Table of Contents

IAxisCiA402Drive

Namespace
ZEquipmentCiA402
INTERFACE IAxisCiA402Drive

Interface for the CiA402 drive object which enables access to the hardware connected variables via fieldbus of each drive

Properties

ActualCurrent 

PROPERTY ActualCurrent : LREAL

Property Value

LREAL

ActualFollowingError 

PROPERTY ActualFollowingError : LREAL

Property Value

LREAL

ActualMotionState 

PROPERTY ActualMotionState : ZEquipment.AxisMotionState

Property Value

AxisMotionState

ActualPosition 

PROPERTY ActualPosition : LREAL

Property Value

LREAL

ActualVelocity 

PROPERTY ActualVelocity : LREAL

Property Value

LREAL

DriveStatus 

PROPERTY DriveStatus : AxisCiA402DriveStatus

Property Value

AxisCiA402DriveStatus

Fault 

PROPERTY Fault : BOOL

Property Value

BOOL

InternalLimit 

PROPERTY InternalLimit : BOOL

Property Value

BOOL

OperationMode 

PROPERTY OperationMode : SINT

Property Value

SINT

QuickStopActive 

PROPERTY QuickStopActive : BOOL

Property Value

BOOL

Referenced 

PROPERTY Referenced : BOOL

Property Value

BOOL

StatusWord 

PROPERTY StatusWord : WORD

Most bits are handled by other properties of the drive. The statusword should only be used for manufactury specific bits

Property Value

WORD

Warning 

PROPERTY Warning : BOOL

Property Value

BOOL

Methods

Cyclic 

METHOD Cyclic ()

DriveStatusDecoded 

METHOD DriveStatusDecoded (
 [input] status : AxisCiA402DriveStatus) : ZCore.ZString

Inputs

status AxisCiA402DriveStatus

Returns

ZString

OperationModeDecoded 

METHOD OperationModeDecoded (
 [input] operationMode : SINT) : ZCore.ZString

Inputs

operationMode SINT

Returns

ZString

SetBit14Command 

METHOD SetBit14Command (
 [input] on : BOOL)

Set the manufacturer specific bit 14 of the control word

Inputs

on BOOL

SetBit5Command 

METHOD SetBit5Command (
 [input] on : BOOL)

This method sets or cleares bit 5 in the CiA402 control word. This bit has a different meaning for each operation mode and therefore has to be dealed differently.

Profile-Position-Mode: Defines wether a actual running or halted positioning command should be finished before the new one will be executed or if the actual one will be interrupted and the new one starts with the new parameters on = TRUE ... Finish actual Positioning and after that start the new one on = FALSE ... Interrupt actual positioning and immediately start the new one with the new parameters

Velocity-Mode: in this mode if this bit is set, the ramp-generator output value is fixed to the actual value which is currently active. if this bit is cleard, the drives follows the ramp-generator output value directly

Homing-Mode: Not used yet in implemented drives

Inputs

on BOOL

SetBit9Command 

METHOD SetBit9Command (
 [input] on : BOOL)

This method sets or cleares Bit 9 in the CiA402 control word. This bit has a different meaning for each operation mode and therefore has to be dealed differently.

Profile-Position-Mode: Defines wether a actual running positioning will be finished and the drive stops at the target position before executing the new target position or if a new target position will be commanded smoothly during movement. on = TRUE ... Finish actual Positioning and halt on the old target position and after that start the new one on = FALSE ... Smoothly transition the trajectory to the new target position

Velocity-Mode: Not used yet in implemented drives

Homing-Mode: Not used yet in implemented drives

Inputs

on BOOL

SetDriveControlCommand 

METHOD SetDriveControlCommand (
 [input] command : AxisCiA402DriveControl)

Inputs

command AxisCiA402DriveControl

SetFaultResetCommand 

METHOD SetFaultResetCommand (
 [input] on : BOOL)

Inputs

on BOOL

SetHaltCommand 

METHOD SetHaltCommand (
 [input] on : BOOL)

Inputs

on BOOL

SetNewSetPointCommand 

METHOD SetNewSetPointCommand (
 [input] on : BOOL)

Inputs

on BOOL

SetOffsetTorque 

METHOD SetOffsetTorque (
 [input] torque : LREAL)

Inputs

torque LREAL

SetOffsetVelocity 

METHOD SetOffsetVelocity (
 [input] velocity : LREAL)

Inputs

velocity LREAL

SetOperationMode 

METHOD SetOperationMode (
 [input] operationMode : AxisCiA402DriveOperationMode)

Inputs

operationMode AxisCiA402DriveOperationMode

SetProfileVelocity 

METHOD SetProfileVelocity (
 [input] velocity : LREAL)

Inputs

velocity LREAL

SetQuickStopCommand 

METHOD SetQuickStopCommand (
 [input] on : BOOL)

Inputs

on BOOL

SetReferencedFlag 

METHOD SetReferencedFlag (
 [input] value : BOOL)

Inputs

value BOOL

SetTargetPosition 

METHOD SetTargetPosition (
 [input] position : LREAL)

Inputs

position LREAL

SetTargetTorque 

METHOD SetTargetTorque (
 [input] torque : LREAL)

Inputs

torque LREAL

SetTargetVelocity 

METHOD SetTargetVelocity (
 [input] velocity : LREAL)

Inputs

velocity LREAL