General Information
The TB_DriveState function module makes available all required information on the status of the drive.
This function module reads the drive status, i.e. all relevant information, such as hardware inputs, status word, errors and warnings. Using this information, it is possible to check whether the drive is ready to be switched on before switching on with MC_PowerOn, for example. In addition, constant checking of whether errors or warnings arise can be carried out.
| Recommended task: | CYCLIC |
| Libraries used: | MOTION_CONTROL_30bd00 or greater |
| Additional data type definitions: | ... |
| Use of Static-Variables: | ... |
InOut Parameter
| none |
Input Parameter
| Marking: | Data type: | Default: | Data range: | Description: | |
|---|---|---|---|---|---|
| x_Enable | BOOL | ... | ... | TRUE: Enabling of the module. | |
| _Axis | AXIS_REF | ... | ... | The Motion Control axis is connected to _Axis. |
Output Parameter
| Marking: | Data type: | Description: |
|---|---|---|
| x_DriveRdy | BOOL | TRUE: Communication to the drive is ready. Here it is checked whether both the demand data communication and the cyclical communication (incl. UserMapping) are ready. Both local and field bus axes are checked. |
| x_DriveComRdy | BOOL | TRUE: Drive is ready for switch-on. This output is a link from all relevant states. x_DriveRdy:= x_Enable AND x_DriveComRsy AND NOT x_Error AND x_LinkVolt AND x_HW_PulsEnable AND x_HW_QuickStop AND NOT x_HW_SafetyRelais; |
| w_Statusword | WORD | Status word of the drive (P301). |
| i_Status | INT | Drive status corresponding to the status machine of the drive and displayed at the drive display. States 0 to 5 and 15/F are indicated; states 6 to 7 and 14/E are not indicated. 0: Not ready for switch-on 1: Switch-on block 2: Ready for switch-on 3: Switched on 4: Operation enabled 15/F: Fault |
| x_Error | BOOL | TRUE: Movement execution is started. The axis is coupled to the master value. |
| x_Warning | BOOL | TRUE: Drive warning |
| x_LinkVolt | BOOL | TRUE: System voltage/Intermediate circuit voltage is applied |
| x_HW_PulsEnable | BOOL | TRUE: Pulse enable input at drive is closed |
| x_HW_Quickstop | BOOL | TRUE: Quick stop input at drive is closed. |
| x_HW_SafetyRelais | BOOL | TRUE: Undervoltage in safety relay. |
| x_ComError | BOOL | TRUE: Demand data communication error of the internally used BM_ReadPar function module. Using the demand data communication, the states of the drive not supplied via the AXIS_REF structure are read. |
| _Axis | AXIS_REF | Motion Control axis. |