FB_DriveEnable - General Information

Overview

Type:	Function block
Available as of:	V1.0.3.0
Inherits from:	-
Implements:	-
Versions:	Current version

Task

Switching the position control of an axis on and off.

Description

If the input i_xEnableDrive = TRUE, a power supply of the axis (if present) is enabled, then the axis is position-controlled. The state of the axis is monitored.

If the input i_xEnableDrive = FALSE, the position control of the axis is disabled. A power supply which might be connected to the axis is not affected.

Interface

Input	Data type	Description
i_xEnable	BOOL	A rising edge FALSE -> TRUE activates the POU, a falling edge TRUE -> FALSE deactivates the POU. A deactivated POU does not execute any actions.
i_ifDrive	IF_Drive	Input for the axis that shall be controlled.
i_xEnableDrive	BOOL	TRUE: A power supply of the axis (if present) is enabled, then the axis is position-controlled.
i_xDiagQuit	BOOL	A rising edge FALSE -> TRUE acknowledges a pending diagnostic message (output q_etDiag <> ET_Diag.Ok).

Output	Data type	Description
q_xActive	BOOL	TRUE: The POU is active and has to be executed further. FALSE: The POU is inactive.
q_xReady	BOOL	TRUE: The POU is ready to operate and can accept user commands. FALSE: The function block is not ready to accept user commands.
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to an diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = ET_Diag.Ok -> Status message q_etDiag <> ET_Diag.Ok -> Diagnostic message
q_sMsg	STRING[80]	Event-triggered message which gives more detailed information on the diagnostic state.
q_xDriveEnabled	BOOL	TRUE: Axis is in position control.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Disabled	9	The POU is disabled.
OK	DriveEnabled	146	The drive is enabled.
OK	Initializing	4	The POU is being initialized.
OK	WaitForEnableDrive	136	Waiting for the drive to be enabled.
OK	WaitUntilDriveDisabled	179	Waiting until the drive is deactivated.
OK	WaitUntilDriveEnabled	145	Waiting until the drive is enabled.
OK	WaitUntilPowerSupplyEnabled	143	Waiting until the power supply is enabled.
OK	WaitUntilPowerSupplyReady	140	Waiting until the power supply is ready.
DriveConditionInvalid	DriveNotReady	10	The drive is not ready for motion commands.
DriveConditionInvalid	InverterEnableOff	41	The InverterEnable signal is not present.
DriveConditionInvalid	TorqueEnableOff	15	The TorqueEnable signal is not present.
InputParameterInvalid	DriveInvalid	3	The connected drive is invalid.
InputParameterInvalid	PowerSupplyInvalid	139	The connected power supply is invalid.
InputParameterInvalid	PowerSupplyNotFound	138	The connected power supply was not found.
PowerSupplyConditionInvalid	PowerSupplyNotReady	144	The connected power supply is not ready.
SercosConditionInvalid	SercosNotInPhaseFour	19	The Sercos bus is not in phase 4.
UnexpectedProgramBehavior	UnknownState	2	The POU is in an undefined state.

Disabled

Enumeration name:	Disabled
Enumeration value:	9
Description:	The POU is disabled.

The function block is disabled and executes no actions whatsoever. i_xEnable and q_xActive are set to FALSE

DriveEnabled

Enumeration name:	DriveEnabled
Enumeration value:	146
Description:	The drive is enabled.

The position control of the axis is activated.

DriveInvalid

Enumeration name:	DriveInvalid
Enumeration value:	3
Description:	The connected drive is invalid.

Issue	Cause	Solution
-	At the input i_ifDrive, no drive was applied.	At the input i_ifDrive, a valid drive must be transferred.
-	The connected drive does not support all required functionalities.	Establish which functionalities are not supported by the drive by means of output q_sMsg. Use a drive which supports all required functionalities.

Issue

Cause

Solution

At the input i_ifDrive, no drive was applied.

At the input i_ifDrive, a valid drive must be transferred.

The connected drive does not support all required functionalities.

Establish which functionalities are not supported by the drive by means of output q_sMsg.

Use a drive which supports all required functionalities.

DriveNotReady

Enumeration name:	DriveNotReady
Enumeration value:	10
Description:	The drive is not ready for motion commands.

Issue	Cause	Solution
-	The axis is not in position control.	Verify the state of the axis.

Initializing

Enumeration name:	Initializing
Enumeration value:	4
Description:	The POU is being initialized.

The function block is being initialized and thus is not yet ready to receive commands at its inputs.

The function block will signalize that it is ready for operation with the signal q_xReady = TRUE.

InverterEnableOff

Enumeration name:	InverterEnableOff
Enumeration value:	41
Description:	The InverterEnable signal is not present.

Issue	Cause	Solution
-	The InverterEnable signal of the axis is not enabled.	Verify the wiring of the InverterEnable signal.

PowerSupplyInvalid

Enumeration name:	PowerSupplyInvalid
Enumeration value:	139
Description:	The connected power supply is invalid.

Issue	Cause	Solution
-	The connected power supply is not supported.	Please contact the support team.

PowerSupplyNotFound

Enumeration name:	PowerSupplyNotFound
Enumeration value:	138
Description:	The connected power supply was not found.

Issue	Cause	Solution
-	No power supply has been applied.	Add a power supply in the PLC configuration.
-	No power supply has been connected.	Connect the power supply to the axis.

PowerSupplyNotReady

Enumeration name:	PowerSupplyNotReady
Enumeration value:	144
Description:	The connected power supply is not ready.

Issue	Cause	Solution
-	The connected power supply is not ready.	Verify the state of the PowerSupply for errors.

SercosNotInPhaseFour

Enumeration name:	SercosNotInPhaseFour
Enumeration value:	19
Description:	The Sercos bus is not in phase 4.

Issue	Cause	Solution
-	The parameter State of the Sercos bus is not 4.	Set the Sercos bus parameter PhaseSet to 4. Verify the Sercos bus for errors.

Issue

Cause

Solution

The parameter State of the Sercos bus is not 4.

Set the Sercos bus parameter PhaseSet to 4.

Verify the Sercos bus for errors.

TorqueEnableOff

Enumeration name:	TorqueEnableOff
Enumeration value:	15
Description:	The TorqueEnable signal is not present.

Issue	Cause	Solution
-	The TorqueEnable signal of the axis is not enabled.	Verify the hard-/software wiring of the TorqueEnable signal.

UnknownState

Enumeration name:	UnknownState
Enumeration value:	2
Description:	The POU is in an undefined state.

Issue	Cause	Solution
-	An error occurred in the internal execution.	Please inform the support team about this error.

WaitForEnableDrive

Enumeration name:	WaitForEnableDrive
Enumeration value:	136
Description:	Waiting for the drive to be enabled.

The initialization of the function block is complete. Via the input i_xEnableDrive, it is now possible to enable the position control for the axis.

WaitUntilDriveDisabled

Enumeration name:	WaitUntilDriveDisabled
Enumeration value:	179
Description:	Waiting until the drive is deactivated.

The function block awaits the disabling of the axis.

WaitUntilDriveEnabled

Enumeration name:	WaitUntilDriveEnabled
Enumeration value:	145
Description:	Waiting until the drive is enabled.

The axis is being enabled.

WaitUntilPowerSupplyEnabled

Enumeration name:	WaitUntilPowerSupplyEnabled
Enumeration value:	143
Description:	Waiting until the power supply is enabled.

The function block waits for the connected power supply to switch over to a GroupState >= 3.

WaitUntilPowerSupplyReady

Enumeration name:	WaitUntilPowerSupplyReady
Enumeration value:	140
Description:	Waiting until the power supply is ready.

The function block waits for the connected power supply to switch over to a GroupState >= 2.

Methods

Name	Description
RegisterLoggerPoint	Registering the logger points of the POU in the Application Logger