unit drive functionality parking encoder is selected by setting bit 14 of the encoder control(GX_STW). The state element indicates if the functionality is active in the drive (value of bit 14 in encoder status word (GX_STW)). For a parked encoder folluw up operation mode is selected internally. MCControlBoolUnit_Mode2 : Is not used at the moment. |
Data type | MCControlBoolUnit |
Characteristics | Elements MCControlBoolUnit_Mode3 MCControlBoolUnit_Mode6 are currently not used. |
Access | PLC reads Request + State and writes Command + Enable |
ST path | pAC[axis_idx]^.addr^.McControlLr_Data.MCControlBoolUnit_Mode<i> where i from [0; 6] |
Commanded, requested and return value | |
ST element | .X_Command .X_Request .X_State |
Data type | BOOL |
Value range | [TRUE = Bit set, FALSE] |
Redirection | |
ST element | . X_Enable |