IAxisServotronixStepImParameterDrive

Namespace

ZEquipmentCiA402

INTERFACE IAxisServotronixStepImParameterDrive

Properties

AutomaticOpModeChange

PROPERTY AutomaticOpModeChange : BOOL

Perform an automatic operation mode change by disabling the drive, then change operation mode and enable it again, if this property is set to TRUE. This is only available for Servotronix because this axis type does not support operation mode changes on the fly.

Note

Always evaluate before setting this property if this is possible for your type of application. Vertical axes can make a little movement when disabling, even if it is only for a very short time.

Property Value

BOOL

ChangeSetImmediately

PROPERTY ChangeSetImmediately : BOOL

This property defines wether an old positioning should be finished by the drive after it was interrupted by a halt or quick stop or if it should not be finished and a the new positioning should be started immediately

ChangeSetImmediately is used for profile position mode in Servotronix Step Im Drives

Property Value

BOOL

HomeOffset

PROPERTY HomeOffset : LREAL

This object indicates the difference between the zero position for the application and the machine home position. After the machine home position is found and homing is completed, the zero position is offset from the home position by adding the home offset value to the home position. All subsequent absolute moves are executed relative to this new zero position. If this object is not implemented, home offset is considered to be 0. Negative values indicate the opposite direction.

Note

The HomeOffset parameter is only set if it was written first. For example, when it gets parametrized during initialization, this parameter is written before homing gets started. After that it is only written, if it is changed before calling HomingAsync.

Note

If a homing parameter was not set before starting a homing with HomingAsync, the corresponding drive parameter will be read but this is only for logging and diagnosing purposes, it will not be written back into the parameters object of a drive.

Property Value

LREAL

HomingAcceleration

PROPERTY HomingAcceleration : LREAL

This object indicates the acceleration and decceleration to be used during homing operation. Usually this is set differently to the acceleration and deceleration during normal operation of the axis.

Note

The HomingAcceleration parameter is only set if it was written first. For example, when it gets parametrized during initialization, this parameter is written before homing gets started. After that it is only written, if it is changed before calling HomingAsync.

Note

If a homing parameter was not set before starting a homing with HomingAsync, the corresponding drive parameter will be read but this is only for logging and diagnosing purposes, it will not be written back into the parameters object of a drive.

Property Value

LREAL

HomingMethod

PROPERTY HomingMethod : AxisServotronixHomingMethod

This property indicates the homing method to be used. The drive supports the homing methods which are standardized by the CiA402 protocol and also 4 additional ones. One can set a proper homing method by using the AxisServotronixHomingMethod enumeration.

Note

The HomingMethod parameter is only set if it was written first. For example, when it gets parametrized during initialization, this parameter is written before homing gets started. After that it is only written, if it is changed before calling HomingAsync.

Note

If a homing parameter was not set before starting a homing with HomingAsync, the corresponding drive parameter will be read but this is only for logging and diagnosing purposes, it will not be written back into the parameters object of a drive.

Property Value

AxisServotronixHomingMethod

HomingSpeedSwitch

PROPERTY HomingSpeedSwitch : LREAL

This object indicates the commanded speeds used during homing procedure of the drive. There are two homing speeds available: one which is used to search for the homing switch (cam) and the second one for finding the touch probe. The latter is usually set smaller and also often called slow speed.

Note

The HomingSpeedSwitch parameter is only set if it was written first. For example, when it gets parametrized during initialization, this parameter is written before homing gets started. After that it is only written, if it is changed before calling HomingAsync.

Note

If a homing parameter was not set before starting a homing with HomingAsync, the corresponding drive parameter will be read but this is only for logging and diagnosing purposes, it will not be written back into the parameters object of a drive.

Property Value

LREAL

HomingSpeedZero

PROPERTY HomingSpeedZero : LREAL

This object indicates the commanded speeds used during homing procedure of the drive. There are two homing speeds available: one which is used to search for the homing switch (cam) and the second one for finding the touch probe. The latter is usually set smaller and also often called slow speed.

Note

The HomingSpeedZero parameter is only set if it was written first. For example, when it gets parametrized during initialization, this parameter is written before homing gets started. After that it is only written, if it is changed before calling HomingAsync.

Note

If a homing parameter was not set before starting a homing with HomingAsync, the corresponding drive parameter will be read but this is only for logging and diagnosing purposes, it will not be written back into the parameters object of a drive.

Property Value

LREAL

StandStillWindow

PROPERTY StandStillWindow : LREAL

Is used to observe if a certain speed was reached or if the axis is in standstill or not This parameter is set in user-units and depends on the set conversion-parameters set in AxisParameterPlc for example PositionNumerator and Denumerator.

As default, 1.0 is set to ensure a correct working UpdateMotionState in most cases.

Property Value

LREAL

TouchProbeFunction

PROPERTY TouchProbeFunction : WORD

This parameter sets the correct function for the touche probe of encoder 1 and encoder 2. The default setting on a drive is Bit-0 = 0 which means, no touch probe is used.

Note

The ToucheProbeFunction parameter is only set if it was written first. For example, when it gets parametrized during initialization, this parameter is written before homing gets started. After that it is only written, if it is changed before calling HomingAsync.

Note

If a homing parameter was not set before starting a homing with HomingAsync, the corresponding drive parameter will be read but this is only for logging and diagnosing purposes, it will not be written back into the parameters object of a drive.

Property Value

WORD

Methods

SetHomingMethod

METHOD SetHomingMethod (
 [input] useHomingMethod : AxisServotronixHomingMethod,
 [input] homePositionOffset : LREAL,
 [input] speedSwitch : LREAL,
 [input] speedZero : LREAL,
 [input] acceleration : LREAL)

This method can be used to set all standard homing parameters with one call. Every parameter used in this method is also accessible via a corresponding property.

Note

The HomingAcceleration parameter is only set if it was written first. For example, when it gets parametrized during initialization, this parameter is written before homing gets started. After that it is only written, if it is changed before calling HomingAsync.

Note

If a homing parameter was not set before starting a homing with HomingAsync, the corresponding drive parameter will be read but this is only for logging and diagnosing purposes, it will not be written back into the parameters object of a drive.

Inputs

useHomingMethod AxisServotronixHomingMethod

sets the homing method which is performed after calling HomingAsync

homePositionOffset LREAL

defines the position which is set as an offset to the zero position after homing was performed successfully

speedSwitch LREAL

defines the speed which is commanded when the axis is driving towards the limit switch during homing

speedZero LREAL

defines the speed which is commanded when the axis is driving to the touch probe point of the encoder

acceleration LREAL

defines the commanded acceleration and deceleration during homing movement while using speedswitch and speedzero