LSIS XGT Series - Page 373

Chapter 7 Program
7-27
(1) Command condition
: It is a condition to write parameters and servo 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-slave SDO write commands
: In example programs, Parameter write (MC_WriteParameter) motion function block is executed in 1-axis, and SDO write
(LS_WriteSDO) motion function block is executed in 2-slave under the following conditions.
- Parameter write condition is On
- The axis is normally connected.
- There should be no errors and warnings.
- Not in operation
Conditions to execute function block may vary depending on systems.
(6) Parameter write command input variables
: These are input variables to execute Parameter Write (MC_WriteParameter) motion function block.
- Command axis: It sets the axis in which motion function block is executed.
- Parameter number: It set parameter numbers to write with the motion function block.
- Parameter values to write: Values to write in the parameters are set.
- Execution mode: It specifies the point of time when parameters are written. If it sets 0, it changes parameter values upon
executing motion function block. If it sets 1, it is changed to the same point of time with “Buffered” of BufferMode. (Refer to
6.1.4 BufferMode)
(7) SDO write command input variables
: These are input variables to execute SDO write (LS_WriteSDO) motion function block.
- Command axis: It sets the axis in which motion function block is executed.
- Servo parameter index number, subIndex number, size
: Each value is set according to servo parameters to write. Refer to instruction manual of the servo drive for index number,
subindex number and size of servo parameters.
- Values of servo parameters to write: Values to be written in the servo parameters is set.
(8) Parameter write/Servo parameter write command output variable
: It is a variable to store output values generated when Parameter write (MC_WriteParameter) and SDO write (LS_WriteSDO)
motion function block is executed.
- Operation completed: If values of the parameters and servo parameters are written, it is On.
- Function Block in execution: When motion function block is executed, it is On, and operation completion is On, it becomes Off.
- Error occurrence state: In case error occurs while motion function block is being executed, it is On. As for error number, the
number that corresponds to error is generated in case error occurs.