The program is divided into two actions and is created in programming language CFC (Continuous Function Chart). Both actions will be called on each program execution.
Action - A01_GetNodeState
Action - A02_Ctrl_Lexium
The program code in this action provides information on the communication state of the device on the CANopen fieldbus. Based on the communication parameter, the communication state is assigned to the corresponding variables which have been declared in the GVL_<module name>. If the state is equal to Operational, the variable for the state indicates TRUE and other cases are indicated by FALSE.
The program code in this action processes the basic monitor and control functions of the device:
with the function block MC_Power_LXM28, enable/disable the power stage of the drive
with the function block MC_Reset_LXM28, reset the drive after a detected error
with the function block MC_Stop_LXM28, stop operation on the drive
with the function block MC_Jog_LXM28, operate the drive in jog mode
with the function block MC_MoveVelocity_LXM28, operate the drive with continuous velocity
with the function block MC_MoveRelative_LXM28, operate the drive with relative positioning
with the function block MC_MoveAbsolute_LXM28, operate the drive with absolute positioning
with the function block MC_ReadAxisError_LXM28, obtain the error state of the drive
with the function block MC_Home_LXM28, initiate the homing mode