FB_SoEAX5000SetMotorCtrlWord_ByDriveRef

With the FB_SoEAX5000SetMotorCtrlWord_ByDriveRef function block the ForceLock bit (Bit 0) and the ForceUnlock bit in the Motor Control Word (P-0-0096) can be set, in order to activate or release the brake. Normally the brake is automatically controlled via the Enable of the drive.

With the ForceLock-Bit, the brake can be activated independently from the Enable, with the ForceUnlock bit, the brake can be released independently from the Enable. In the case of simultaneously set ForceLock and ForceUnlock, ForceLock (Brake activated) has the higher priority.

Inputs

VAR_INPUT
    stDriveRef   : ST_DriveRef; 
    bExecute     : BOOL; 
    tTimeout     : TIME := DEFAULT_ADS_TIMEOUT;bForceLock   : BOOL;
    bForceUnlock : BOOL
END_VAR

Name	Type	Description
stDriveRef	ST_DriveRef	Reference to the drive. The reference to the drive can be linked directly to the PLC in the System Manager. To do this, an instance of the structure ST_PlcDriveRef must be allocated and the NetID must be converted from the byte array into a string. (Type: ST_DriveRef)
bExecute	BOOL	The function block is enabled via a positive edge at this input.
tTimeout	TIME	Maximum time allowed for the execution of the function block.
bForceLock	BOOL	Activates the brake independently of the enable.
bForceUnlock	BOOL	Releases the brake independently of the enable.

Outputs

VAR_OUTPUT
    bBusy        : BOOL;
    bError       : BOOL;
    iAdsErrId    : UINT;
    iSercosErrId : UINT;
END_VAR

Name	Type	Description
bBusy	BOOL	This output is set when the function block is activated, and remains set until a feedback is received.
bError	BOOL	This output is set after the bBusy output has been reset when an error occurs in the transmission of the command.
iAdsErrId	UINT	In the case of a set bError output returns the ADS error code of the last executed command.
iSercosErrId	UINT	In the case of a set bError output returns the Sercos error of the last executed command.

Sample

fbSetMotorCtrlWord : FB_SoEAX5000SetMotorCtrlWord_ByDriveRef;
bSetMotorCtrlWord  : BOOL;
bForceLock         : BOOL;
bForceUnlock       : BOOL;
stPlcDriveRef AT %I* : ST_PlcDriveRef;
stDriveRef        : ST_DriveRef;

IF bInit THEN
   stDriveRef.sNetId := F_CreateAmsNetId(stPlcDriveRef.aNetId);
   stDriveRef.nSlaveAddr := stPlcDriveRef.nSlaveAddr;
   stDriveRef.nDriveNo := stPlcDriveRef.nDriveNo;
   stDriveRef.nDriveType := stPlcDriveRef.nDriveType;
   IF (stDriveRef.sNetId <> '') AND (stDriveRef.nSlaveAddr <> 0) THEN
       bInit := FALSE;
   END_IF
END_IF

IF bSetMotorCtrlWord AND NOT bInit THEN
   fbSetMotorCtrlWord(
      stDriveRef := stDriveRef,
      bExecute := TRUE,
      tTimeout := DEFAULT_ADS_TIMEOUT,
      bForceLock := bForceLock,
      bForceUnlock:= bForceUnlock
   );
   IF NOT fbSetMotorCtrlWord.bBusy THEN
      fbSetMotorCtrlWord(stDriveRef := stDriveRef, bExecute := FALSE);
      bSetMotorCtrlWord := FALSE;
   END_IF
END_IF