POUs of the TcDrive.lib

This library contains functions and functionblocks for SoE-drives. The access to the drive is done via Drive-Reference.

There are differences in the usage of the drive libs in combination with AX5000 and Bosch Rexroth IndraDriveCS. See sample.

The TcDrive.lib should be used, if the drive is completely used by the PLC (no NC). The FBs use a drive reference to communicate with the drive. See ST_DriveRef. The FBs use internally the ST_DriveRef with the NetID as a string. In order to link a NetID to the drive there is additionally the ST_PlcDriveRef with NetID as a ByteArray. See samples in the documentation of the FBs.

	Parameter access The function blocks FB_SoERead_ByDriveRef and FB_SoEWrite_ByDriveRef can be used to access any parameter in the drive, that have no special acces FB.

	Different implmentation The function blocks FB_SoERead_ByDriveRef and FB_SoEWrite_ByDriveRef are implemented in the TcEtherCAT.lib in the folder SoE-Interface, since the TcEtherCAT.lib contains the general FBs for CoE and FoE.

Functions

Name	Description
F_GetVersionTcDrive	This function can be used to read the version information of the PLC library.
F_ConvWordToSTAX5000C1D	Converts the C1D-Word (S-0-0011) of an AX5000 to a structure ST_AX5000_C1D
F_ConvWordToSTAX5000DriveStatus	Converts the drive status word (S-0-0135) of an AX5000 to a structure ST_AX5000_DriveStatus
F_ConvWordToSTIndraDriveCsC1D	Converts the C1D-Word (S-0-0011) of an IndraDrive Cs to a structure ST_IndraDriveCs_C1D
F_ConvWordToSTIndraDriveCsDriveStatus	Converts the drive status word (S-0-0135) of an IndraDrive Cs to a structure ST_IndraDriveCsDriveStatus

Functionblocks

Name	Description
FB_SoEReset_ByDriveRef	Execute drive reset (S-0-0099)
FB_SoEWritePassword_ByDriveRef	Set drive password (S-0-0267)

FB_SoEReadDiagMessage_ByDriveRef	Read diagnostic message (S-0-0095)
FB_SoEReadDiagNumber_ByDriveRef	Read diagnostic number (S-0-0390)
FB_SoEReadDiagNumberList_ByDriveRef	Read diagnostic number list (up to 30 entries) (S-0-0375)
FB_SoEReadClassXDiag_ByDriveRef	Read class 1 diag (S-0-0011) ... class 3 diag (S-0-0013)

FB_SoEExecuteCommand_ByDriveRef	Execute command
FB_SoEWriteCommandControl_ByDriveRef	Set command control
FB_SoEReadCommandState_ByDriveRef	Read command state

FB_SoERead_ByDriveRef	Read drive parameter, see TcEtherCAT.lib (Folder SoE Interface)
FB_SoEWrite_ByDriveRef	Write drive parameter, see TcEtherCAT.lib (Folder SoE Interface)

FB_SoEReadAmplifierTemperature_ByDriveRef	Read amplifier temperature (S-0-0384)
FB_SoEReadMotorTemperature_ByDriveRef	Read motor temperature (S-0-0383)
FB_SoEReadDcBusCurrent_ByDriveRef	Read Dc-Bus-current (S-0-0381)
FB_SoEReadDcBusVoltage_ByDriveRef	Read Dc-Bus-Voltage (S-0-0380)

FB_SoEAX5000ReadActMainVoltage_ByDriveRef	Read main voltage (P-0-0200)
FB_SoEAX5000SetMotorCtrlWord_ByDriveRef	Set motor control word to override brake handling (P-0-0096)
FB_SoEAX5000FirmwareUpdate_ByDriveRef	Automatic firmware update of the AX5000

Drive reference

See ST_DriveRef.

Sample project and configuration for AX5000 drive diagnose

See AX5000MinimalDiag_TcDrive.zip,

Sample project and configuration for IndraDrive Cs drive diagnose

See IndraDriveMinimalDiag_TcDrive.zip, (TcDrive.lib v0.0.25 or higher)

Requirements

Component	Version
TwinCAT on the development PC	2.10 Build 1335 or higher (IndraDrive Cs: 2.10 Build >1340, 2.11Build > 1541)
TwinCAT on the Windows CE-Image	2.10 Build 1333 or higher (IndraDrive Cs: 2.10 Build >1340, 2.11Build > 1541)
TwinCAT on the Windows XP-Image	2.10 Build 1333 or higher (IndraDrive Cs: 2.10 Build >1340, 2.11Build > 1541)