Drive status
Digital drives supply information on the internal drive status in the cyclic telegram. This information is evaluated internally in the NC kernel and sent to the HLI for the PLC.
For CNC versions up to Version V2.11.20xx
The state signals can be read out in section
pAC[achs_index]^.addr^.StateLR_Data
(achs_index starts at 1).
The following signals are applied there:
- X_ReadyPowerOn: The drive is ready for power connection
- X_ReadyControlLoopOn: The drive goes to control. Once the corresponding drive enables are set, the drive obeys the positions specified by the NC kernel.
For CNC versions as of V2.11.2800
The state signals can be read out in the section
gpAx[achs_index].lr_state.StateLR_Data
(achs_index starts at 0).
The following signals are applied there:
- ready_for_power_on_r: The drive is ready for power connection
- ready_for_control_loop_on_r: The drive goes to control. Once the corresponding drive enables are set, the drive obeys the positions specified by the NC kernel.
Depending on the drive type, not all signals are supported on the HLI. The table below contains an overview of the state signals supported by each drive type:
State signal | SERCOS drive | PROFIDRIVE | Terminal drive | Lightbus drive | RT Ethernet drive | CANopen drive |
ReadyPowerOn | X | X |
| X | X | X |
ReadyControl-LoopOn | X | X |
|
|
| X |