Status information of an axis drive

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