Read and write access
The data item is output to control units lr_mc_control.uns32_1 to lr_mc_control.uns32_4. Read access is possible at all times. To ensure write access, the data item may not be used by the CNC. This includes both internal use as well as use by other drive functions, z.B. #DRIVE command or „Moving to a fixed stop“.
The following variants exist:
- read only Data item is only parameterised in the input telegram
- write only Data item is only parameterised in the output telegram
- read and write Data item is parameterised in the input and output telegrams
Limitation of the output value
The value transferred to the drive can be configured with maximum (P-AXIS-00859) and minimum (P-AXIS-00860) values. When writing to the control unit, a check is made whether the value lies within the permissible parameterised value range. Limit values are automatically scaled using the scaling factor (P-AXIS-00858).
Initial value after controller start-up
Since this is a cyclically transferred value, a start value must be specified, otherwise the value 0 is transferred to the drive. The start value can be set in P-AXIS-00861. If a scaling factor (P-AXIS-00858) is parameterised, the start value is first scaled before it is written to the drive.
Example
Paramererisation for a CANopen drive data item