Beckhoff AX8911, Документация

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Safe Motion functions
AX8911 40 Version: 1.2.0
Offset Name Data
type Group Description
24.0 Encoder Axis 2 Voltage Underrange BOOL Standard True : Encoder undervoltage (OCT or Endat Axis 2)
False : No error
(Link to output signal 10.4)
24.1 Encoder Axis 2 Voltage Overrange BOOL Standard True : Encoder overvoltage (OCT or Endat Axis 2)
False : No error
(Link to output signal 10.5)
24.2 Encoder Axis 2 Module Fault BOOL Standard True : Fault in encoder voltage
False : No error
24.3 Encoder Axis 2 Enable BOOL Standard True: Encoder Axis2 is switched on according to AX8000
False : Encoder Axis2 is switched off according to AX8000
(Link to output signal 10.6)
24.4-25.7 Reserve (0) -
26-27 Encoder Voltage Axis 2 UINT16 Standard Analog value of encoder voltage (OCT or Endat axis 2) in mV
28-29 Reserve (0) -
30-31 Electrical angle Axis 2 UINT16 Standard Electrical angle (2π per pole)
32-33 Current I
Q
Axis 2 INT16 Standard Analog value of current I
Q
(Axis 2),
torque-forming current
34-35 Current I
D
Axis 2 INT16 Standard Analog value of current I
D
(Axis 2),
field-forming current
36-37 Current phase U Axis 2 INT16 Standard Analog value of phase current U (Axis 2)
38-39 Current phase V Axis 2 INT16 Standard Analog value of phase current V (Axis 2)
40-41 Current phase W Axis 2 INT16 Standard Analog value of phase current W (Axis 2)
42.0 Safety control Axis 2: Run BOOL Standard Run signal for Axis 2 from AX8000 control word
42.1 Safety control Axis 2: ErrAck BOOL Standard Error Acknowledge signal for Axis 2 from AX8000 control word
(Link to output signal 1.2, 1.7, 2.3, 8.0, 22.0, 26.0)
42.2-43.7 Safety Control Axis 2 reserve -
44-45 Brake current Axis 1 C1 (mA) INT16 Standard Analog value for brake current (Axis 1, Port X13.B+ and B-) mea-
sured by µC1 in mA
46-47 Brake current Axis 1 C2 (mA) INT16 Standard Analog value for brake current (Axis 1, Port X13.B+ and B-) mea-
sured by µC2 in mA
48-49 Reference Voltage Brake Currents
C1 (mV) UINT16 Standard Analog value of brake reference voltage measured by µC1 in mV
50-51 Reference Voltage Brake Currents
C2 (mV) UINT16 Standard Analog value of brake reference voltage measured by µC2 in mV
52-53 Brake current Axis 2 C1 (mA) INT16 Standard Analog value for brake current (Axis 2, Port X23.B+ and B-) mea-
sured by µC1 in mA
54-55 Brake current Axis 2 C2 (mA) INT16 Standard Analog value for brake current (Axis 2, Port X23.B+ and B-) mea-
sured by µC2 in mA
The following input signals are now available in the Safe Motion variant AX8xxx-x2xx
56.0 Primary SAFEDRIVEFEEDBACK
Axis 1 Module Fault BOOL Safety True : Error detected in the encoder (Axis 1 Port X13.T+ and T-)
False: No error
(Link to output signal 6.7)
56.1 Primary SAFEDRIVEFEEDBACK
Axis 1 Encoder Ready BOOL Standard True : Encoder (Axis 1 Port X13.T+ and T-) is ready for operation
according to AX8000
False : Encoder (Axis 1 Port X13.T+ and T-) is not ready for oper-
ation according to AX8000
(Link to output signal 12.0)
56.2 Primary SAFEDRIVEFEEDBACK
Axis 1 Position Valid BOOL Safety True : Encoder (Axis 1 Port X13.T+ and T-) process data are
valid
False : Encoder (Axis 1 Port X13.T+ and T-) process data are
NOT valid or are frozen
56.3 Primary SAFEDRIVEFEEDBACK
Axis 1 SDI_p BOOL Safety True : Encoder (Axis 1 Port X13.T+ and T-) rotates in the positive
direction
False: Encoder (Axis 1 Port X13.T+ and T-) does not rotate in
the positive direction
56.4 Primary SAFEDRIVEFEEDBACK
Axis 1 SDI_n BOOL Safety True : Encoder (Axis 1 Port X13.T+ and T-) rotates in the nega-
tive direction
False : Encoder (Axis 1 Port X13.T+ and T-) does not rotate in
the negative direction
56.5-57.7 Reserve (0) -
58-61 Reserve (0) -
62-65 Primary SAFEDRIVEFEEDBACK
Axis 1 Standard Multiturn Position UINT32 Standard Analog value of multi-turn position
(Axis 1, Port X13.T+ and T-) (unit: increments)
66-69 Primary SAFEDRIVEFEEDBACK
Axis 1 Safety Singleturn Position UINT32 Safety Analog value of single-turn position
(Axis 1, Port X13.T+ and T-) (unit: increments)