Материал: SercosDriveLib_E

SoftMotion: DriveInterface: SercosDrive.lib

bEnable : Enable the function block

AxisGroup, Axis: Axis group to be checked.

bTestDone: TRUE: start-up is done and below outputs are definite, FALSE: start-up is not completed. Therefore the results in the below outputs are not yet definite.

bBasicA, bBasicB, bExtended: TRUE: start-up complies to PackProfile BasicA/BasicB/Extended

sBasicA, sBasicB, sExtended: reasons, why start-up is not compliant to PackProfile BasicA/BasicB/Extended

tech_doc_e.doc / V1.1

SoftMotion: DriveInterface: SercosDrive.lib

4 Sercos Specific FBs for Accessing Drive Parameters

You can read or write all drive IDNs with the FBs of this chapter. This includes normal parameters (2Byte/4Byte) as well as lists and strings and beside the normal data value can access also other data block elements (like minimum/maximum value, name etc.).

The inputs Enable and Axis and the outputs Done, Error and ErrorID of those FBs are similar to MC_Read/WriteParameter.

Use these FBs with care, as they may (if permanently enabled) block the standard DriveInterface acyclic communication channel!

The global variable g_strSercosError is a string and includes a detailed error message, when reading/writing a parameter (list) via the service channel failed.

4.1Parameter Identifier (S/P)

The standard (S) parameters lie between 1 and 32768 (Bit15 not set). Product specific (P) parameters are offsetted with 32768 (Bit 15 set).

The parameter sets (digit after S or P) determine Bit14-12.

The data block number (last (main) number) is stored in Bit11-0

4.2Reading/Writing Normal Parameters with a Standard Length

For reading normal parameters you have to specify the IDN, the length of this parameter (in Bytes; typically 2 or 4), and finally the data block element you want to see.

The data block element is specified according to Sercos specification:

Be aware that not all data block elements consist of normal parameters (e.g. string) and therefore must be handled with the string or list reading FBs.

tech_doc_e.doc / V1.1

SoftMotion: DriveInterface: SercosDrive.lib

4.3Reading/Writing List Parameters

In opposite to the above FBs those for reading/writing lists need beside a reference to the axis also the AxisGroup. Moreover, the entry size (size of one list element in bytes) must be specified.

Be aware that the number of elements of a list to be read or written are limited to 4000.

4.4Reading String Parameters

This FB reads a string parameter and works similar to SMC_ReadSercosList. The string size is limited to 255 characters.

tech_doc_e.doc / V1.1

SoftMotion: DriveInterface: SercosDrive.lib

5 Sercos I/Os

Sercos I/Os can be controlled with this driver by setting the variable bIsIO during the first IEC cycle. The I/O data IDNs should be transferred as cyclic data; therefore configure it in the arrays awAddRealtimeSendIDN, abyAddRealtimeSendLength, adwAddRealtimeSendData and awAddRealtimeReceiveIDN, abyAddRealtimeReceiveLength, adwAddRealtimeReceiveData.

Example:

*************************************************)

(* this must be set once during the first cycle *) IF NOT bInit THEN

IO_MS.bIsIO := TRUE;

IO_MS.abyAddRealtimeSendLength[0] := 2;

IO_MS.awAddRealtimeSendIDN[0] := 16#2000;

IO_MS.abyAddRealtimeReceiveLength[0] := 2;

IO_MS.awAddRealtimeReceiveIDN[0] := 16#2000 + 10;

bInit := FALSE;

END_IF (*************************************************)

(* use a counter for test *) byOut := byOut+1;

(* write output data in the real-time data structure *) IO_MS.adwAddRealtimeSendData[0] := byOut;

(* read input data from real-time data structure *)

byIn := DWORD_TO_BYTE(IO_MS.adwAddRealtimeReceiveData[0]);

tech_doc_e.doc / V1.1

SoftMotion: DriveInterface: SercosDrive.lib

6 Ways of Synchronizing PLC and Sercos Hardware

(A) If your PLC supports an externally triggered Sercos interrupt task:

-configure your Task to run externally event-triggered with the Sercos event

-don’t forget to set the cycle time in your AxisGroup

(B) Else (e.g. SP RTE):

-configure your Task to run event-triggered by <AxisGroup>.bSync (CoDeSys SP RTE > V2.3.3.9) or g_bSercosInterrupt (former RTE versions)

-don’t forget to set the cycle time in your AxisGroup

-if you run very fast cycles (1ms), decrease also the cycle time of the sceduler (SP RTE: Config->Timebase)

tech_doc_e.doc / V1.1