These parameters enable you to directly control the servodrives by the project (independently of the TSX CSY 84 module).
They can be divided into two categories:
NOTE: This manufacturer information should specify:
-
the size of the parameter (16 or 32 bit),
-
whether the parameter is signed or unsigned,
-
the SERCOS® loop phase in which the parameter is authorized,
-
the legal values of the parameter,
-
what type of scaling (if any) must be used to interpret the data.
The associated functions of this parameter are:
-
GetIDN_S and GetIDN_P, which send a read request of the current parameters with SERCOS® identification numbers (IDN)). These parameters are read via the axis control module.
-
SetIDN_S and SetIDN_P which send a write request for the new parameters with SERCOS® identification numbers (IDN)).
NOTE: (IDN) SERCOS®: S-0-xxxx (standard parameters) and P-0-xxxx (product specific parameters) respectively
These functions can only be used to read or write 16-bit or 32-bit parameters to the SERCOS® servodrive. SERCOS® variable length text parameters cannot be accessed using these functions.
When read, the 16 and 32-bit parameters are returned in the form of 32-bit values. The 16-bit SERCOS® IDN values are extended to a 32-bit returned value based on the type of the 16-bit SERCOS® IDN.
For example, if the16-bit SERCOS® parameter is a signed parameter, then the 16-bit value is sign-extended to a 32-bit signed value. Equally, if the 16-bit SERCOS® parameter is an unsigned parameter, then the 16-bit value is extended by placing zeroes in the uppermost 16 bits of the 32-bit returned value.
NOTE: Some SERCOS® IDN parameters have units and scale factors associated with them. In addition, these functions do not allow the parameters to be converted (values in axis default units into drive units or vice versa). (Therefore use the IDN_US and IDN_UP functions)
These functions use the WRITE_CMD instruction.
The table below presents the different language objects linked to the OpticalPower parameter.
|
Object
|
Name
|
Function code
|
Instruction type
|
Description
|
|
%MWr.m.c.26
|
ACTION_CMD
|
1556
|
WRITE_CMD
|
Read command IDN_S
|
|
2556
|
Write command IDN_S
|
|
%MWr.m.c.26
|
1557
|
Read command IDN_P
|
|
2557
|
Write command IDN_P
|
|
%MDr.m.c.20
|
RETURN_CMD_1
|
-
|
-
|
Result of the read.
|
|
%MDr.m.c.27
|
PARAM_CMD_1
|
-
|
-
|
Value to write: IDNSercos. Format type of 1 to 4095. However, use of the bits 12 to 14 is allowed. These bits indicate which parameter sets are being selected. (See your servodrive manual to find out what parameter sets are supported
|
|
%MDr.m.c.29
|
PARAM_CMD_2
|
-
|
-
|
Value to write to the servodrive
|
|
%MFr.m.c.31
|
PARAM_CMD_3
|
-
|
-
|
Value to write: AddressSercos. This parameter is required if you are using the GetIDN function on the BusSERCOSaxisID 999.
|
|
%MWr.m.c.19
|
ERROR_CMD
|
-
|
-
|
|
The current parameters with SERCOS identification number (IDN) are read by the Read command via the axis control module.The following example illustrates the reading of IDN100 value using this command and all IDN with 2 -insigned byte length.
Example:
The IDN100 is 2-unsigned byte length. The PLC register (Read command) puts unsigned values in signed ones.
If the IDN100 value is higher than 32767, the PLC register will be returned as follows:
-
32768 -> -32768
-
32769 -> -32767
-
35000 -> -30536
When the Read command returns a negative value, it may be converted to its positive equivalent by adding 65536.
