Evaluation of SERCOS state bit drive follows command (P-AXIS-00411)

P-AXIS-00411

Evaluation of SERCOS state bit drive follows command (SERCOS)

Description

Many SERCOS drives supply the information “drive follows setpoints” in bit 3 of their status word (bit mask 0x0008). With parameter P-AXIS-00411 it can be achieved that this bit is taken into account for the calculation of the HLI state signal StateLR_Data.X_ReadyPowerOn (see @@[HLI]). If this parameter is set, the HLI signal ReadyForPowerOn is set only when bits (0x4000 and 0x0008) are set in the SERCOS state word.

In the following cases the HLI state signal StateLR_Data.X_ReadyPowerOn is derived only from SERCOS state bit 0x4000 regardless of the setting of P-AXIS-00411:

  • SERCOS control bit 0x2000 (Release feedhold, Control Unit McControlLr_Data.MCControlBoolUnit_ReleaseFeedhold (see @@[HLI])) is not set.
  • The drive executes drive-controlled homing.

SERCOS state bit 0x8000 (Ready for power on) is not set.

Parameter

antr.sercos.evaluate_drive_follows_cmd

Data type

BOOLEAN

Data range

0/1

Axis types

T, R, S

Dimension

T: ----

R,S: ----

Default value

0

Drive types

SERCOS

Remarks

Using this parameter is only reasonable if the drive provides state bit 0x0008. This information has to be taken from the drive documentation.