SERCOS drives
The following enable and state signals are supported on SERCOS drives (for CNC builds as of V2.11.2800).
- lr_mc_control.drive_on control unit:
Enable power connection in the drive. (abbr.: DriveOn). This enable signal is entered directly in Bit 15 of the SERCOS control word. - lr_mc_control.torque_permission control unit:
Enable drive-internal position or speed controller. The drive goes to control (abbr.: TorquePermission). - lr_mc_control.release_feedhold control unit:
Reset drive-internal feedhold (abbr.: ReleaseFeedhold). - lr_state.ready_for_power_on_r control unit:
The drive is ready for power connection. - lr_state.ready_for_control_loop_on_r control unit:
The drive is ready to go to control. Once the corresponding drive enables are set, the drive obeys the positions specified by the NC kernel.
Enable and state signals supported (up to V2.11.20xx):
- MCControlBoolUnit_DriveOn:
Enable power connection in the drive. (abbr.: DriveOn). This enable signal is entered directly in Bit 15 of the SERCOS control word. - MCControlBoolUnit_TorquePermission:
Enable drive-internal position or speed controller. The drive goes to control (abbr.: TorquePermission). - MCControlBoolUnit_ReleaseFeedhold:
Reset drive-internal feedhold (abbr.: ReleaseFeedhold). - X_ReadyPowerOn:
The drive is ready for power connection. - X_ReadyControlLoopOn:
The drive is ready to go to control. Once the corresponding drive enables are set, the drive obeys the positions specified by the NC kernel.