Drive
The drive transfers the output voltage to the motor's power section. A wide variety of drive versions is supported. Servo drives, a high/low speed drives, and stepper motor drives are available. The drive parameters include the motor polarity and the reference speed.
Interface
Every drive that does not belong to a simulated axis must be associated with a set value output module.
Drive types
- M2400-DAC1,
- M2400-DAC2,
- M2400-DAC3,
- M2400-Dac4,
- KL4XXX and PWM Terminal KL2502_30K (frq. cnt. pulse mode) and KL4132 (16 bit) (see KL5051),
- KL4XXX-NONLINEAR, new analog type for non linear curves,
- TWOSPEED,
- STEPPER,
- SERCOS,
- KL5051, BISSI drive KL5051 with 32 bits (see KL4XXX),
- AX2000, incremental with 32 bits (AX2000),
- SIMO611U, incremental with 32 bits,
- UNIVERSAL, variable bit mask (max. 32 bits, signed value),
- CBACKPLANE, variable bit mask (max. 32 bit, signed value).
Drive parameters
Parameter | Data type | Description |
|---|---|---|
DRIVE-Mode | ENUM | reserved. |
Invert Motor Polarity | BOOL | Direction of motor rotation is inverted. FALSE = in response to positive drive the axis moves in the direction of larger positions. TRUE = in response to positive drive the axis moves in the direction of smaller positions. |
Minimum Drive Output Limitation | float | Lower control limit. The output to the drive is limited to this minimum value. |
Maximum Drive Output Limitation | float | Upper control limit. The output to the drive is limited to this maximum value. |
Analog drive
Analog does not mean here that the speed is represented by a voltage (e.g. ±10 V) or current (e.g. ±20 mA), but rather that the axis can be adjusted over an effectively continuous range of values. This is of course also possible for drives with digital interfaces such as the BISSI Terminals of type KL5051. Here a speed, which can be adjusted as an analog value, is transported in the form of digital information.
Analog parameters
Parameter | Data type | Description |
|---|---|---|
Reference velocity | float | The reference velocity for the axis. When generating the setpoints for the axis, the pre-control assumes that the axis will react by moving at this velocity when driven with the reference output value. |
Reference output | float | See above. |
Drift compensation | float | This value is added to the drive control level. In this way, a constant offset can be added to the output, in order to compensate, for instance, for zero errors in analog drives. |
SERCOS
Output scaling (only significant in the speed control operating mode) determines the relationship between the internal representation of the speed and the weighting of the speed data that is set in the drive unit. Since the calculation depends on a number of parameters that are internal to the drive unit, there is a facility for allowing the correct value to be calculated (the "Calculate" button). To do this, the necessary parameters are read from the drive, and the correct value is calculated (it is assumed that the system is operating and that SERCOS is at least in Phase 2). Download and Upload can be used to write or read the data to and from the running TwinCAT system.