Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 56)

L-force | PLC Designer - SoftMotion
The SoftMotion drive interface
Variables of the AXIS_REF structure
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L
DMS 5.2 EN 03/2011 TD17
3.4 Variables of the AXIS_REF structure
For each drive created in the »PLC Designer« control configuration a variable of the
AXIS_REF structure is created during the compilation process (defined in the
SM_DriveBasic.lib, see chapter [3.2]
( 26)
). This structure provides the interface between
the application and the drive interface. It serves to exchange both cyclic and acyclic data.
Most variables of the structure have no importance for the user, but are used internally by
the system. The user should always use function blocks and should never directly access
the structure, at least not in the writing mode.
No. Name Data type Init value Description
1000 nAxisState INT Standstill Axis status:
0: power_off
1: errorstop
2: stopping
3: standstill
4: discrete_motion
5: continuous_motion
6: synchronized_motion
7: homing
1001 wControlType WORD PLC config* Digit showing the components of
the structure which are
transmitted and received
cyclically.
0: defined by param 1002 ... 1008
1: SetTorque
2: SetVelocity,ActVelocity
3: SetVelocity,ActPosition
4: SetPosition,ActPosition
5: SetVelocity,SetPosition,
ActVelocity,ActPosition
6: SetVelocity
1002
1003
1004
wCyclicDataS1
wCyclicDataS2
wCyclicDataS3
WORD PLC-Config* or init-FB
of
Drive.lib
Number of the 3S parameters
that are to be transmitted per
cycle
1006
1007
1008
wCyclicDataR1
wCyclicDataR2
wCyclicDataR3
WORD PLC-Config* or init-FB
of
Drive.lib
Parameter numbers of the 3S
parameters that are to be
received per cycle
1010 bRegulatorOn BOOL FALSE Connect/switch off controller
(power)
1011 bDriveStart BOOL FALSE Activate/deactivate brake
1012 bCommunication BOOL FALSE TRUE: drive responds
1013 wCommunication
State
WORD 0 Internal use
1015 bRegulatorRealState BOOL FALSE Status of the controller
1016 bDriveStartRealState BOOL FALSE Status of the brake
1020 wAxisGroupId WORD PLC config* Index of the axis group in the
configuration
1021 wDriveId WORD PLC config* Node number of the drive on the
fieldbus
1022 iOwner INT 0 ID number of the current owner
(FB)
1023 iNoOwner INT 0 Number of the previous and
current owners