Control commands of a drive
Read/write drive data cyclically | |
Description | This control unit reads and writes a drive signal that is not used by the CNC. Parameterisation is executed using
A read access is always executed when an ID was parameterised for P-AXIS-00854. A write access is only executed if the ID is not used by the CNC. The control unit can be used in read-only, write-only or both read and write modes. This is dependent on P-AXIS-00854 and P-AXIS-00862. |
Data type | MC_CONTROL_UNS32_UNIT, see description of Control unit |
Access | PLC reads request_r + state_r and writes command_w + enable_w |
ST path | gpAx[axis_idx]^.lr_mc_control.uns32_<i> where i = [1, 4] e.g. gpAx[axis_idx]^.lr_mc_control.uns32_2 |
Commanded and requested values | |
ST element | .command_w .request_r |
Data type | UDINT |
Return value | |
ST path | .state_r |
Data type | UDINT |
Redirection | |
ST path | |
Special feature | Available as of Build V3.1.3081.21 or V3.1.3135.0 Is an SGN value was parameterised as data type in P-AXIS-00855, the sign information is located at Bit 31 (counting from 0). These values can also be provided to the position controller interface. See Read drive data cyclically (gpAx[axis_idx]^.lr_state.uns32_1) |
Operation mode | |
Description | Various drive operation modes can be commanded by the PLC (or operator): SERCOS drives: With SERCOS drives, this information is sent to bit 8 and bit 9 of the control word. This switches over between main and ancillary drive operation modes. mode_0 corresponds to the lowest operation mode control bit of the drive. The variables mode_0 and mode_1 are used for SERCOS drives. PROFIDRIVE drives: mode_0: This control unit activates the drive function ‘parking axis’ by setting bit 7 in control word 2. The control unit state_r element indicates whether the function is active in the drive (value of drive status word 2 bit 7). Tracking mode is activated by the CNC internally for a parked axis. mode_1: This control unit activates the drive function ‘parking encoder’ by setting bit 14 of the encoder control word. The control unit state_r element indicates whether the function is active in the drive (value of bit 14 in encoder status word). Tracking mode is activated internally in the CNC for a parked encoder. mode_2: Is not used. |
Data type | MC_CONTROL_BOOL_UNIT |
Special features | Elements mode_3 mode_6 are not used. |
Access | PLC reads request_r + state_r and writes command_w + enable_w |
ST path | gpAx[axis_idx]^.lr_mc_control.mode_<i> where i = [0, 6] |
Commanded, requested and return values | |
ST element | .command_w .request_r .state_r |
Data type | BOOL |
Value range | [TRUE = bit set, FALSE] |
Redirection | |
ST element | |