January 2012 6.16 The Control Loop 883
Module 9159 Early warning for stopping the drives
The module provides an early warning indicating that the drives will be
stopped. This early warning is made available approx. 200 ms before the drive
readiness is canceled.
Constraints:
When the API 3.0 symbolic memory interface is used, the number of the
returned bits depends on the number of configured axes. Bit 0 corresponds
to the axis with the index 0 in the parameter CfgAxes\axisList (100001).
Spindles are not handled separately. The corresponding index from
CfgAxes/axisList is returned.
Call:
CM 9159
PL W/D <>Drives, in bit code, that are switched off in 200 ms>
When using the API 3.0 symbolic memory interface,
Bit 0 corresponds to index 0 from CfgAxes/AxisList etc.
When using the API 1.0 numerical memory interface:
Sxxx xxx9 8765 4ZYX
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.
Call:
PS W/D/K <>Enabled axes>
Bit 0...13 -> axis 1...14, bit 15 -> spindle
0: No drive controller enabling
1: Drive controller enabling
CM 9161
Error recognition:
Module 9162 Status request of the drive controller
Call:
CM 9162
PL B/W/D <>Drive is ready>
Bit 0...13 -> axis 1...14, bit 15 -> spindle
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>
Bit 0: Axis with index 0 from CfgAxes/axisList etc.
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
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