Behavior in the Operating Modes
A successful executed command is displayed as follows:
q_xCMDActive = FALSE
q_diCMDActive = last command
q_xCMDDone = TRUE
iq_diCMD = 0
Operating mode commands are not possible if an error reaction TPL.ET_Reaction.AsyncStop, TPL.ET_Reaction.SyncStopEL or TPL.ET_Reaction.SyncStopEH is pending.
You cannot enable the position control via the DriveEnableOn command if an error reaction TPL.ET_Reaction.AsyncStop, TPL.ET_Reaction.SyncStopEL is pending.
Operating modes
oNoOp
No operation mode is selected. The module is in wait state.
The technology POU PDL.FB_DriveEnable is being activated.
Basic monitoring systems are enabled:
oMonitoring the diagnostic messages of the axis
oMonitoring the hardware limit switches
oMonitoring the reduced velocity
Possible state commands
oDriveEnableOn -> The position control of the axis is activated.
oDriveEnableOff -> The position control of the axis is disabled.
Possible operation mode commands
oHoming -> Change to operation mode Homing takes place.
oManual -> Change to operation mode Manual takes place.
oCamCs -> Change to operation mode MultiCam takes place and a coldstart is preselected.
oCamWs -> Change to operation mode MultiCam takes place and a warmstart is preselected.
oEndless -> Change to operation mode Endless takes place.
oPositioning -> Change to operation mode Positioning takes place.
oBrake -> Change to operation mode BrakeRelease takes place.
The operation mode Homing is selected. The axis is homed via the mode selected in i_etMode.
The operation mode is parameterized in the structures AXM.ST_Home and AXM.ST_Main.
The technology POUs PDL.FB_DriveEnable and PDL.FB_Home are being activated.
Basic monitoring systems are enabled:
oMonitoring the diagnostic messages of the axis
oMonitoring the hardware limit switches
oMonitoring the reduced velocity
Possible state commands
oStart -> Homing of the axis is started.
oHold -> Homing of the axis is stopped.
oDriveEnableOn -> The position control of the axis is activated.
oDriveEnableOff -> The position control of the axis is disabled.
Possible operation mode commands
oStop -> Change to operation mode NoOp takes place.
oCamCs -> Change to operation mode MultiCam takes place and a coldstart is preselected.
oCamWs -> Change to operation mode MultiCam takes place and a warmstart is preselected.
oManual -> Change to operation mode Manual takes place.
oEndless -> Change to operation mode Endless takes place.
oPositioning -> Change to operation mode Positioning takes place.
oBrakeRelease -> Change to operation mode BrakeRelease takes place.
The operation mode Manual is selected. In jogging mode the axis can be activated via the inputs i_xJogForw and i_xJogBack.
The operation mode is parameterized in the structures AXM.ST_Manual and AXM.ST_Main.
The technology POUs PDL.FB_DriveEnable and PDL.FB_Jogging are being activated.
Basic monitoring systems are enabled:
oMonitoring the diagnostic messages of the axis
oMonitoring the hardware limit switches
oMonitoring the reduced velocity
Possible state commands
oi_xJogForw and i_xJogBack of the stAxisModuleManual structure move the axis in positive and negative direction.
oDriveEnableOn -> The position control of the axis is activated.
oDriveEnableOff -> The position control of the axis is disabled.
Possible operation mode commands
oStop -> Change to operation mode NoOp takes place.
oHoming -> Change to operation mode Homing takes place.
oCamCs -> Change to operation mode MultiCam takes place and a coldstart is preselected.
oCamWs -> Change to operation mode MultiCam takes place and a warmstart is preselected.
oEndless -> Change to operation mode Endless takes place.
oPositioning -> Change to operation mode Positioning takes place.
oBrakeRelease -> Change to operation mode BrakeRelease takes place.
The operation mode MultiCam is selected. The axis is attached as slave to a master via cams.
The operation mode is parameterized in the structures AXM.ST_MultiCam and AXM.ST_Main.
The technology POUs PDL.FB_DriveEnable and PDL.FB_MultiCam are being activated.
If the axis shall be activated in an ILS network, the pstIlsData parameter of the ST_MultiCam structure must be linked to the (global) stIlsData structure, to which also the pstIlsData parameter of the ST_EndlessFeed structure of the master module was linked. Subsequently, the technology POU PDL.FB_PreCalcMultiCam is called up first.
Basic monitoring systems are enabled:
oMonitoring the diagnostic messages of the axis
oMonitoring the hardware limit switches
oMonitoring the reduced velocity
Possible state commands
oStart -> If the operation mode was entered via the CamCs command, a coldstart is executed.
If the operation mode was entered via the CamWs command, a warmstart is preselected. Subsequently, a WsStart command is waited for.
oWsStart -> After the warmstart has been prepared via the commands CamWs - Start, the warmstart motion is started via WsStart.
oHold -> The start command is canceled.
oDriveEnableOn -> The position control of the axis is activated.
oDriveEnableOff -> The position control of the axis is disabled.
Possible operation mode commands
oStop -> Change to operation mode NoOp takes place.
oHoming -> Change to operation mode Homing takes place.
oManual -> Change to operation mode Manual takes place.
oEndless -> Change to operation mode Endless takes place.
oPositioning -> Change to operation mode Positioning takes place.
oBrakeRelease -> Change to operation mode BrakeRelease takes place.
The operation mode Endless is selected. The axis is moved endlessly at a (constant) velocity in one direction.
The operation mode is parameterized in the structures AXM.ST_EndlessFeed and AXM.ST_Main.
The technology POUs PDL.FB_DriveEnable and PDL.FB_EndlessFeed are being activated.
Basic monitoring systems are enabled:
oMonitoring the diagnostic messages of the axis
oMonitoring the hardware limit switches
oMonitoring the reduced velocity
Possible state commands
oStart -> The endless feed of the axis is started.
oHold -> The endless feed of the axis is stopped.
oDriveEnableOn -> The position control of the axis is activated.
oDriveEnableOff -> The position control of the axis is disabled.
Possible operation mode commands
oStop -> Change to operation mode NoOp takes place.
oHoming -> Change to operation mode Homing takes place.
oCamCs -> Change to operation mode MultiCam takes place and a coldstart is preselected.
oCamWs -> Change to operation mode MultiCam takes place and a warmstart is preselected.
oManual -> Change to operation mode Manual takes place.
oPositioning -> Change to operation mode Positioning takes place.
oBrakeRelease -> Change to operation mode BrakeRelease takes place.
The operation mode Positioning is selected. The axis is moved relatively with a certain distance or absolutely to a position.
The operation mode is parameterized in the structures AXM.ST_Positioning and AXM.ST_Main.
The technology POUs PDL.FB_DriveEnable and PDL.FB_VarioPosJerk are being activated.
In the operation mode Positioning the Start command may be overwritten with the Hold command. The internal start bit may also be reset by the i_xPosStop input of the AXM.ST_Main structure, so that the axis starts to move again with the next start signal without having received a Hold command.
Basic monitoring systems are enabled:
oMonitoring the diagnostic messages of the axis
oMonitoring the hardware limit switches
oMonitoring the reduced velocity
Possible state commands
oStart -> Positioning is started.
oHold -> Positioning is stopped.
oDriveEnableOn -> The position control of the axis is activated.
oDriveEnableOff -> The position control of the axis is disabled.
Possible operation mode commands
oStop -> Change to operation mode NoOp takes place.
oHoming -> Change to operation mode Homing takes place.
oCamCs -> Change to operation mode MultiCam takes place and a coldstart is preselected.
oCamWs -> Change to operation mode MultiCam takes place and a warmstart is preselected.
oManual -> Change to operation mode Manual takes place.
oEndless -> Change to operation mode Endless takes place.
oBrakeRelease -> Change to operation mode BrakeRelease takes place.
The operation mode BrakeRelease is selected. The axis is not moved. Only the holding brake of the axis is opened and closed.
The operation mode is parameterized in the structures AXM.ST_BrakeRelease and AXM.ST_Main.
The technology POUs PDL.FB_DriveEnable and PDL.FB_Brake are being activated.
Basic monitoring systems are enabled:
oMonitoring the diagnostic messages of the axis
oMonitoring the hardware limit switches
oMonitoring the reduced velocity
Possible state commands
oStart -> The holding brake is opened.
oHold -> The holding brake is closed.
oDriveEnableOn -> The position control of the axis is activated.
oDriveEnableOff -> The position control of the axis is disabled.
Possible operation mode commands
oStop -> Change to operation mode NoOp takes place.
oHoming -> Change to operation mode Homing takes place.
oCamCs -> Change to operation mode MultiCam takes place and a coldstart is preselected.
oCamWs -> Change to operation mode MultiCam takes place and a warmstart is preselected.
oManual -> Change to operation mode Manual takes place.
oEndless -> Change to operation mode Endless takes place.
oPositioning -> Change to operation mode Positioning takes place.
