AH2000
Subsequently, the Beckhoff AH2000 hydraulic controller is described. Meant is the configuration of the TwinCAT System Manager inside the AH2000 itself.
The AH2000 has either 1 (part number: AH2001) or 3 (part number: AH2003) channels. Therefore, the below described settings must be done one time in the AH2001 and three times in the AH2003, to have the complete configuration.
"AH2000" tab
Address: The base address of the peripherals (ADC's, DAC,..) at the respective channel has to be set here.
Search: Finds the base address of the peripherals of the current channel, if possible.
Firmware: Shows the loaded Firmware-Version of the AH2000.
Hardware: Shows the Hardware-Version of the AH2000.
Buffered I/O access: This Checkbox is activated by default. It shows,that the I/O access goes through a buffer but the reading and writing of the I/O's is still proceeded in real time and synchronized with the PLC task.
Diagnosis Inputs
The I/O variables in the TreeView of the AH2000 device have the following meaning and to be mapped to TwinCAT PLC.
Inputs:
IN_REG: This Bit-Array contains the Hardware status bits of the respective channel. The meaning of the single bits is described inside the table below and also listed in short form inside the "Comment" field on the right tab of the highlited variable.
SIN_A: ADC value of the sinus part of the sinus/cosinus encoder.
COS_B: ADC value of the cosinus part of the sinus/cosinus encoder.
V1_IST: ADC value of the analog valve feedback.
P1_IST: ADC value of the first analog input.
P2_IST: ADC value of the second analog input.
INC_POS: Actual position feedback of the respective channel (hardware increments).
Outputs:
OUT_REG: This Bit-Array contains the Hardware control bits of the respective channel. The meaning of the single bits is described inside the table below and listed in short form inside the "Comment" field on the right tab of the highlighted variable.
V1_SOLL: DAC setpoint value for the valve.
Meaning of the single bits inside Bit-Arrays:
Variable | Data Type | Bit | Short | Description |
|---|---|---|---|---|
IN_REG | BITARR16 | 0 | V1_Stat | Valve status (1 = valve ON) |
1 | EncStat | Encoder status | ||
2 | Ref | Status of callibration | ||
3 | In0 | Status input 0 (status of 1st input) | ||
4 | In1 | Status input 1 (status of 2nd input) | ||
5 | FB_P | Feedback power for analog inputs (1 = power ON) | ||
6 | V1_EnAck | Feedback valve enable | ||
7 | FB_V1 | Feedback valve | ||
8 | IncDir | Current counting direction (1 = positive) | ||
9 | Reserv. |
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10 | Reserv. |
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11 | Reserv. |
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12 | Reserv. |
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13 | Reserv. |
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14 | Reserv. |
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15 | Reserv. |
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Variable | Data Type | Bit | Short | Description |
OUT_REG | BITARR16 | 0 | Gl_RES | Global reset (reset ALL) |
1 | IncRes | Counter reset | ||
2 | EnRef | Enable callibration | ||
3 | Out0 | Output 0 (1st output) | ||
4 | Out1 | Output 1 (2nd output) | ||
5 | P_Pwr | Enable power for analog inputs | ||
6 | V1_En | Enable valve | ||
7 | V1_Pwr | 0: Power for valve OFF; 1: Power for valve ON | ||
8 | EnTTL | 0: External encoder = sinus/cosinus; 1: External encoder = TTL | ||
9 | EnShdw | Enable shadow register (contains callibration values) | ||
10 | RefSel | 0: Detect encoder Zero-signal; 1: Detect external reference signal | ||
11 | RefPol | 0: Detect rising edge; 1: Detect falling edge. RefPol is only evaluated if = 1RefSel | ||
12 | Reserv. |
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13 | Reserv. |
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14 | Reserv. |
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15 | Reserv. |
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