|
|
| Line 10: |
Line 10: |
| | | | |
| | |DESCRIPTION= | | |DESCRIPTION= |
| − | This read-only property allows the user to read the control word being sent to the drive. The control word is transmitted in every SERCOS communication cycle, and is composed of 16 bits. | + | This property allows the user to read the control word being sent to the drive. <br> |
| | + | From version 0.4.17.2 property is read-write for EtherCAT and CAN systems. <br> |
| | + | EtherCAT and CANOpen systems: <br> |
| | + | Value written to DriveControl is transferred "as is" to drive via drive control (CANOpen object 0x6040/0) in case this object is mapped to PDO.<br> |
| | + | Query of DriveControl returns its shadow value in 16 upper bits.<br> |
| | + | |
| | + | The control word is transmitted in each motion bus cycle cycle, and is composed of 16 bits. |
| | | | |
| | |TYPE= | | |TYPE= |
| Line 18: |
Line 24: |
| | | | |
| | | | |
| − | Bit 15-13 | + | Bit 15-0 <br> |
| − | | + | Undefined <br> |
| − | 1 1 1
| |
| − | | |
| − | Drive should follow command values
| |
| − | | |
| | | | |
| − | Bit 15 (MSB) | + | Bit 31-16 <br> |
| − | | + | Return value that is written to DriveControl <br> |
| − | Drive ON/OFF
| |
| − | | |
| − | | |
| − | | |
| − | Drive OFF: When switching from 1 to 0: drive is decelerated as best as possible, followed by disabling of the torque at ''n'' <sub>min</sub>. The power stage can remain in an activated state (only possible when bit 14=1).
| |
| − | | |
| − | | |
| − | 1
| |
| − | | |
| − | DriveON
| |
| − | | |
| − | | |
| − | | |
| − | Bit 14
| |
| − | | |
| − | Enable Drive
| |
| − | | |
| − | | |
| − | | |
| − | Not enabled: When switching from 1 to 0, torque is immediately disabled and the power stage pulses are blocked (independent of bits 15 and 13).
| |
| − | | |
| − | | |
| − | | |
| − | 1
| |
| − | | |
| − | Enable Drive
| |
| − | | |
| − | | |
| − | | |
| − | Bit 13
| |
| − | | |
| − | Halt/Restart Drive (may be used to stop the drive regardless of the presently active control unit function)
| |
| − | | |
| − | Halt Drive: When changing from 1 –> 0, drive is halted according to the acceleration parameter (IDN 00137 or 00138) and the control loop remains closed (only possible when bits 15 and 14 are set to 1).
| |
| − | | |
| − | 1
| |
| − | | |
| − | Restart Drive: When changing from 0 –> 1, original function is continued maintaining the acceleration parameter.
| |
| − | | |
| − | Bits 12, 11
| |
| − | | |
| − | Reserved
| |
| − | | |
| − | Bit 10
| |
| − | | |
| − | Control unit synchronization bit: This bit is initially set to 0. It is becomes valid in CP<sub>3</sub> and shall remain valid during drive-controlled functions. This bit is toggled with the control unit cycle time (''t ''<sub>Ncyc</sub>) indicating the update of the command value. (Example: Used to synchronize the interpolation in the control unit with the fine interpolator in the drive.)
| |
| − | | |
| − | Bits 9, 8
| |
| − | | |
| − | Operation mode
| |
| − | | |
| − | 0 0
| |
| − | | |
| − | Primary operation mode (defined by operation data IDN 00032)
| |
| − | | |
| − | 0 1
| |
| − | | |
| − | Secondary operation mode-1 (defined by operation data IDN 00033)
| |
| − | | |
| − | 1 0
| |
| − | | |
| − | Secondary operation mode-2 (defined by operation data IDN 00034)
| |
| − | | |
| − | 1 1
| |
| − | | |
| − | Secondary operation mode-3 (defined by operation data IDN 00035)
| |
| − | | |
| − | Bit 7
| |
| − | | |
| − | Real-time control bit 2 (IDN 00302)
| |
| − | | |
| − | Bit 6
| |
| − | | |
| − | Real-time control bit 1 (IDN 00300)
| |
| − | | |
| − | Bits 5, 4, 3
| |
| − | | |
| − | Data Block Element
| |
| − | | |
| − | 0 0 0
| |
| − | | |
| − | Service channel not active, close service channel or break a transmission in progress
| |
| − | | |
| − | 0 0 1
| |
| − | | |
| − | IDN of the operation data. The service channel is closed for the previous IDN and opened for a new IDN.
| |
| − | | |
| − | 0 1 0
| |
| − | | |
| − | Name of operation data
| |
| − | | |
| − | 0 1 1
| |
| − | | |
| − | Attribute of operation data
| |
| − | | |
| − | 1 0 0
| |
| − | | |
| − | |UNITS=
| |
| − | of the operation data
| |
| − | | |
| − | 1 0 1
| |
| − | | |
| − | Minimum input value
| |
| − | | |
| − | 1 1 0
| |
| − | | |
| − | Maximum input value
| |
| − | | |
| − | 1 1 1
| |
| − | | |
| − | Operation data
| |
| − | | |
| − | Bit 2
| |
| − | | |
| − | | |
| − | | |
| − | Transmission in progress
| |
| − | | |
| − | 1
| |
| − | | |
| − | Last transmission
| |
| − | | |
| − | Bit 1
| |
| − | | |
| − | Read/Write
| |
| − | | |
| − | Read service info
| |
| − | | |
| − | 1
| |
| − | | |
| − | Write service info
| |
| − | | |
| − | Bit 0
| |
| − | | |
| − | MHS
| |
| − | | |
| − | 0/1
| |
| − | | |
| − | Service transport handshake of the Master
| |
| | | | |
| | | | |
| Line 176: |
Line 39: |
| | | | |
| | |LIMITATIONS= | | |LIMITATIONS= |
| − | Read only. Executed only in SERCOS communication phase 4.
| + | Effect only in Operational Mode |
| | | | |
| | |EXAMPLE= | | |EXAMPLE= |
| | ?a1.dcon<br> | | ?a1.dcon<br> |
| | + | a1.dcon=6<br> |
| | + | a1.dcon=7<br> |
| | + | a1.dcon=15<br> |
| | + | a1.dcon=31<br> |
| | | | |
| − | if (a1.dcon and 2^14) Then.‘Check whether the drive enable is requested
| |
| | | | |
| | |SEE ALSO= | | |SEE ALSO= |
| | * [[MC-Basic:axis.DRIVESTATUS|axis.DRIVESTATUS]] | | * [[MC-Basic:axis.DRIVESTATUS|axis.DRIVESTATUS]] |
| − | * [[MC-Basic:axis.RTCB1|axis.RTCB1]]
| |
| − | * [[MC-Basic:axis.RTCB1 MODE|axis.RTCB1_MODE]]
| |
| − | * [[MC-Basic:axis.RTCB2|axis.RTCB2]]
| |
| − | * [[MC-Basic:axis.RTCB2 MODE|axis.RTCB2_MODE]]
| |
| − | * [[MC-Basic:axis.RTSB1 MODE|axis.RTSB1_MODE]]
| |
| − | * [[MC-Basic:axis.RTSB2 MODE|axis.RTSB2_MODE]]
| |
| − |
| |
| | | | |
| | }} | | }} |
This property allows the user to read the control word being sent to the drive.
From version 0.4.17.2 property is read-write for EtherCAT and CAN systems.
EtherCAT and CANOpen systems:
Value written to DriveControl is transferred "as is" to drive via drive control (CANOpen object 0x6040/0) in case this object is mapped to PDO.
Query of DriveControl returns its shadow value in 16 upper bits.
The control word is transmitted in each motion bus cycle cycle, and is composed of 16 bits.
Short form
<axis>.DCon
Syntax
?<axis>.DriveControl
Availability
All versions
Type
Long
Range
Bit 15-0
Undefined
Bit 31-16
Return value that is written to DriveControl
Scope
Configuration, Task or Terminal
Limitations
Effect only in Operational Mode
Examples
?a1.dcon
a1.dcon=6
a1.dcon=7
a1.dcon=15
a1.dcon=31
See Also