This function manages calculation and modification of the IDN3022s (or of the DECSTOP parameter when running Unilink) in Lexium drives.
It allows emergency stop inclines for slave drives in a slave group to be configured so that all axes stop at the same moment when a fault occurs.
In order to do this, you create a new OPCODE ( 570) that can be used on the slave groups. This command will result in calculation of the master and slave deceleration ramps according to the incline that has been configured, then sending the data to all real axis drives of the group (including the master).
The parameter of this function is a deceleration incline expressed in the unit selected during configuration of the group master. If the master is an external setpoint, we will select as the unit the position unit.
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Object
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Type
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Symbol
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Explanation
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Comment
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%MWr.m.c.19
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Word
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ERROR_CMD
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Error code
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%MDr.m.c.20
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Double word
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RETURN_CMD_1
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not used
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%MFr.m.c.22
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Floating point
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RETURN_CMD_2
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not used
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%MFr.m.c.24
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Floating point
|
RETURN_CMD_3
|
|
not used
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%MWr.m.c.26
|
Word
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ACTION_CMD
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570
|
ADJUST_3022
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%MDr.m.c.27
|
Double word
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PARAM_CMD_1
|
0
|
not used
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%MDr.m.c.29
|
Double word
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PARAM_CMD_2
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0
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not used
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%MFr.m.c.31
|
Floating point
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PARAM_CMD_3
|
Deceleration
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|
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%MFr.m.c.33
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Floating point
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PARAM_CMD_4
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0
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not used
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IF NOT %MW104.21.0:X1 THEN (* no WRITE_CMD in progress *)
%MW104.21.26:=570; (* Action 570 = ADJUST_3022 *)
%MF104.21.31:=1000.0; (* Deceleration of master = 1000 Rev/mn/s*)
WRITE_CMD %CH 104.21;
END_IF;
Command rejection:
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Slave group that has cam profile slaves => error code 62
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The deceleration for a slave or a master is above the maximum deceleration entered during configuration => error code 63. Note: This error code also appears when a zero incline is requested.
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The IDN "DECSTOP" calculated for an axis is refused by the drive (parameter out of range) => error code 1002.
NOTE: this function will only operate if the drives are Lexium drives.≥ 5.50.It will be accessible only by groups in which all the slaves are configured in ratio. Adjustment of the inclines is not saved and can be lost if there is a power outage or drive Reset.
