Library-Specific Data Types
Vendor-Specific Data Type Axis_Ref
The function block User_FB has to provide an axis reference for the function block MC_Power (Axis) and this axis reference has to be the type Axis_Ref_Base. When calling an instance of the function block User_FB, the Axis_Ref (Altivar_340) is passed to the instance of the function block MC_Power.
The Axis_Ref provides the timeout properties to modify timeout values.
These properties are accessible using the name of the Axis_Ref followed by a “.”:
|
Property name |
Default timeout values (ms) |
Description |
||
|---|---|---|---|---|
|
ATV |
ILX |
LXM |
||
|
timDiagQuitTimeOut |
2000 |
500 |
500 |
Timeout while waiting for the status to be able to execute a “Fault Reset” command |
|
timParameterTimeOut |
100 |
100 |
100 |
Timeout while waiting for a response after the execution of a read or write command |
|
timPowerTimeOut |
3000 |
1000 |
3000 |
Timeout while waiting for power stage status enabled/disabled after an enable/disable command |
|
timQuickStopTimeOut |
100 |
1000 |
1000 |
Timeout while waiting for drive status Quick-Stop after the execution of a Quick-Stop command |
|
timResetFaultTimeOut |
2000 |
500 |
500 |
Timeout while waiting for error free status of the drive after the execution of a “Fault Reset” command |
For compatibility reasons to the obsolete CANopen libraries, the axis reference function blocks for CANopen have two additional properties uiNetworkNo and uiNodeId. These properties are providing the network number and the node number of the referenced CANopen device and can be used in the application.
Vendor-Specific Data Type Axis_Ref_Base
The data type Axis_Ref_Base is a vendor-specific data type and represents a common independent axis. This data type has to be used to pass the Axis_Ref to user-specific function blocks.
Example:
Vendor-Specific Data Type ET_DeviceType
Data type: USINT
|
Name |
Value |
Description |
|---|---|---|
|
Altivar320_EthernetIP |
2 |
Altivar drive ATV320 with EtherNet/IP |
|
Altivar340_EthernetIP |
3 |
Altivar drive ATV340 with EtherNet/IP |
|
Altivar6xx_EthernetIP |
4 |
Altivar drive ATV6•• with EtherNet/IP |
|
Altivar9xx_EthernetIP |
5 |
Altivar drive ATV9•• with EtherNet/IP |
|
Lexiun32M_EthernetIP |
6 |
Lexium drive LXM32M with EtherNet/IP |
|
ILA_EthernetIP |
7 |
Integrated Lexium drive ILA2K with EtherNet/IP |
|
ILE_EthernetIP |
8 |
Integrated Lexium drive ILE2K with EtherNet/IP |
|
ILS_EthernetIP |
9 |
Integrated Lexium drive ILS2K with EtherNet/IP |
|
Altivar320_ModbusTCP |
22 |
Altivar drive ATV320 with Modbus TCP |
|
Altivar340_ModbusTCP |
23 |
Altivar drive ATV340 with Modbus TCP |
|
Altivar6xx_ModbusTCP |
24 |
Altivar drive ATV6•• with Modbus TCP |
|
Altivar9xx_ModbusTCP |
25 |
Altivar drive ATV9•• with Modbus TCP |
|
Lexiun32M_ModbusTCP |
26 |
Lexium drive LXM32M with Modbus TCP |
|
ILA_ModbusTCP |
27 |
Integrated Lexium drive ILA2T with Modbus TCP |
|
ILE_ModbusTCP |
28 |
Integrated Lexium drive ILE2T with Modbus TCP |
|
ILS_ModbusTCP |
29 |
Integrated Lexium drive ILS2T with Modbus TCP |
|
Altivar320_CANopen |
40 |
Altivar drive ATV320 with CANopen |
|
Altivar340_CANopen |
41 |
Altivar drive ATV340 with CANopen |
|
Altivar6xx_CANopen |
42 |
Altivar drive ATV6•• with CANopen |
|
Altivar9xx_CANopen |
43 |
Altivar drive ATV9•• with CANopen |
|
Lexium32M_CANopen |
44 |
Lexium drive LXM32M with CANopen |
|
Lexium32A_CANopen |
45 |
Lexium drive LXM32A with CANopen |
|
Lexium32i_CANopen |
46 |
Lexium drive LXM32ICAN with CANopen |
|
ILA_CANopen |
47 |
Integrated Lexium drive ILA1F with CANopen |
|
ILE_CANopen |
48 |
Integrated Lexium drive ILE1F with CANopen |
|
ILS_CANopen |
49 |
Integrated Lexium drive ILS1F with CANopen |
|
SD328A_CANopen |
50 |
Lexium stepper drive SD328A with CANopen |
Vendor-Specific Data Type ET_LexiumHomingMode
Data type: UINT
Specifies the homing method for LXM32A (CANopen), LXM32ICAN (CANopen), LXM32M (CANopen, EtherNet/IP and Modbus TCP), SD328A (CANopen), and Lexium ILA, ILE and ILS integrated drives (EtherNet/IP and Modbus TCP):
|
Name |
Value |
Description |
|---|---|---|
|
LIMN_Indexpuls |
1 |
LIMN with index pulse |
|
LIMP_Indexpuls |
2 |
LIMP with index pulse |
|
REF_pos_Indexpuls_inv_outside |
7 |
REF+ with index pulse, inverted, outside |
|
REF_pos_Indexpuls_inv_inside |
8 |
REF+ with index pulse, inverted, inside |
|
REF_pos_Indexpuls_ninv_inside |
9 |
REF+ with index pulse, not inverted, inside |
|
REF_pos_Indexpuls_ninv_outside |
10 |
REF+ with index pulse, not inverted, outside |
|
REF_neg_Indexpuls_inv_outside |
11 |
REF- with index pulse, inverted, outside |
|
REF_neg_Indexpuls_inv_inside |
12 |
REF- with index pulse, inverted, inside |
|
REF_neg_Indexpuls_ninv_inside |
13 |
REF- with index pulse, not inverted, inside |
|
REF_neg_Indexpuls_ninv_outside |
14 |
REF- with index pulse, not inverted, outside |
|
LIMN |
17 |
LIMN |
|
LIMP |
18 |
LIMP |
|
REF_pos_inv_outside |
23 |
REF+, inverted, outside |
|
REF_pos_inv_inside |
24 |
REF+, inverted, inside |
|
REF_pos_ninv_inside |
25 |
REF+, not inverted, inside |
|
REF_pos_ninv_outside |
26 |
REF+, not inverted, outside |
|
REF_neg_inv_outside |
27 |
REF-, inverted, outside |
|
REF_neg_inv_inside |
28 |
REF-, inverted, inside |
|
REF_neg_ninv_inside |
29 |
REF-, not inverted, inside |
|
REF_neg_ninv_outside |
30 |
REF-, not inverted, outside |
|
Indexpuls_neg |
33 |
Index pulse in negative direction |
|
Indexpuls_pos |
34 |
Index pulse in positive direction |
|
Setposition |
35 |
Position setting |
Vendor-Specific Data Type ET_LexiumHomingMode_ILX1
Data type: UINT
Specifies the homing method for Lexium ILA, ILE and ILS integrated drives for CANopen:
|
Name |
Value |
Description |
|---|---|---|
|
LIMP |
1 |
LIMN |
|
LIMN |
2 |
LIMP |
|
REFZ_neg |
3 |
REF in negative direction |
|
REFZ_pos |
4 |
REF in positive direction |
|
Indexpuls_neg |
5 |
Index pulse in negative direction (only ILA1F and ILS1F) |
|
Indexpuls_pos |
6 |
Index pulse in positive direction (only ILA1F and ILS1F) |
|
Block_neg |
7 |
Movement to block in negative direction (only ILE1F) |
|
Block_pos |
8 |
Movement to block in positive direction (only ILE1F) |
|
REF_pos_inv_outside |
23 |
REF+, inverted, outside |
|
REF_pos_inv_inside |
24 |
REF+, inverted, inside |
|
REF_pos_ninv_inside |
25 |
REF+, not inverted, inside |
|
REF_pos_ninv_outside |
26 |
REF+, not inverted, outside |
|
REF_neg_inv_outside |
27 |
REF-, inverted, outside |
|
REF_neg_inv_inside |
28 |
REF-, inverted, inside |
|
REF_neg_ninv_inside |
29 |
REF-, not inverted, inside |
|
REF_neg_ninv_outside |
30 |
REF-, not inverted, outside |
|
Setposition |
35 |
Position setting |
Vendor-Specific Data Type ET_SetpointSource_LXM32
The enumeration describes the source of the target value.
Data type: USINT
Values for function block TorqueControl_LXM32:
|
Name |
Value |
Description |
|---|---|---|
|
Value |
0 |
Target torque via input Torque |
|
AnalogInput |
1 |
Target torque via analog input (I/O module) |
|
PTIInput |
2 |
Target torque via PTI interface |
Values for function block MoveVelocity_LXM32:
|
Name |
Value |
Description |
|---|---|---|
|
Value |
0 |
Target velocity via input Velocity |
|
AnalogInput |
1 |
Target velocity via analog input (I/O module) |
Vendor-Specific Data Type ET_SetpointSource_SD328A
The enumeration describes the source of the target value.
Data type: USINT
Values for function block MoveVelocity_SD328A:
|
Name |
Value |
Description |
|---|---|---|
|
Value |
0 |
Target velocity via input Velocity |
|
AnalogInput |
1 |
Target velocity via analog input |
Vendor-Specific Data Type ET_TriggerEdge
The enumeration describes the edge to trigger position capture.
Data type: INT
|
Name |
Value |
Description |
|---|---|---|
|
RisingEdge |
1 |
Rising edge |
|
FallingEdge |
2 |
Falling edge |
|
BothEdges |
3 |
Both rising edge and falling edge(1)(2) |
|
(1) For SD328A: Not available. (2) For Lexium ILA, ILE and ILS integrated drives: Only with EtherNet/IP and Modbus TCP. |
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