AX2xxx Drive Tab - Inputs
"Inputs" Tab
If the option Variable I/O Data is checked on the "AX2000" tab, additionally the tabs "Inputs" and "Outputs" appear at the AX2xxx drive device.
On "Inputs", the optional input variables which may be required in the cyclical drive telegram at some applications (and which appear inside the "Inputs" area below the drive symbol in the tree view), can be added or removed manually.
Append: Calls the dialog described below for selecting the variable incl. their data type and appends the variable in the tree view of the device.
Insert: Calls the dialog described below for selecting the variable incl. their data type and inserts the variable at a specified position in the tree view of the device.
Delete: Removes the selected variable from the tree view of the drive inputs (and from the Lightbus telegram).
Edit: Calls the dialog below for editing a variable.
Offs (Byte): Automatically assigned offset for the variable in the AX2xxx drive telegram.
(Bit): Bit-offset of variable.
Swap Word: Word swap in 32bit telegrams for passing values to process image (active by default).
Bit Addr: Points to the bit address of a variable for the automatic masking.
Name: Shows the name of the selected variable. If a different variable name should show up in the drive tree view, it can be edited here.
OK: Accepts the changes of the AX2xxx drive telegram.
Cancel: Closes the dialog without changing the telegram.
Important:
If the added variables should be linked with a not NC-SAF_Task , this task has to be used with a lower priority ( priority number higher)
List of input variables
Name | Data type/ | Description |
|---|---|---|
DriveError | UDINT | see DriveError |
ActualTorque | ARRAY 0..1 of UINT16 0..3280 -> 0..IPEAK | current current / torque of AX2000-B200 or B900. The given value refers to the set surge current of the current controller. ASCII command IPEAK. Calculation of the torque by multiplication with the torque constant of the used motor. |
ActualVelo | UDINT / u/min * 139,8 | current velocity |
ActualPos | UINT16 / 0..FFFF | current position. Via hardware counter 16 Bit at OPMODE = 0. |
DriveState | UDINT | see DriveState |
DriveStateErrBit | BIT DriveState.7 | drive error |
DriveStateAmplEnableBit | BIT DriveState.6 | output stage enabled |
DriveStateInitReadyBit | BIT DriveState.2 | ready for operation |
ActualPosEx | UDINT | contains position value of absolute encoder (built in the motor) (e.g. EnDAT, Hiperface). Depends on the parameter PRBASE |
PulseConnect | UINT16 | untreated actual position in increments without SI- units |
LatchPos | UINT16 | latched position |
LatchValid | Byte | Latch occurs |
LatchPosValidBit | LatchValid.0 | positive latch |
LatchNegValidBit | LatchValid.1 | negative latch |
DigInputBit n | BIT | Digital input 1,2,3,4 |
AnaInput n | UINT16 / 10V -> 404 Dig | Monitor output |
Button n | BYTE | dispaly of button under 7 segment display |
List of output variables
Name | Data type/ | Description |
|---|---|---|
DriveCtrl 0..3 | UDINT | controller control bytes |
DriveCtrlEnable | DriveCtrl1.0 | 1-> output stage enabled 0-> output stage disabled. A negative flank of this bit 0 creates a reset on the controller. |
DriveCtrlDigCurrent | DriveCtrl0.1 |
|
DriveCtrlEnableLatchPos | DriveCtrl3.0 | Enable positive latch |
DriveCtrlEnableLatchNeg | DriveCtrl3.1 | Enable negative latch |
NominalTorque | UDINT | Default set value of current at the digital torque interface (OPMODE 2) |
NominalVelo24 | UINT24 / u/min * 139,8 | Set velocity, optimised to 24 bit |
NominalPos | UDINT | Set position. Depends on the settings of parameter PRBASE |
CurrentLimiting | UINT16 | Default set value current at the digital speed frequency interface (OPMODE 1) as auxiliary operation mode |
DigOutputBit 1& 2 | BIT | digital monitor output |
AnaOutput 1 & 2 | UINT16 / 1,25mV/dig | analog monitor output |
NullImpulse | BIT | zero point of resolver |
LED-Control | BYTE | If a value unequal zero is entered, the interface to the 7 segement display is active. |
LEDs 1,2,3 | BIT | Value for the three 7 segment displays |