Pilz Motion Control PMC, Руководство пользователя

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Description of the Handling Blocks
FC21 (Send)
Inputs:
DBPA
Integer Number of the parameter data block
SYPA Integer reserved
SLPA Integer
Start adress of the current drive parameters inside the parameter data block.
The FC21 must at least be called once per drive in every PLC cycle.
FC22 (Receive)
Inputs:
DBPA
Integer Number of the parameter data block
SYPA Integer reserved
SLPA Integer Start adress of the current drive parameters inside the parameter data block
The FC22 must at least be called once per drive in every PLC cycle.
FC21 and FC22 access the same parameter set and must be parametrized identically for one axis.
FC22 must be called before FC21.
FC100 DRVSTAT
The FC100 establishes the communication beteween the user data block and the other handling
blocks of the package for the parametrized axis. Furthermore it does:
- transmit the control word (except bit 6 and bit 14)
- provide the status word of the drive
- display the Profibus communication status.
Technical Data:
Block Name:
DRVSTAT
Flags Used: MW200-MW254
Access to: DB User Data
Function of the parameters of FC100
Inputs:
NUDB word
left byte: Number of the user data block for the PROFIBUS communication
right byte: Start data word of the user data of the corresponding drive
STW word
control word to the drive except Bit6 and Bit14 (which are controlled by
FC106)
Outputs:
ZSW
word Status Word as defined by PROFIDRIVE-Profile
KFEH bool no function
BUSY bool no function
OFEH bool no function
MFEH bool no function
Static Parameter:
STAT
word internal FC flag word for functions of the package DRIVE FC
User manual PROFIBUS DP PMCtendo DD4 Page 57
9 Appendix