LinMot C1250-MI-XC-PD-1S, Руководство пользователя

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Page 10 of 44 NTI AG / LinMot
Bit Name Significance
0 -9 The Command Table Entry ID is
entered here The Command Table Entry ID can be from 0 to 255. This
is used in Command Table Entry mode
10 -14 Reserved
15 MDI selection Activation of MDI submode (1) / Deactivation of MDI
submode (0)
STW2 - This is not used
MDI_TARPOS is MDI target position
MDI_VELOCITY is MDI target velocity
MDI_ACC is MDI acceleration
MDI_DEC is MDI deceleration
If MDI_MOD = 0, VAI Increment (Relative) Demand Position Command is used (011xh).
If MDI_MOD = 1, VAI Go to absolute positioning mode command (010xh) is used.
Telegram 9 supports the Command Table entry when the Traversing task is activated (STW1.bit6) along with
No Abort and No Freeze and when no MDI is activated (SATZANW.bit 15). In this scenario "Set Command
Table Command" 200xh is selected. The Command Table Entry ID which is taken as the parameter of the
Command Table Command has to be programmed in SATZANW.bit 0-9.
2.1.4.2 Input Data
Index Size
[Byte] Byte
Offset Name Data
Type
Tlg 9 10 - Variables RECORD
1 2 0 ZSW1 Uint16
2 2 2 AKTSATZ Uint16
3 2 4 ZSW2 Uint16
4, 5 4 6 XIST_A Int32
Details of ZSW1
Bit Name Significance
0 Ready To Switch On Ready for switching ON (1) / Not Ready for Switch ON
(0)
1 Ready To Operate Ready to Operate (1) / Not Ready to Operate (0)
2 Operation Enabled Operation Enabled (1) / Operation Disabled (0)
3 Fault Present Fault Present (1) / No fault (0)
4 Coast Stop Not activated No Abort (1) / Abort (0)
5 QuickStop Not activated No Freeze (1) / Freeze (0)
6 Switch ON Inhibited Switch On Inhibited (1) / Switch On Not Inhibited (0)
7 Warning Present Warning Present (1) / No Warning Present (0)
8 Within Tolerance Range Following Error within tolerance range (1) / Following
Error out of tolerance range (0)