FB_AX200X_Profibus

VAR_IN_OUT

VAR_IN_OUT
    stPZD_IN            : ST_PZD_IN; 
    stPZD_OUT           : ST_PZD_OUT;
END_VAR

stPZDIN : Data words from drive to PLC

stPZDOUT : Data words from PLC to drive

VAR_INPUT

VAR_INPUT
    bInit               : BOOL;     (*Initialization*)
    iVelocity           : DWORD;        (*Velocity*)
    iPosition           : DINT;     (*Position*)
    iRunningMode        : BYTE;     (*1: motiontask, 2: JogMode, 3: Calibration*)
    imotion_tasknumber  : WORD;     (*number of EEPROM-saved motion-task*)
    imotion_blocktype   : WORD:=16#2000;    (*optional Parameters of motion tasks, default:SI-values*)
    iJogModeBasicValue  : INT;      (*BasicVelocity for JogMode*)
    iCalVelo            : WORD;     (* basic velocity of Calibration*)
    bSetRefPoint        : BOOL;     (* set Reference Point*)
    bStart              : BOOL;     (*START*)
    bStop               : BOOL;     (*STOP*)
    bShortStop          : BOOL;     (* break of motion task*)
    iSlaveAddress       : BYTE;     (* Station Address of the Slave *)
    iFC310xDeviceId     : WORD;     (* Device-ID of the FCxxxx *)
    bErrorResume        : BOOL;     (*Error resume*)
    tTimeOut            : TIME:=t#5s;
END_VAR

bInit: Initialisation of the drive. If bInit is TRUE then operating mode 2, "positioning", is set in the drive

iVelocity: The parameter contains the required transport speed for a following transport instruction, e.g. µm/s.

iPosition: Target position.

iRunningMode: 1: motiontask, 2: JogMode, 3: Calibration.

imotion_tasknumber : Travel block number. This input can be used to select a travel block that has previously been stored in the drive's memory.

imotion_blocktype: Travel block type (optional). This input can be used to modify properties of a direct travel command.

iJogModeBasicValue : Basic speed for jogging mode; the actual speed is derived from the basic speed and the "v-jogging mode" factor for the drive.

iCalVelo : Basic speed for the reference travel. The final speed is composed of the basic speed and the "v-jogging mode" factor for the drive.

bSetRefPoint : Setting the reference point.

bStart: Starting the action, depending on the state of iRunningMode.

bStop : Stopping the action, depending on the state of iRunningMode.

bShortStop :

iSlaveAddress : Station address.

iFC310xDeviceId : Device-Id.

bErrorResume : A rising edge at this boolean input resets an "AX200X error" (not a time-out error).

tTimeOut: Time out period.

VAR_OUTPUT

VAR_OUTPUT
    bBusy           : BOOL;
    bError          : BOOL;     (*Errorstatus of Servo*)
    iErrID          : DWORD;
    bTimeOutErr     : BOOL;
    bInitOK         : BOOL;     (*Initialization OK*)
    iactPosition    : DINT;     (*actual Position SI-value*)
END_VAR

bBusy: This output remains TRUE until the block has executed a command. While Busy = TRUE, no new command will be accepted at the inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.

bError : This output displays the error state.

iErrID : Contains the command-specific error code of the most recently executed command.Is reset to 0 by the execution of an instruction at the inputs.

bTimeOutErr : TimeOut-Error.

bInitOK : Initialisation state of the drive, bInit:= TRUE: The drive is initialised, and is in operating mode 2, "positioning".

iactPosition : Display of current position in running mode 1: Motiontask .

Requirements