July 2013 6.8 The control loop 865
Module 9161 Enable the drive controller
With this module you can switch the drive controllers (speed and current
controllers) on and off for specific axes. A nominal speed value is also output
when the drive controller is not enabled.
The switch-on time for switching on a drive via PLC module 9161 is less than
50 ms. In individual cases this results in problems. You can deactivate the
reduction of the switch-on time with bit 7 of MP2221.x.
Call:
PS W/D/K <Enabled axes>
Axis-specific: Dependence on MP4020 bit 14
0: No drive controller enabling
1: Drive controller enabling
CM 9161
Error code:
Module 9162 Status request of the drive controller
Call:
CM 9162
PL B/W/D <Drive is ready>
Axis-specific: Dependence on MP4020 bit 14
0: Not ready
1: Ready
Module 9169 Axes for which I32 does not switch off the drives
Call:
PS
B/W/D/K
<Axes bit-encoded>
Axis-specific: Dependence on MP4020 bit 14
CM 9169
Marker Value Meaning
M4203 0 No error
1 Control has no current controller, or the call is in a
spawn or submit job
Set Reset
M4563 Global feed-rate enable for all axes PLC PLC
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