Chapter 7 Program
(1) Command condition
: It is a condition to read parameters and serve parameters of the axes.
(2) Axis connection state flag
: In case the axis to be operated is connected to motion control module, and EtherCAT communication with motion control
module is normally performed, it is On.
(3) Axis error/Warning status flag
: If there are errors and warnings in the axis, it is On.
(4) Axis operation status flag
: If the axis is in operation, it is On.
(5) 1-axis parameter write/ 2-axis servo parameter read commands
: In example programs, Parameter Read (MC_ReadParameter) motion function block is executed in 1-axis, and Servo
Parameter Read (LS_ReadSDO) motion function block is executed in 2-axis under the following conditions.
- Parameter read condition is On.
- The axis is normally connected.
- There should be no errors and warnings.
- Not in operation
Conditions to execute motion function block may vary depending on systems.
(6) Parameter read command input variables
: These input variables to execute Parameter Read (MC_ReadParameter) motion function block.
- Command axis: It sets the axis in which motion function block is executed.
- Parameter number: It sets the parameter numbers to read with motion function block.
Numbers by parameter are as follows.
0
Basic
Parameter
0:pulse, 1:mm, 2:inch, 3:degree
1
2
0.000000001 ~ 4,294,967,295 [Unit]
3
4
LREAL (positive) [Unit/s, rpm]
5
Emergency stop deceleration
0, LREAL (positive) [Unit/s
2
6
0:Incremental Encoder,1:Absolute Encoder
7
8
1 ~ 65,535
9
Operation mode of the reverse rotation
10
Extended
Parameter
LREAL [Unit]
11
12
Infinite running repeat position
LREAL (positive) [Unit]
13
14
0, LREAL (positive) [Unit]
15
Tracking error over-range value
0, LREAL (positive) [Unit]
16
Current position compensation amount
0, LREAL (positive)
17
Current speed filter time constant
18
Error reset monitoring time
0 ~ 1,000 [ms]
19
S/W limit during speed control
20
0:Warning, 1:Alarm
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