CAL CFG_SA_Instance (S:=CFG_SA1, R:=Reset, SA_ID:=SA1, VEL_UNIT:=MMF_RPM, GEAR_NM:=1, GEAR_DN:=360, POS_LIM:=100000, NEG_LIM:=-100000, VEL_LIM:=3000, ACC_DEF:=10000, DEC_DEF:=10000, MFB:=MFB, CFG_BLK:=SA_CFG_BLK, ERROR=>CFG_ERROR)
CFG_SA_Instance (S:=CFG_SA1, R:=Reset, SA_ID:=SA1, VEL_UNIT:=MMF_RPM, GEAR_NM:=1, GEAR_DN:=360, POS_LIM:=100000, NEG_LIM:=-100000, VEL_LIM:=3000, ACC_DEF:=10000, DEC_DEF:=10000, MFB:=MFB, CFG_BLK:=SA_CFG_BLK, ERROR=>CFG_ERROR) ;
Parameter
|
Data Type
|
Meaning
|
---|---|---|
S
|
Rising input starts configuration.
|
|
R
|
BOOL
|
Resets block and prevents configuration. It halts configuration at the end of the current step.
|
SA_ID
|
Axis ID for SercosAxis to be configured.
|
|
VEL_UNIT
|
Velocity units for this axis.
|
|
GEAR_NM
|
Number of axis units.
|
|
GEAR_DN
|
REAL
|
Number of drive units.
|
POS_LIM
|
REAL
|
Positive position limit (this is optional).
|
NEG_LIM
|
REAL
|
Negative position limit (this is optional).
|
VEL_LIM
|
REAL
|
Velocity limit (this is optional).
|
ACC_DEF
|
REAL
|
Default acceleration (this is optional).
|
DEC_DEF
|
REAL
|
Default deceleration (this is optional).
|
Parameter
|
Data Type
|
Meaning
|
---|---|---|
MFB
|
Must be connected to the MMFStart block of 200 registers.
|
|
CFG_BLK
|
Data block where the SERCOSaxis configuration data will be stored.
|
Parameter
|
Data Type
|
Meaning
|
---|---|---|
Q
|
BOOL
|
True when the configuration has completed (reset by R).
|
ERROR
|
INT
|
First error code that is generated during configuration.
|