Материал: SercosDriveLib_E
SoftMotion: DriveInterface: SercosDrive.lib
Document Version 2.17
Library Version 1.9.3.0
tech_doc_e.doc / V1.1
© 3S - Smart Software Solutions GmbH |
Page 1 of 16 |
SercosDriveLib_E.doc |
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SoftMotion: DriveInterface: SercosDrive.lib
CONTENT |
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VERSION AND APPLICABILITY INFORMATION |
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1 |
PARAMETERS IN PLC CONFIG |
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1.1 |
BusInterface |
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1.2 |
AxisGroup |
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1.3 |
supported Drive.wControlType |
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1.4 |
Additional Structure SERCOS_AXIS_REF |
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1.5 |
Maximum Number of Axis |
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1.6 |
Global variables |
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FEATURES |
6 |
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START-UP/CONFIGURATION |
7 |
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3.1 |
AxisGroup.wState |
7 |
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3.2 |
Error sources |
7 |
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3.3 |
Parameter Setting during Startup |
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3.4 |
Position Scaling (IDN76) |
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3.5 |
PackProfile conformity check |
10 |
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SERCOS SPECIFIC FBS FOR ACCESSING DRIVE PARAMETERS |
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4.1 |
Parameter Identifier (S/P) |
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4.2 |
Reading/Writing Normal Parameters with a Standard Length |
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4.3 |
Reading/Writing List Parameters |
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4.4 |
Reading String Parameters |
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5 |
SERCOS I/OS |
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WAYS OF SYNCHRONIZING PLC AND SERCOS HARDWARE |
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CHANGE HISTORY |
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tech_doc_e.doc / V1.1
© 3S - Smart Software Solutions GmbH |
Page 2 of 16 |
SercosDriveLib_E.doc |
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SoftMotion: DriveInterface: SercosDrive.lib
Version and Applicability Information
Hardware interface |
SercosBase.lib (interface version 4) |
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Supported drives |
all drives and I/Os supporting Sercos standard |
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Runtimes |
x86 (RTE for Windows NT/2000/XP; CE; Linux) |
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Components |
Sercosdrive.lib |
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SercosBase.lib (interface version 4) or driver with identical |
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interface; |
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SysLibFile.lib; (for drive specific config text file) |
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SysLibCallback.lib |
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Document Version |
2.16 (05.09.2006) |
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tech_doc_e.doc / V1.1
© 3S - Smart Software Solutions GmbH |
Page 3 of 16 |
SercosDriveLib_E.doc |
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SoftMotion: DriveInterface: SercosDrive.lib
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 |
reserved |
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1.2AxisGroup
wParam1 |
Baudrate in MBaud |
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wParam2 |
brightness of LED (1-63) |
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wParam3 |
Not used |
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wParam4 |
Not used |
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dwParam1 |
Not used |
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dwParam2 |
Not used |
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dwParam3 |
internal use |
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dwParam4 |
internal use |
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dwParam4 |
internal use |
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1.3supported Drive.wControlType
T / - yes |
V/V yes |
V/P yes |
P/P yes |
PV/PV yes |
V/- yes |
CONF yes |
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The cyclically sent/received data can consist of: fSet/ActPosition, fSet/ActVelocity, fSet/ActTorque.
Two additional IDNs can be both sent and received cyclically using awAddRealtimeSend/ReceiveIDN (see below).
1.4Additional Structure SERCOS_AXIS_REF
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name |
Type |
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bReceivedRealtimeBit1, |
BOOL |
realtime bits of status word |
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bReceivedRealtimeBit2 |
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from drive |
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bSendRealtimeBit1, |
BOOL |
realtime bits for control word |
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bSendRealtimeBit2 |
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to drive |
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wReceivedRealtimeBit1ID, |
WORD |
internal use |
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V1.1 |
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wReceivedRealtimeBit2ID, |
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(IDN mapped onto realtime |
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wSendRealtimeBit1ID, |
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wSendRealtimeBit2ID |
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bits (IDN301, 303, 305, 307); |
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tech doc e.doc |
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checked at startup) |
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awOperationMode |
ARRAY [0..3] OF WORD |
content of IDN32, 33, 34, 35 |
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awAddRealtimeSendIDN, |
ARRAY [0.. |
IDN of additional cyclic data |
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awAddRealtimeReceiveIDN |
SERC_ADD_CYCLIC] OF |
must be set during first IEC |
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© 3S - Smart Software Solutions GmbH |
Page 4 of 16 |
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SercosDriveLib_E.doc |
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SoftMotion: DriveInterface: SercosDrive.lib
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WORD |
cycle |
abyAddRealtimeSendLength, |
ARRAY [0.. |
length of additional cyclic data |
abyAddRealtimeReceiveLength |
SERC_ADD_CYCLIC] OF BYTE |
in bytes |
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must be set during first IEC |
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cycle |
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adwAddRealtimeSendData, |
ARRAY [0.. |
additional cyclic data |
adwAddRealtimeReceiveData |
SERC_ADD_CYCLIC] OF |
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DWORD |
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abyActiveTriggers |
ARRAY[0..1] OF BYTE |
internal use |
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strConfigFromFile |
STRING |
full path and name of config |
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text file (see below) |
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must be set during first IEC |
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cycle |
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ascrl, ascsl |
ARRAY[0..4] OF |
internal use (cyclic data) |
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Sercos_Cyclic_Entry |
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asrl,assl |
ARRAY[0..SERC_MAX_ENTRIE |
internal use (config lists at |
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S] OF Sercos_Entry |
startup) |
sc, scr, srds, sw, sr, srl, swl |
SercosBase-FBs |
internal use |
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byOperatingMode |
BYTE |
operation Mode |
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bIsIO |
BOOL |
FALSE (default) for drives; |
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TRUE for I/Os |
1.5Maximum Number of Axis
The maximum number of axis (SERC_MAX_DRIVES) is defined in SercosBase.lib and not limited by this library.
The minimum cycletime for n axis is depending on the amount of cyclic data and the baudrate.
1.6 Global variables
In this lib the following global variables are defined, which shouldn’t been touched by the user, but give the driver of the next lower level (e.g. SercosBase.lib) the possibility to configure the functionality programmed in Sercosdrive.lib:
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g_iInterruptStartingState |
State from which the interface starts producing |
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interrupts |
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g_bInterfaceDoesTiming |
if set, no SlotCalculation and reading/writing of |
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timing parameters is done by Sercosdrive.lib |
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g_bInterfaceDoesCommandsForPhaseSwitchin |
If set, commands 127 and 128 are not executed by |
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g |
Sercosdrive.lib |
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g_bTurnDWORDS |
If set, lower and upper word of (read/to be written) |
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DWORDs are turned |
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g_bAlwaysUseConfigCyclicTeleType |
If set, no preferred cyclic telegram type (IDN 15) is |
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/ V1.1 |
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used, but always the configurable one (7) |
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g_byWaitDuringStartupInPhase |
If set <>255, the start-up procedure is stopped in |
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e.docdoctech |
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the specified phase and not continued until this |
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value is changed. |
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g_byCurrentPhase |
monitors the current Sercos phase (255: unknown) |
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© 3S - Smart Software Solutions GmbH |
Page 5 of 16 |
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SercosDriveLib_E.doc |
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