Материал: SercosDriveLib_E

tech_doc_e.doc / V1.1

SoftMotion: DriveInterface: SercosDrive.lib

2 Features

o RegulatorOn, DriveStart

o Detecting and acknowledging errors

o reading/writing SoftMotion parameters

o reading/writing drive parameters (see 4)

o any gearing factors (dwRatioTechUnitsDenom/iRatioTechUnitsNum)

olinear/rotary axes: the rotary drive only works with incrementally weighted positions (ID76 = 0)

o controlling modes: position (ID 32), velocity (ID 33), torque (ID 34)

o drive internal homing (configure the homing method with Sercos-ID 147 and 52 etc.) o limit switches should be connected to the drive

o configuration from file (see below)

o configuration from dialog settings in CoDeSys PLC configuration

o latching:

Make sure, that ID170 is set to 3 (e.g. at startup). When starting capturing, ID405 or ID406 is enabled automatically.

For fast latching (cyclic data transfer; no service channel) configure RealtimeBits to transmit ID 405/406 and receive ID 409-412 and add ID130-133 to cyclic data.

example for fast latching (in config file):

301, 0, 2, 405, 2; (Probe1 Enable 405 -> Realtime Control Bit1) 305, 0, 2, 409, 2; (Probe1 pos. latched 409 -> Realtime Status Bit1) 169, 0, 2, 2#0001, 2; (Enable Probe1 for rising edge)

170, 0, 2, 2#11, 4; (Enable Probing)

Set in the PLC configuration dialog or during the first IEC cycle :

Drive_MS.abyAddRealtimeReceiveLength[0] := 4;

Drive_MS.awAddRealtimeReceiveIDN[0] := 130;

o 2 real time inputs (bReceivedRealtimeBit1, bReceivedRealtimeBit2)

o 2 real time outputs (bSendRealtimeBit1, bSendRealtimeBit2)

oswitching operation modes to torque, velocity or position controlled with

SMC_SetControlMode

tech_doc_e.doc / V1.1

tech_doc_e.doc / V1.1

SoftMotion: DriveInterface: SercosDrive.lib

This start-up procedure is executed until it is completely finished (AxisGroup.wState=100). To stop the start-up in a certain phase, one can set g_byWaitDuringStartupInPhase to the phase number. The start-up process will stop as soon as it has reached the sprecified phase and wait until the global variable is set to another value. It is not intended to switch back to a lower phase during operation.

SercosDriveLib_E.doc

tech_doc_e.doc / V1.1

SoftMotion: DriveInterface: SercosDrive.lib

This can be done by setting the phase g_byWaitDuringStartupInPhase and using the FB SMC_ResetAxisGroup.

You can configure the Sercos Master to send additional parameters during startup by using the dialogs in the PLC configuration inside CoDeSys. Alternatively you can configure your drive from a ASCII text file. Simply set the full path and name of this file in the Variable <DriveName>_MS. strConfigFromFile during the first PLC cycles.

Be aware that if you use this method, all parameters from the dialog are removed before reading the file.

The text file must obey the following rules:

-one line represents one ID (or one list entry for list IDs); comment or empty lines are allowed

-a comment is marked by brackets (nested comments are not supported!)

-one line consists of 5 attributes: wIndex (ID), wListIndex (0 for normal, 1..n for list entries, 16#FFFF for commands), wSize (in bytes), dwValue (value), byPhase (2, 3, 4 or 255)

-all attributes are separated by a comma; a entry is terminated by a semicolon; spaces and tabs are allowed

Example:

Steuerparameter)

A byPhase attribute of 255 signals that this entry mustn’t be sent.

If you want to configure list parameters, you must specify the complete list, starting with index 1. It is not allowed, to specify only a single list parameter.

3.4Position Scaling (IDN76)

Some drives don’t support the wrap around in position values at 232-1 to 0. This is not a problem when running a linear axis (with limited position values).

Using an endless (rotary/modulo) axis, this will cause a problem (typically a position error fault at that point). In this case use a rotary position scaling (bit2-0 = 2) with modulo functionality (bit7 = TRUE) and define a modulo value for the drive (IDN103), with maximum possible size (or at least many times over one turn around (IDN79)). Moreover, you should ensure that the increments per SoftMotion-turn-around (dwOneTurn = fPositionPeriod*dwRatioTechUnitsDenom/iRatioTechUnitsNum) is either identical with IDN103 or at least two (or more) times less than IDN103.

3.5PackProfile conformity check

In addition to the offline mechanism to check, whether the configured parameters are according to an PackProfile standard (Version 1.2), there is a check for conformity done online.

This is especially necessary, if the configuration from file is used, as it cannot be checked offline, what is stored in these files.

The results of the check can be gathered with this function block: