FB_SoEAX5000SetMotorCtrlWord

With the function block FB_SoEAX5000SetMotorCtrlWord the ForceLock bit (Bit 0) or the ForceUnlock bit can be set in the Motor Control Word (P-0-0096) 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
    NetId       : T_AmsNetId := '';
    Execute     : BOOL; 
    Timeout     : TIME := DEFAULT_ADS_TIMEOUT;
    ForceLock   : BOOL;
    ForceUnlock : BOOL;
END_VAR

Name	Type	Description
NetId	T_AmsNetID	String containing the AMS network ID of the PC.
Execute	BOOL	The function block is enabled via a positive edge at this input.
Timeout	TIME	Maximum time allowed for the execution of the function block.
ForceLock	BOOL	Activates the brake independently of the enable.
ForceUnlock	BOOL	Releases the brake independently of the enable.

Inputs/outputs

VAR_IN_OUT
   Axis : AXIS_REF;
END_VAR

Name	Type	Description
Axis	AXIS_REF	Axis data structure that unambiguously addresses an axis in the system. Among other parameters it contains the current axis status, including position, velocity or error state.

Outputs

VAR_OUTPUT
    Busy        : BOOL;
    Error       : BOOL;
    AdsErrId    : UINT;
    SercosErrId : UINT;
END_VAR

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

Sample

fbSetMotorCtrlWord : FB_SoEAX5000SetMotorCtrlWord;
SetMotorCtrlWord   : BOOL;
ForceLock          : BOOL;
ForceUnlock        : BOOL;
(* NcAxis *)
Axis               : AXIS_REF; 

IF SetMotorCtrlWord THEN
 fbSetMotorCtrlWord(
    Axis        := Axis,
    Execute     := TRUE,
    Timeout     := DEFAULT_ADS_TIMEOUT,
    ForceLock   := ForceLock,
    ForceUnlock := ForceUnlock
 );
 IF NOT fbSetMotorCtrlWord.Busy THEN
    fbSetMotorCtrlWord(Axis := Axis, Execute := FALSE);
    SetMotorCtrlWord := FALSE;
 END_IF
END_IF

Requirements

Development environment	Target platform type	PLC library	AX5000 Firmware
TwinCAT 3	PC or CX (x86 or x64)	Tc2_MC2_Drive	≥v1.07 b0001