CFG_SA: SercosAxis
(Original Document)
Function Description
This function block configures a SercosAxis.
Additional parameters EN and ENO may be configured.
FBD Representation
Representation:
LD Representation
Representation:
IL Representation
Representation:
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)
ST Representation
Representation:
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 Description
Description of input parameters:
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).
Description of in-output parameters:
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.
Description of output parameters:
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.
Example
When CFG_SA1 turns on, the configuration of SA1 occurs. The parameters assigned to the input pins are moved into the PLC register block SA_CFG_BLK , that is assigned at output pin CFG_BLK. For detailed information on the size and layout of this register data block refer to the AXCfg Data Structure. The values placed in GEAR_NM and GEAR_DN represent the axis and drive units. In this example, the VEL_UNIT input pin is configured as RPM so the axis units are revolutions. During drive configuration, the drive units were set to degrees. This function block configuration will set up the gear ratio to be 360 degrees of motor rotation, which equals one revolution of position change.
Runtime Errors
For a list of all error codes and values of the block, refer to Tables of Error Codes for the Motion Library.