# Drive of an axis

Drive type
Description | Type of axis drive The drive type is specified for each axis in the entry kenngr.antr_typ.
Signal flow | CNC → PLC
ST path | gpAx[axis_idx]^.lr_state.drive_type_r
Data type | UINT
Value range | Value | Meaning
1 | Conventional drive (+-10 V), not used
2 | SERCOS drive
3 | Profidrive
4 | Drive Simulation
5 | Lightbus
6 | Terminal axis (+-10V) via bus
7 | Real time Ethernet
8 | CANopen drive
16 | Virtual drive
32 | CAN drive (option)
Access | PLC reads

Drive ready for power connection / drive torque enabled
Description | The axis drives is ready for power connection / drive torque is enabled.
Signal flow | CNC → PLC
ST path | gpAx[axis_idx]^.lr_state.ready_for_power_on_r
Data type | BOOL
Value range | [TRUE = Ready for power connection, FALSE]
Access | PLC reads
Special features | SERCOS drives With SERCOS drives, this information is derived from bit 14 of the status word. To determine the drive state the datum ready_for_control_loop_on_r must also be considered. CANopen drives With CANopen drives this signal is set when the drive is in the ‘Operation enabled’ state; in this state the drive is torque enabled.
This drive state is indicated by the state word xxxx xxxx x01x 0111 transferred by the drive (binary notation, x = don’t care).

Drive ready for operation
Description | Drive control section and power supply are ready for operation.
Signal flow | CNC → PLC
ST path | gpAx[axis_idx]^.lr_state.ready_for_control_loop_on_r
Data type | BOOL
Value range | [TRUE = Drive ready for operation, FALSE]
Access | PLC reads
Special features | SERCOS drives With SERCOS drives, this information is derived from bit 15 of the status word. In order to evaluate the drive state the datum ready_for_power_on_r must also be considered. The various combinations are described below. If (gpAx[axis_idx]^.lr_state.ready_for_power_on_r == FALSE)

AND

(gpAx[axis_idx]^.lr_state.ready_for_control_loop_on_r == FALSE)

this means that the drive is not ready for power connection.

If

(gpAx[axis_idx]^.lr_state.ready_for_power_on_r == TRUE)

AND

(gpAx[axis_idx]^.lr_state.ready_for_control_loop_on_r == FALSE)

this means that the drive is ready for power connection and the internal drive initialisation procedures are completed.

If

(gpAx[axis_idx]^.lr_state.ready_for_power_on_r == FALSE)

AND

(gpAx[axis_idx]^.lr_state.ready_for_control_loop_on_r == TRUE)

this means that the drives control section and power supply are ready for operation but the drive has no torque.

If

(gpAx[axis_idx]^.lr_state.ready_for_power_on_r == TRUE)

AND

(gpAx[axis_idx]^.lr_state.ready_for_control_loop_on_r == TRUE)

this means that the drive is ready for operation,

i.e. “feed rate enable, axis” and “drive on” are set to true and are active. This means that the drive is torque enabled and follows the position command values in the NC kernel.

CANopen drives

With CANopen drives this signal is set when the drive is in a valid state not equal to ‘Not ready to switch on’. The ‘Not ready to switch on’ state is indicated in the drive state word by the value xxxx xxxx x0xx 0000 (binary notation x=don’t care).

Drive has completed self-test and initialisation successfully.

Drive error
Description | An error occurred in the drive. The drive is therefore interlocked.
Signal flow | CNC → PLC
ST path | gpAx[axis_idx]^.lr_state.error_r
Data type | BOOL
Value range | [TRUE = Error occurred, FALSE]
Access | PLC reads
Special features | SERCOS drives With SERCOS drives, this information is derived from bit 13 of the status word. CANopen drives With CANopen drives this information is derived from bit 3 (bitmask 0x0008) of the state word.

Drive state
Description | State information delivered by the drive via the fieldbus. This element contains the following data dependent on the drive type:
Drive type (P-AXIS-00020) | Datum
SERCOS | Value of SERCOS parameter S-0-135 (drive state).
CANopen | Value of CANopen object 0x6041 (drive state)
PROFIDRIVE | Value of drive state word 1 (ZSW1)
Lightbus | Value of drive signal 23 from the drive (drive state 'DriveState3')
For further information refer to the drive documentation or the specification of the drive profile used.
Signal flow | CNC → PLC
ST path | gpAx[axis_idx]^.lr_state.native_drive_state_r
Data type | UINT
Access | PLC reads

Read drive data
Description | Data transferred by the drive to the NC kernel. The content is application-specific This data is also provided in parallel in the state of the control unit, see read/write drive data cyclically
Signal flow | CNC → PLC
ST path | gpAx[axis_idx]^.lr_state.uns32_1 gpAx[axis_idx]^.lr_state.uns32_2 gpAx[axis_idx]^.lr_state.uns32_3 gpAx[axis_idx]^.lr_state.uns32_4
Data type | UDINT
Access | PLC reads
Special features | Currently, data transfer can only be used for SERCOS drives. Therefore, enable transfer of the value in the axis parameter list to the drive, e.g.: # Cyclically read the 4 byte PLC value # uns32_3 auf S-0-0819 antr_digital.typ.sercos.at[1].ident_nr 0819

antr_digital.typ.sercos.at[1].ident_len 4

antr_digital.typ.sercos.at[1].nc_ref LR_VAR3_IN

DRIVE_STATE_MODE_0
Description | Current drive state, i.e. Position controller DRIVE_STATE_MODE_0 0x00000001
Signal flow | CNC → PLC
ST path | gpAx[axis_idx]^.lr_state.mode_0_r
Data type | BOOL
Value range |
Access | PLC reads

DRIVE_STATE_MODE_1
Description | DRIVE_STATE_MODE_1 0x00000002
Signal flow | CNC → PLC
ST path | gpAx[axis_idx]^.lr_state.mode_1_r
Data type | BOOL
Value range |
Access | PLC reads

DRIVE_STATE_MODE_2
Description | DRIVE_STATE_MODE_2 0x00000004
Signal flow | CNC → PLC
ST path | gpAx[axis_idx]^.lr_state.mode_2_r
Data type | BOOL
Value range |
Access | PLC reads

DRIVE_STATE_MODE_3
Description | DRIVE_STATE_MODE_3
Signal flow | CNC → PLC
ST path | gpAx[axis_idx]^.lr_state.mode_3_r
Data type | BOOL
Value range |
Access | PLC reads
Special features | Is currently not programmed

DRIVE_STATE_MODE_4
Description | DRIVE_STATE_MODE_4
Signal flow | CNC → PLC
ST path | gpAx[axis_idx]^.lr_state.mode_4_r
Data type | BOOL
Value range |
Access | PLC reads
Special features | Is currently not programmed

DRIVE_STATE_MODE_5
Description | DRIVE_STATE_MODE_5
Signal flow | CNC → PLC
ST path | gpAx[axis_idx]^.lr_state.mode_5_r
Data type | BOOL
Value range |
Access | PLC reads
Special features | Is currently not programmed

DRIVE_STATE_MODE_6
Description | DRIVE_STATE_MODE_6
Signal flow | CNC → PLC
ST path | gpAx[axis_idx]^.lr_state.mode_6_r
Data type | BOOL
Value range |
Access | PLC reads
Special features | Is currently not programmed