Example 2: Disabling speed monitoring

Drive speed monitoring is to be disabled in the drive by controlling a bit in the control word.

This command disables speed monitoring:

#DRIVE WR SYN [AX=X KEY=SPEED_MON VAL=0]

This command re-enables speed monitoring:

#DRIVE WR SYN [AX=X KEY=SPEED_MON VAL=1]

Parameterising the transfer

1. Variant:

PROFIDRIVE drive: Speed monitoring is controlled by setting bit 8 in the control word 2 (STW2).

The following axis parameters must be set in the axis parameter list:

antr.function[0].id             SPEED_MON    (P-AXIS-00396)

antr.function[0].commu          CYCLIC       (P-AXIS-00397)

antr.function[0].wr_ident[0]    STW2         (P-AXIS-00398)

antr.function[0].startup_value  1            (P-AXIS-00400)

antr.function[0].data_type      BITARRAY_16  (P-AXIS-00399)

antr.function[0].mask           BIT_8        (P-AXIS-00429)

2. Variant:

SERCOS drive: speed monitoring is set by the real-time control bit 1.

For drive start-up, assign the real-time control bit 1 with the function “Speed monitoring”. This setting must be carried out using the start-up tool of the drive manufacturer.

The following axis parameters must be set in the axis parameter list:

antr.function[0].id            SPEED_MON     (P-AXIS-00396)

antr.function[0].commu         CYCLIC        (P-AXIS-00397)

antr.function[0].wr_ident[0]   S-0-0134      (P-AXIS-00398)

antr.function[0].startup_value 1             (P-AXIS-00400)

antr.function[0].data_type     BITARRAY_16   (P-AXIS-00399)

antr.function[0].mask          BIT_6         (P-AXIS-00429)