Each command has its related command parameters, setting parameters and adjustment parameters (refer to each function for more details).
Command parameters can be set in the application:
NOTE: Sending a new command of the same type aborts the active command.
NOTE: It is not possible to modify the command parameters of a Homing command, since it does not support the succession of several
commands.
Setting Parameters are only managed through the Control Expert configuration tool.
Adjustment Parameters are managed through the Control Expert Adjust tool.
They can be read by executing the Read_Param instruction and their initial values can be set to their current values by executing the Save_Param instruction.
They can be set by
When accessing the Adjustment Parameters:
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through the IODDTs or the Adjustment screen, it is possible to directly write the unsigned values.
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through their topological addresses, only signed types are accepted. Converting the unsigned value into a signed value before writing in the %MWr.m.c object is necessary.
If Adjustment Parameters are changed while the PTO channel is running, this change will take effect on next commands.
These are objects used to define valid ranges of values for command parameters.
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Configuration Parameters
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Object
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Type
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Symbol
|
Description
|
|
%KWr.m.c.4
|
UINT
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Max Acceleration
|
Acceleration Rate Maximum Value
|
|
%KWr.m.c.5
|
UINT
|
Max Deceleration
|
Deceleration Rate Maximum Value
|
|
%KDr.m.c.6
|
UDINT
|
Max Frequency
|
Maximum Frequency (in Hz)
|
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%KDr.m.c.8
|
DINT
|
SW Max High Limit
|
Software Pulse Number Maximum High Limit
|
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%KDr.m.c.10
|
DINT
|
SW Min Low Limit
|
Software Pulse Number Minimum Low Limit
|
|
Adjustment Parameters
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|
Object
|
Type
|
Symbol
|
Description
|
|
%MDr.m.c.14
|
UDINT
|
SW High Limit
|
Software Pulse Number High Limit
|
|
%MDr.m.c.16
|
UDINT
|
SW Low Limit
|
Software Pulse Number Low Limit
|
Any command sent with parameters that are inconsistent with the specified limits will be rejected.
Constraints on Configuration and Adjustment Parameters:
The following rules of consistency between configuration and adjustment parameters must be observed:
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SW High Limit ≤ SW Max High Limit
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SW Max High Limit > SW Min Low Limit
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SW High Limit > SW Low Limit
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SW Low Limit ≥ SW Min Low Limit
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Start Frequency ≤ Max Frequency
-
Stop Frequency ≤ Max Frequency
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Homing Velocity ≤ Max Frequency
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Start Frequency ≤ Homing Velocity if Start Frequency enabled
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Stop Frequency ≤ Homing Velocity if Stop Frequency enabled
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Acceleration Rate ≤ Max Acceleration
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Deceleration Rate ≤ Max Deceleration
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Emergency Deceleration Rate ≤ Max Deceleration
If a setting parameter or initial parameter does not respect one of these rules, the configuration will not be accepted.
NOTE: Control Expert Initial parameters respect all the rule above.
If an adjustment with an invalid parameter is set:
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The parameter will be rejected
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The previous values will be maintained
-
The detected error will be reported in the ADJUST_FLT status word (%MWr.m.c.4)
