Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 49)

DMS 5.2 EN 03/2011 TD17
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49
L-force | PLC Designer - SoftMotion
The SoftMotion drive interface
Drive element Drive.lib
3.3.1.1 Properties
 RegulatorOn, DriveStart
 Error display and acknowledgement
 Reading and writing of SoftMotion and drive parameters:
– Access via index 0xaabb
hex
and subindex 0xcc
hex
with the length 0xdd
hex
in bytes
(only required for writing), or
– Use of MC_Read/Write(Bool)parameters with the parameter number ddaabbcc
hex
,
or
– Use of the FBs LenzeECSReadParameter and LenzeECSWriteParameter to directly
access to Lenze codes, or
– Use of the FBs SMC_ReadCANParameter and SMC_WriteCANParameter to address
standard CAN objects via index/subindex.
 Reading of drive parameters (as string) with LenzeECSReadString
 Optional ratio factors (dwRatioTechUnitsDenom/iRatioTechUnitsNum)
 Linear or rotary axes
 Control modes: position, velocity (9400), torque (9400)
– Use SMC_SetControllerMode for changing the mode.
 Drive-internal homing
– ECSxM: configure C3010, C0935, C0936
Note: During the homing the current position is not reported by the ECS drive!
– 9400: configure 6098
hex
, 6099
hex
, 609A
hex
 Latching: 1 channel (trigger number = 1), ECSxM only
 ECSxM: depending on the setting in code C3175, the hardware limit switches are
monitored by the control system (C3175 = 3) or by the drive.
 Configuration from one file possible
 Configuration from dialogs in the PLC configuration possible
 Supported sync generators (to be set in the PLC configuration, AxisGroup): PLC, 1. drive,
sync device
3.3.1.2 Global variables
Variable Data type Description
g_udiTimeDistanceSyncSend UDINT Time between the transmission of a sync signal and
the first PDO (default = 0)