A Reminder of How the TRF_RECIPE Instruction Works
(Original Document)
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Reminder
This instruction is used to read or write servodrive parameters with the "Real axis" function.
NOTE: It may also be used to read or write cam profiles and to initiate the execution of special functions.
Syntax of TRF_RECIPE Instruction
TRF_RECIPE %CHr.m.c (length, address %MW): Transfers parameters from the servodrive, the cam profile, or parameters of a special function to/from the table, which begins with address %MW. The length of this table to be transferred is defined by the length parameter. The action to be carried out is defined by the word %MWr.m.c.10 (ACTION_TRF).
Example: TRF_RECIPE %CH1.4.3(10,100) (load servodrive parameters of real axis 3, of the module situated in position 4 of rack 1, to length table 10, which begins with address %MW100).
TRF_RECIPE Interface
The command to be carried out is defined in the word %MWr.m.c.10 and the result of the command is available in the word %MWr.m.c.3 to %MWr.m.c.8.
Address
Type
Symbol
Meaning
%MWr.m.c.3
Word
ERROR_TRF
Write error of the TRF_RECIPE command
%MDr.m.c.4
Double word
RETURN_TRF_1
Return 1 of the function
%MFr.m.c.6
Floating point
RETURN_TRF_2
Return 2 of the function
%MFr.m.c.8
Floating point
RETURN_TRF_3
Return 3 of the function
%MWr.m.c.10
Word
ACTION_TRF
Action to be carried out
%MDr.m.c.11
Double word
PARAM_TRF_1
Parameter 1
%MDr.m.c.13
Double word
PARAM_TRF_2
Parameter 2
%MFr.m.c.15
Floating point
PARAM_TRF_3
Parameter 3
%MFr.m.c.17
Floating point
PARAM_TRF_4
Parameter 4
Actions Carried Out by TRF_RECIPE
The actions that can be carried out using the TRF_RECIPE service are:
Function
ACTION_TRF
(%MWr.m.c.10)
Meaning
Real axis (1)
14905
New function of the TSX CSY 85: Read minimum possible speed of trajectory using interpolation tables sent to the module via code 26900.
Real axis (1)
16001
Write variable servodrive parameters to the PLC memory.
Axis group
16901
New function of the TSX CSY 85: Read motion parameters following a trajectory calculation (code 26900).
  • Key master positions
  • Maximum possible speed
  • Calculated speed (speed actually applied)
Real axis (1)
26001
Download servodrive parameters from the PLC memory.
Axis group (1)
26900
New function of the TSX CSY 85: Calculate trajectories in accordance with interpolation segments entered as input parameters.
Legend
(1)
PARAM_TRF_1 to PARAM_TRF_4 = 0