Drive of an axis
Drive type | ||
Description | Type of axis drive The drive type is specified for each axis in the entry kenngr.antr_typ. | |
Signal flow | CNC → PLC | |
ST path | gpAx[axis_idx]^.lr_state.drive_type_r | |
Data type | UINT | |
Value range | Value | Meaning |
1 | Conventional drive (+-10 V), not used | |
2 | SERCOS drive | |
3 | Profidrive | |
4 | Drive Simulation | |
5 | Lightbus | |
6 | Terminal axis (+-10V) via bus | |
7 | Real time Ethernet | |
8 | CANopen drive | |
16 | Virtual drive | |
32 | CAN drive (option) | |
Access | PLC reads | |
Drive ready for power connection / drive torque enabled | |
Description | The axis drives is ready for power connection / drive torque is enabled. |
Signal flow | CNC → PLC |
ST path | gpAx[axis_idx]^.lr_state.ready_for_power_on_r |
Data type | BOOL |
Value range | [TRUE = Ready for power connection, FALSE] |
Access | PLC reads |
Special features | SERCOS drives With SERCOS drives, this information is derived from bit 14 of the status word. To determine the drive state the datum ready_for_control_loop_on_r must also be considered.
CANopen drives With CANopen drives this signal is set when the drive is in the ‘Operation enabled’ state; in this state the drive is torque enabled. |
Drive ready for operation | |
Description | Drive control section and power supply are ready for operation. |
Signal flow | CNC → PLC |
ST path | gpAx[axis_idx]^.lr_state.ready_for_control_loop_on_r |
Data type | BOOL |
Value range | [TRUE = Drive ready for operation, FALSE] |
Access | PLC reads |
Special features | SERCOS drives With SERCOS drives, this information is derived from bit 15 of the status word. In order to evaluate the drive state the datum ready_for_power_on_r must also be considered. The various combinations are described below. If (gpAx[axis_idx]^.lr_state.ready_for_power_on_r == FALSE) AND (gpAx[axis_idx]^.lr_state.ready_for_control_loop_on_r == FALSE) this means that the drive is not ready for power connection. If (gpAx[axis_idx]^.lr_state.ready_for_power_on_r == TRUE) AND (gpAx[axis_idx]^.lr_state.ready_for_control_loop_on_r == FALSE) this means that the drive is ready for power connection and the internal drive initialisation procedures are completed. If (gpAx[axis_idx]^.lr_state.ready_for_power_on_r == FALSE) AND (gpAx[axis_idx]^.lr_state.ready_for_control_loop_on_r == TRUE) this means that the drives control section and power supply are ready for operation but the drive has no torque. If (gpAx[axis_idx]^.lr_state.ready_for_power_on_r == TRUE) AND (gpAx[axis_idx]^.lr_state.ready_for_control_loop_on_r == TRUE) this means that the drive is ready for operation, i.e. “feed rate enable, axis” and “drive on” are set to true and are active. This means that the drive is torque enabled and follows the position command values in the NC kernel.
CANopen drives With CANopen drives this signal is set when the drive is in a valid state not equal to ‘Not ready to switch on’. The ‘Not ready to switch on’ state is indicated in the drive state word by the value xxxx xxxx x0xx 0000 (binary notation x=don’t care). Drive has completed self-test and initialisation successfully. |
Drive error | |
Description | An error occurred in the drive. The drive is therefore interlocked. |
Signal flow | CNC → PLC |
ST path | gpAx[axis_idx]^.lr_state.error_r |
Data type | BOOL |
Value range | [TRUE = Error occurred, FALSE] |
Access | PLC reads |
Special features | SERCOS drives With SERCOS drives, this information is derived from bit 13 of the status word. CANopen drives With CANopen drives this information is derived from bit 3 (bitmask 0x0008) of the state word. |
Drive state | ||
Description | State information delivered by the drive via the fieldbus. This element contains the following data dependent on the drive type:
| |
Drive type (P-AXIS-00020) | Datum | |
SERCOS | Value of SERCOS parameter S-0-135 (drive state). | |
CANopen | Value of CANopen object 0x6041 (drive state) | |
PROFIDRIVE | Value of drive state word 1 (ZSW1) | |
Lightbus | Value of drive signal 23 from the drive (drive state 'DriveState3') | |
For further information refer to the drive documentation or the specification of the drive profile used. | ||
Signal flow | CNC → PLC | |
ST path | gpAx[axis_idx]^.lr_state.native_drive_state_r | |
Data type | UINT | |
Access | PLC reads | |
Read drive data | |
Description | Data transferred by the drive to the NC kernel. The content is application-specific This data is also provided in parallel in the state of the control unit, see read/write drive data cyclically |
Signal flow | CNC → PLC |
ST path | gpAx[axis_idx]^.lr_state.uns32_1 gpAx[axis_idx]^.lr_state.uns32_2 gpAx[axis_idx]^.lr_state.uns32_3 gpAx[axis_idx]^.lr_state.uns32_4 |
Data type | UDINT |
Access | PLC reads |
Special features | Currently, data transfer can only be used for SERCOS drives. Therefore, enable transfer of the value in the axis parameter list to the drive, e.g.: # Cyclically read the 4 byte PLC value # uns32_3 auf S-0-0819 antr_digital.typ.sercos.at[1].ident_nr 0819 antr_digital.typ.sercos.at[1].ident_len 4 antr_digital.typ.sercos.at[1].nc_ref LR_VAR3_IN |
DRIVE_STATE_MODE_0 | |
Description | Current drive state, i.e. Position controller DRIVE_STATE_MODE_0 0x00000001 |
Signal flow | CNC → PLC |
ST path | gpAx[axis_idx]^.lr_state.mode_0_r |
Data type | BOOL |
Value range |
|
Access | PLC reads |
DRIVE_STATE_MODE_1 | |
Description | DRIVE_STATE_MODE_1 0x00000002 |
Signal flow | CNC → PLC |
ST path | gpAx[axis_idx]^.lr_state.mode_1_r |
Data type | BOOL |
Value range |
|
Access | PLC reads |
DRIVE_STATE_MODE_2 | |
Description | DRIVE_STATE_MODE_2 0x00000004 |
Signal flow | CNC → PLC |
ST path | gpAx[axis_idx]^.lr_state.mode_2_r |
Data type | BOOL |
Value range |
|
Access | PLC reads |
DRIVE_STATE_MODE_3 | |
Description | DRIVE_STATE_MODE_3 |
Signal flow | CNC → PLC |
ST path | gpAx[axis_idx]^.lr_state.mode_3_r |
Data type | BOOL |
Value range |
|
Access | PLC reads |
Special features | Is currently not programmed |
DRIVE_STATE_MODE_4 | |
Description | DRIVE_STATE_MODE_4 |
Signal flow | CNC → PLC |
ST path | gpAx[axis_idx]^.lr_state.mode_4_r |
Data type | BOOL |
Value range |
|
Access | PLC reads |
Special features | Is currently not programmed |
DRIVE_STATE_MODE_5 | |
Description | DRIVE_STATE_MODE_5 |
Signal flow | CNC → PLC |
ST path | gpAx[axis_idx]^.lr_state.mode_5_r |
Data type | BOOL |
Value range |
|
Access | PLC reads |
Special features | Is currently not programmed |
DRIVE_STATE_MODE_6 | |
Description | DRIVE_STATE_MODE_6 |
Signal flow | CNC → PLC |
ST path | gpAx[axis_idx]^.lr_state.mode_6_r |
Data type | BOOL |
Value range |
|
Access | PLC reads |
Special features | Is currently not programmed |