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), in order 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
    sNetId       : T_AmsNetId := '';
    bExecute     : BOOL; 
    tTimeout     : TIME := DEFAULT_ADS_TIMEOUT;
    bForceLock   : BOOL;
    bForceUnlock : BOOL;
END_VAR

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

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

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

bForceLock: Lock the brake independent of the enable.

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

VAR_IN_OUT

VAR_IN_OUT
    Axis : NCTOPLC_AXLESTRUCT;(* reference to NC axis *)
END_VAR

Axis: Axis structure.

VAR_OUTPUT

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

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

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

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

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

Sample

fbSetMotorCtrlWord : FB_SoEAX5000SetMotorCtrlWord;
bSetMotorCtrlWord  : BOOL;
bForceLock         : BOOL;
bForceUnlock       : BOOL;

(* NcAxis *)
stNcToPlc AT %I* : NCTOPLC_AXLESTRUCT;
IF bSetMotorCtrlWord THEN
    fbSetMotorCtrlWord(
        Axis     := stNcToPlc,
        bExecute := TRUE,
        tTimeout := DEFAULT_ADS_TIMEOUT,
        bForceLock := bForceLock,
        bForceUnlock:= bForceUnlock
    );

    IF NOT fbSetMotorCtrlWord.bBusy THEN
        fbSetMotorCtrlWord(Axis := stNcToPlc, bExecute := FALSE);
        bSetMotorCtrlWord := FALSE;
    END_IF
END_IF