Fagor BCSD CAN, Installation Manua

Page: 43 / 60

Installation manual
B eta series C ANopen S ervo D rives | Ref.2102 BCSD CAN - 43|60
= M_MANUAL ; CNC manual in any mode
;
CUSTOM
; CNC conversational mode
AND B0R2 ; CNC in execution
= M_AUT_CONV ; CNC automatic CONV mode
;
AUTOMAT
; CNC automatic ISO mode
OR M_AUT_CONV ; CNC automatic CONV mode
= M_AUTO_MODE ; CNC automatic in any mode
;
;****************************************************************************************************
;
DIGITAL DRIVE STATUS
;
; Digital drive enabling operation. Knowledge of the status of the digital drives.
;
;****************************************************************************************************
;
DRSTAFX = B1R3
; X AXIS DRIVE STATUS
DRSTASX = B0R3 ; X AXIS DRIVE STATUS
;
CPS R3 GE 1
; X drive ready
= M_DRV_X_NERR ; X drive no error
CPS R3 LT 2 ; X drive power
= M_DRV_X_NPOWER ; X drive no power
CPS R3 LT 3 ; X drive without torque
= B1R16 ; FEEDHOLD drive X with no torque
CPS R3 EQ 3 ; X drive with torque
= M_DRV_X_TORQUE ; X drive with torque
;
DRSTAFY = B1R4
; Y AXIS DRIVE STATUS
DRSTASY = B0R4 ; Y AXIS DRIVE STATUS
;
CPS R4 GE 1
; Y drive ready
= M_DRV_Y_NERR ; Y drive no error
CPS R4 LT 2 ; Y with torque
= M_DRV_Y_NPOWER ; Y drive no power
CPS R4 LT 3 ; Y drive without torque
= B2R16 ; FEEDHOLD drive Y with no torque
CPS R4 EQ 3 ; Y drive with torque
= M_DRV_Y_TORQUE ; Y drive with torque
;
DRSTAFZ = B1R5
; Z AXIS DRIVE STATUS
DRSTASZ = B0R5 ; Z AXIS DRIVE STATUS
;
CPS R5 GE 1
; Z drive ready
= M_DRV_Z_NERR ; Z drive no error
CPS R5 LT 2 ; Z with torque
= M_DRV_Z_NPOWER ; Z drive no power
CPS R5 LT 3 ; Z drive without torque
= B3R16 ; FEEDHOLD drive Z with no torque
CPS R5 EQ 3 ; Z drive with torque
= M_DRV_Z_TORQUE ; Z drive with torque
;
DRSTAFS = B1R6
; SPINDLE DRIVE STATUS
DRSTASS = B0R6 ; SPINDLE DRIVE STATUS
;
CPS R6 GE 1
; S drive ready
= M_DRV_S_NERR ; S drive no error