LSIS XBE-DC08A, Руководство пользователя, Страница: 448 / 1284

Po
sit
io
n
Chap.6 Commands
6-5
6.3 Function blocks related to reading module information
6.3.1 Reading operating data (XPM_CRD)
Function Block Type Details
XPM_CRD
DONE REQ
BASE
SLOT
STAT
BOOL BOOL
USINT
USINT
UINT
AXIS USINT
ERR UINT
CA DINT
CV DINT
STEP UINT
MCD UINT
SA DINT
SV DINT
TRQ INT
CERR UINT
Input
REQ : Request for executing function blocks
BASE : Setting up the numbers of the bases where
modules are equipped
SLOT : Setting up the numbers of slots where
modules are equipped
AXIS : Specifying the axis to give commands
1 ~ 4: 1axis ~ 4axis
Output
DONE : Keeping 1 after the initial operation
STAT : Outputting error No. that occurred during
executing function blocks
ERR :Displaying axis error
CERR : Displaying common error
CA : Displaying command position
CV : Displaying command speed
SA : Displaying the current position
SV : Displaying the current speed
TRQ: Displaying the current torque
STEP : Displaying the current operating data step No.
MCD : Displaying the current M code value
(1) The current operating state of the specified axis is read in the AXIS of the embedded positioning.
(2) The read operating data is saved to the variables set in the output of function blocks.
(3) In AXIS, you can set up the axis to command and select one among 1~4(1axis~4axis).
If the values other than set ones are selected, “error6” will occur.
(4) You can read and monitor the command position, command speed, current position, current speed, torque, operating
data No., M code values of the set axis or use them as conditions for the user program. (In the case of XECU
embedded positioning, there is no torque data)
(5) “-“ speed of the command speed(CV) or the current speed(SV) indicates the reverse direction.
(6) XECU embedded positioning is the pulse output type; the current position and the current speed indicate the same
values with the command position, command speed.
(7) TRQ indicates the current Servo Drive’s torque state and XECU embedded positioning that is the pulse output type is
displayed as 0.