Материал: Lexium05CANdrive
SoftMotion: DriveInterface: Lexium05CAN
SoftMotion: DriveInterface: Lexium05CAN
Last update: 11.09.2006
Hardware interface |
CAN; must support 3S_CANdrv.lib |
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Supported drives |
Lexium05A |
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Runtimes |
any |
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Author |
Hilmar Panzer |
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Components |
Lexium05CANDrive.lib; 3S_CanDrv.lib; SM_CAN.lib; |
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SysLibCallback.lib; SysLibFile.lib |
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Version |
0.0.0.4 |
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CONTENT |
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1 |
PARAMETERS IN PLC CONFIG |
2 |
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1.1 |
BusInterface ........................................................................................................................ |
2 |
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1.2 |
AxisGroup ........................................................................................................................... |
2 |
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1.3 |
supported Drive.wControlType.......................................................................................... |
2 |
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1.4 |
Additional structure Lexium05CAN_AXIS_REF ................................................................ |
2 |
2 |
FEATURES |
4 |
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3 |
CONFIGURED PARAMETERS DURING STARTUP |
5 |
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4 |
CAN-TRAFFIC |
6 |
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© 3S - Smart Software Solutions GmbH
Lexium05CANdrive.doc |
Page 1 of 6 |
SoftMotion: DriveInterface: Lexium05CAN
1 Parameters in PLC config
1.1BusInterface
wParam1 |
Not used |
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wParam2 |
Not used |
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dwParam1 |
Not used |
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dwParam2 |
Not used |
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1.2AxisGroup
wParam1 |
CAN channel No (typically 0) |
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wParam2 |
Baudrate in kBit (125, 250, 500, 1000) |
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wParam3 |
SYNC generator: |
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0: PLC generates SYNC (only possible if PLC is highly precise); |
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1: first drive of AxisGroup generates SYNC |
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2: SYNC device generates SYNC (additional hardware needed) |
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wParam4 |
Not used |
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dwParam1 |
Reserved |
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dwParam2 |
Reserved |
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dwParam3 |
Not used |
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dwParam4 |
Not used |
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1.3supported Drive.wControlType
The cyclic send data must consist of: fSetPosition.
The cyclic receive data can consist of: fActPosition.
1.4Additional structure Lexium05CAN_AXIS_REF
name |
Type |
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eType |
LexiumDriveType |
internal use |
byDriveState, |
BYTE |
internal use |
byDriveStateOld |
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wStateCounter |
WORD |
internal use |
wp |
SMC_WriteCANParameter |
internal use |
wStatusWord |
WORD |
Status word (16#6041) |
wControlWord |
WORD |
Control word (16#6040) |
dwSetPosition |
DWORD |
Set position transmitted to drive |
strConfigFile |
STRING |
full name and path of config file |
acit |
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internal use |
crap |
SMC_CANReadAllParams |
internal use |
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© 3S - Smart Software Solutions GmbH
Lexium05CANdrive.doc |
Page 2 of 6 |
SoftMotion: DriveInterface: Lexium05CAN
pParameterlist |
POINTER TO |
internal use |
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CAN_InitTelegram |
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© 3S - Smart Software Solutions GmbH
Lexium05CANdrive.doc |
Page 3 of 6 |
SoftMotion: DriveInterface: Lexium05CAN
2 Features
o RegulatorOn, DriveStart
o Detecting and acknowledging errors
oreading/writing SoftMotion and drive parameters (to access index 0xaabb subindex 0xcc with length 0xdd in byte (only necessary for writing) either use MC_Read/Write(Bool)Parameter with parameter number -16#ddaabbcc) or SMC_ReadCANParameter and SMC_WriteCANParameter to address a standard CAN object via index, subindex.
o any gearing factors (dwRatioTechUnitsDenom/iRatioTechUnitsNum)
o linear/rotary axes
o controlling modes: position.
odrive internal homing (first configure 16#6098, 16#6099)
Note (only ECSxM): during homing, the actual position is not reported from the drive!
ocapturing: 2 possible latching inputs: CAP1 (TriggerNumber=1), CAP2 (TriggerNumber=2). To set, whether the inputs react on rising or falling edges, use the drive internal object 0x300A.
ohardware limit switches: when one of the hardware limits is reached, the drive goes in state errorstop. To be used again, it must be resetted (MC_Reset) and homed (MC_Home). It is not possible to run the drive again without homing first.
o configuration from file
o configuration from dialogs in PLC config
osupported SYNC generators (to be set in PLC Configuration, AxisGroup) : PLC, SYNCDevice
© 3S - Smart Software Solutions GmbH
Lexium05CANdrive.doc |
Page 4 of 6 |
SoftMotion: DriveInterface: Lexium05CAN
3 configured parameters during startup
The following parameters are set during startup:
Parameter |
Wert |
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16#1005:0 |
16#80 |
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16#1014:0 |
0 |
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16#1400-16#14FF |
PDO mapping |
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16#3006:7 |
16#20000 |
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16#3006:8 |
1 |
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© 3S - Smart Software Solutions GmbH
Lexium05CANdrive.doc |
Page 5 of 6 |