Using FC_SercosSetUserRealTimeControlBits

Identification Number (IDN)

A Sercos command is addressed via the identification number (IDN). The IDN has a 32-bit value.

The following figures describe the structure and notation of the IDN.

Structure IDN

1 Structure instance (SI)

2 Structure element (SE)

3 S/P parameter (0:=S; 1:=P)

4 Parameter set (PS)

5 Data block number (DBN)

Notation IDN

1 S/P parameter (SP)

2 Parameter set (PS)

3 Data block number (DBN)

4 Structure instance (SI)

5 Structure element (SE)

The IDN for DC_BusVoltage (P-Parameter) is for example S-0-0380.0.0.

Bit Types

Within a Sercos command the following bit types are used:

Functional bit type
Reserved bit type
Internal bit type

Bit type	Description
Functional bit type	Functional bits can be written and read. Via functional bits a certain function can be performed on a Sercos device, for example setting the motor brake.
Reserved bit type	Reserved bits are reserved for the future use.
Internal bit type	Internal bits can be read but not written. These bits are reserved for the internal use.

Example

The real-time bits described in the following list are contained in the Sercos IDN P-0-0409.0.0 (in hexadecimal notation: 16#0008199).

Only the functional bits 7, 9, 10, 11 and 13 can be written and read. Other bits are internal bits that only can be read.

Bit no.	Description
15	Value from OUT_1 only Lexium LXM52 Drive and Lexium LXM62 Drive)
14	Value from OUT_0 (only Lexium LXM52 Drive and Lexium LXM62 Drive)
13	Configurable real-time bit #1 Standard configuration: Real-time control brake 0 = Brake closed 1 = Brake released To use this bit, the parameter BrakeMode must be set to "Control brake via user program / 3". If the parameter BrakeMode is set to another value, the brake is not controlled by bit 13.
12	Speed-torque-characteristic curve (SpeedTorqueCurve) 0 = Deactivating the speed-torque-characteristic curve 1 = Activating the speed-torque-characteristic curve
11	Configurable real-time bit #2
10	Configurable real-time bit #3
9	Configurable real-time bit #4
8	ACTIVE_PS 0 = Power supply is deactivated. 1 = Power supply is activated.
7	Configurable real-time bit #5
6	Moment of inertia-feed forward mode 0 = Moment of inertia-feed forward = Motor moment of inertia + J_Gear + J_Load (Default) 1 = Moment of inertia-feed forward = Motor moment of inertia + J_Gear
5	Current feed forward (User) 0 = Current feed forward (User) deactivated. 1 = Current feed forward (User) activated.
4	Current feed forward 0 = Current feed forward deactivated. 1 = Current feed forward activated (Default)
3	OverloadDetectionQuit 0->1 = Acknowledging the overload reaction (low -> high)
2	OverloadDetectionOn 0 = Overload detection is deactivated. 1 = Overload detection for FeedbackCurrent is active.
1	UserCurrentOn 0 = Current on DrivePeakCurrent is limited. 1 = Current on UserCurrent is limited.
0	AccelerationOverflow 0 = The acceleration is inside the defined range. 1 = The acceleration exceeds the defined range.

Example

The following example explains how to release the brakes. Therefore a mask is defined which allows access to the configurable bits. Furthermore the value to release the brakes is defined.

Declaration

PROGR AM SR_Demo 
VAR 
   xOnce : BOOL := TRUE; 
   diResult : DINT := -99; 
   dwMask : DWORD := 16#00000000; 
   dwIDN : DWORD := 16#00000000; 
   dwValue : DWORD := 16#00000000; 
END_VAR

Program

IF xOnce = TRUE THEN 
xOnce := FALSE; 
   dwMask := 16#00002E80;  (* Only the configurable bits 7, 9, 10, 11 and 13 are accessible *)
   dwIDN := 16#00008199;  (* IDN for P-0-0409.0.0 *)
   dwValue:= 16#00002000;  (* bit 13 = TRUE, value to relase the brakes *)
   diResult := FC_SercosSetUserRealTimeControlBits( 
      i_stLogAddr := DRV_Lexium62.stLogicalAddress, 
      i_dwMask := dwMask, 
      i_dwIDN := dwIDN, 
      iq_dwValue := dwValue); 
END_IF