DRV_DNLD: Download to SERCOSdrive

(Original Document)

Function Description

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

Additional parameters and may be configured.

Representation in FBD

Representation:

Representation in LD

Representation:

Representation in IL

Representation:

CAL DRV_DNLD_Instance (S:=DNLOAD_SA1, R:=Reset, SA_ID:=SA1,
    DATA_BLK:=DataDown, MFB:=MFB, IDN_CNT=>IDN_TOTAL)

Representation in ST

Representation

DRV_DNLD_Instance (S:=DNLOAD_SA1, R:=Reset, SA_ID:=SA1,
    DATA_BLK:=DataDown, MFB:=MFB, IDN_CNT=>IDN_TOTAL) ;

Parameter Description

Description of input parameters:

Parameter	Data Type	Meaning
S	BOOL	Rising input starts the download to the drive.
R	BOOL	Resets block and prevents download (It halts the upload at the end of the current step).)
SA_ID	INT	Axis ID for the SercosAxis to be downloaded.
DATA_BLK	ARRAY [1 .. n] OF UDINT	Array containing data to be downloaded (must be large enough to hold the amount of data to be downloaded).

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 the download has completed (reset by R).
ERROR	INT	First error code that is generated during download.
IDN_CNT	UDINT	The actual number of IDNs successfully downloaded to the drive (may be different to the number attempted due to normal errors).

Example

When DNLOAD_SA1 turns on, the drive parameters are downloaded from DataDown to SA1. The value placed in IDN_TOTAL is the total numbers of IDNs that were downloaded to the drive.

Runtime Errors

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

EN stands for ENable; it is an optional block input. When the EN input is enabled, an ENO output is set automatically.

If EN = 0, the block is not enabled; its internal program is not executed, and ENO is set to 0.

If EN = 1, the block's internal program is run and ENO is set to 1. If an error occurs, ENO is set to 0.

If the EN input is not connected, it is set automatically to 1.

ENO stands for Error NOtification; this is the output associated with the optional input EN.

BOOL is the abbreviation for the Boolean type. This is the basic data type in computing. A BOOL variable can have either of the following two values: 0 (FALSE) or 1 (TRUE).

A bit extracted from a word is of type BOOL, for example: %MW10.4.

INT is the abbreviation of single INTeger (encoded in 16 bits).

The upper/lower limits are as follows: -(2 to the power of 15) to (2 to the power of 15) - 1.

-32768, 32767, 2#1111110001001001, 16#9FA4.

UDINT is the abbreviation of Unsigned Double INTeger (encoded in 32 bits). The upper/lower limits are as follows: 0 to (2 to the power of 32) - 1.

0, 4294967295, 2#11111111111111111111111111111111, 8#37777777777, 16#FFFFFFFF.