Control commands of a drive

Reading/writing drive data cyclically
Description	4 elements are provided for writing by the PLC in each interpolation cycle. They can be transferred to the drives via the subordinate drive protocol. The content and action are application-specific (dependent on the drives)
Data type	MC_CONTROL_UNS32_UNIT
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.: # write the 4 byte PLC value cyclically # uns32_1 auf S-0-0815 antr_digital.typ.sercos.mdt[1].ident_nr 0815 antr_digital.typ.sercos.mdt[1].ident_len 4 antr_digital.typ.sercos.mdt[1].nc_ref LR_VAR1_OUT # 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
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]
Commanded and requested value
ST element	.command_w .request_r
Data type	UDINT
Return value
ST path	.state_r
Data type	UDINT
Special features	These values are also provided at the position controller interface. Siehe Antriebsdaten zyklisch lesen (gpAx[axis_idx]^.lr_state.uns32_1)
Redirection
ST path	.enable_w

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. Currently, variables mode_0 and mode_1 are used only 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: Currently not in use.
Data type	MC_CONTROL_BOOL_UNIT
Special features	The elements mode_3 mode_6 are currently not in use.
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	.enable_w