FB_SoEAX5000SetMotorCtrlWord

FB_SoEAX5000SetMotorCtrlWord 1:

The functionblock FB_SoEAX5000SetMotorCtrlWord can be used to set the ForceLock-Bit (Bit 0) or the ForceUnlock-Bit in the motor control word (P-0-0096), to set or release the brake. The brake is set and released automatically via the enable of the drive.

TheForceLock-Bit can be used to set the brake independent of the enable, the ForceUnlock-Bit can be used to release the brake independent of the enable. If ForceLock and ForceUnlock are set simultaneously then the ForceLock (brake locked) has the higher priority.

VAR_INPUT

VAR_INPUT
    NetId       : T_AmsNetId := '';
    Execute     : BOOL; 
    Timeout     : TIME := DEFAULT_ADS_TIMEOUT;
    ForceLock   : BOOL;
    ForceUnlock : BOOL;
END_VAR

NetId: A string containing the AMS network identifier of the PC.

Execute: The block is activated by a rising edge at this input.

Timeout: Maximum time allowed for the execution of the function block.

ForceLock: Lock the brake independent of the enable.

ForceUnlock: Release (unlock) the brake independent of the enable.

VAR_IN_OUT

VAR_IN_OUT
    Axis : AXIS_REF; (* Axis reference *)
END_VAR

Axis: Axis structure (see TcMC2.lib).

VAR_OUTPUT

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

Busy: This output is set when the function block is activated and remains set until an acknowledgement is received.

Error: This output is set up after the bBusy output has been reset if there has been an error in transmission of the command.

AdsErrId: Supplies the ADS error code associated with the most recently executed command if the Error output is set.

SercosErrId: Supplies the Sercos error code associated with the most recently executed command if the Error output is set.

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