DRV_UPLD: Upload from SERCOSdrive

Function Description

This function block uploads information from a SERCOS drive to the PLC.

Additional parameters and may be configured.

Representation in FBD

Representation:

Representation in LD

Representation:

Representation in IL

Representation:

CAL DRV_UPLD_Instance (S:=UPLOAD_SA1, R:=Reset,
    SA_ID:=SA1, MAX_REGS:=75, MFB:=MFB, REG_CNT=>TOTAL_REGS,
    DATA_BLK=>DataUp)

Representation in ST

Representation

DRV_UPLD_Instance (S:=UPLOAD_SA1, R:=Reset,
    SA_ID:=SA1, MAX_REGS:=75, MFB:=MFB, REG_CNT=>TOTAL_REGS,
    DATA_BLK=>DataUp) ;

Parameter Description

Description of input parameters:

Parameter	Data Type	Meaning
S	BOOL	Rising input starts the upload from the drive.
R	BOOL	Resets block and prevents upload (It halts the upload at the end of the current step).
SA_ID	INT	Axis ID for the SercosAxis to be uploaded.
MAX_REGS	UDINT	Maximum number of registers that may be uploaded (Each IDN consumes 3 registers plus one for overhead. If absent or zero, a default maximum of 601 registers is used.).

Description of in-output parameters:

Parameter	Data Type	Meaning
MFB	MMFBlock	Must be connected to the MMFStart block of 200 registers.

Description of output parameters:

Parameter	Data Type	Meaning
Q	BOOL	True when upload has completed (reset by R).
ERROR	INT	First error code that is generated during configuration.
REG_CNT	UDINT	Number of Registers actually used to hold uploaded data.
DATA_BLK	ARRAY [4 .. n] of UDINT	Array for storage of uploaded data (n must be ≥ number of IDNs uploaded * 3 + 1).

Example

When UPLOAD_SA1 turns on, the drive parameters are uploaded from SA1 and placed in the DataUp Array that is assigned at output pin DATA_BLK. The first register in the data block has the number (n) of IDNs that were uploaded. The next (n) registers have the IDN numbers. Following the IDN numbers is the IDN data. The data section of the register data block is in a REAL format and the data contained in these registers are raw (unconverted) values.

The length of the register data block is: Number of IDNs uploaded * 3 + 1

Runtime Errors

For a list of all error codes and values of the block, refer to Tables of Error Codes for the Motion Library.