AXIS_REF_ETC_INFRANOR (FB)¶

FUNCTION_BLOCK AXIS_REF_ETC_INFRANOR EXTENDS AXIS_REF_ETC_DS402_IP

Supported drive models¶

EtherCAT XtrapulsPac

Features¶

Feature

Supported

Description

Enabling/Disabling

bRegulatorOn

Controls the power stage of the drive, but resetting this control flag will make the drive stop before unpowering.

bDriveStart

Executes a QuickStop if not set.

Acknowledging Errors

Drive errors can be acknowledged.

Mechanical Brakes

SMC_BRAKE_AUTO

Brake relais controlled by drive

SMC_BRAKE_OPEN

Mode not supported

SMC_BRAKE_CLOSE

Mode not supported

Hardware Limit Switches

Supported.

Controller Modes

Position

Supported.

Velocity

Mode not supported

Torque

Mode not supported

Homing (drive controlled)

Supported. Must be configured in the drive before.

Capturing/Latching

Supported

iTriggerNumber	Drive capture
0-3	1 – 4 on rising edge
4-7	1 – 4 on falling edge

External Halt

Supported

Capture Sources¶

With the device named “Infranor Xtrapuls SoftMotion”, the only supported capture source is the drive’s actual position. With the device named “Infranor Xtrapuls SoftMotion incl. Encoder”, it is possible to capture from different sources (input Encoder1, Encoder2, and Resolver). The PDO mapping for Encoder1 is already pre-configured. To capture from Encoder2 or Resolver, the corresponding SoftMotion Encoder device must be added below the “Infranor Xtrapuls SoftMotion incl. Encoder”, and the needed PDOs (position and velocity of Encoder2 or Resolver) need to be configured.

Note: The capture source configuration in the drive must be done by setting the objects 16#337x:2 to the desired source (for 1 <= x <= 4).

Example: The user wants to capture from the drive position and from an auxiliary encoder connected to input Encoder1. For the auxiliary encoder, a different scaling from bus increments to user units is used. This can be achieved as follows:

The user inserts the device “Infranor Xtrapuls SoftMotion incl. Encoder”. Two children are inserted: a drive device and an encoder device. The user configures the drive scaling in the drive device and the encoder scaling in the encoder device.
The capture sources of the drive are configured by writing 16#3371:2 -> 16#60640000 (capture source 1 = drive position) and 16#3372:2 -> 16#3129000000 (capture source 2 = encoder1 position).
In the application, the user can now use MC_TouchProbe on the drive device (with trigger number 0 or 4 for rising or falling edge) and on the encoder device (with trigger number 1 or 5 for rising or falling edge).

SDO or PDO¶

PPer default, the capture configuration is done by SDO. If the user wants to use PDOs, he must add the desired objects to the PDO mapping.

Notes for Commisioning¶

Specific error numbers (uiDriveInterfaceError)¶

Error Number	Error Description
2000	Object 16#60FE:02 (mask bit) could not be read.

Initialization¶

Object ID	Value	Comment
16#3371:2	0x6064000	Set capture source of channel 1 to drive position. (*)
16#605A:0	6 (Stop with quick stop ramp and stay in quick stop)	Quickstop Option Code, written by driver during initialization (**)
16#60C0:0	-1 (PV interpolation) if object 16#60C1:2 (2nd parameter of ip function) is mapped by PDO 0 (Linear interpolation) otherwise	Interpolation Sub mode select, written by driver during initialization (**)

(*) This object is not written by the driver. It is an entry in the startup SDOs that can be changed or removed by the user.

(**) The objects 16#605A:00 and 16#60C0:00 will not be written if they are written in the SDO startup list

InOut:

Scope	Name	Type	Initial	Comment	Inherited from
Input	`wAxisStructID`	`WORD`	16#FE12		AXIS_REF_SM3
	`nAxisState`	`SMC_AXIS_STATE`	power_off	State of the axis according to the `PLCopen` state diagram: 0: `power_off` 1: `errorstop` 2: `stopping` 3: `standstill` 4: `discrete_motion` 5: `continuous_motion` 6: `synchronized_motion` 7: `homing` Parameter number: 1000	AXIS_REF_SM3
	`bRegulatorOn`	`BOOL`	FALSE	Parameter number: 1010	AXIS_REF_SM3
	`bDriveStart`	`BOOL`	FALSE	Parameter number: 1011	AXIS_REF_SM3
	`bCommunication`	`BOOL`	FALSE	`TRUE`: Communication OK Parameter number: 1012	AXIS_REF_SM3
	`wCommunicationState`	`WORD`	16#FFFF	Parameter number: 1013	AXIS_REF_SM3
	`uiDriveInterfaceError`	`UINT`		Drive interface error number Parameter number: 1014	AXIS_REF_SM3
	`bRegulatorRealState`	`BOOL`	FALSE	Parameter number: 1015	AXIS_REF_SM3
	`bDriveStartRealState`	`BOOL`	FALSE	Parameter number: 1016	AXIS_REF_SM3
	`wDriveId`	`WORD`	0	Parameter number: 1021	AXIS_REF_SM3
	`iOwner`	`INT`	0	Parameter number: 1022	AXIS_REF_SM3
	`fCycleTimeSpent`	`LREAL`		Parameter number: 1024	AXIS_REF_SM3
	`fTaskCycle`	`LREAL`	0.005	Parameter number: 1025	AXIS_REF_SM3
	`bError`	`BOOL`	FALSE	Parameter number: 1030	AXIS_REF_SM3
	`dwErrorID`	`DWORD`	0	Drive specific error identifier, parameter number: 1031	AXIS_REF_SM3
	`bErrorAckn`	`BOOL`	FALSE	Parameter number: 1032	AXIS_REF_SM3
	`bDisableErrorLogging`	`BOOL`	FALSE	Parameter number: 1036	AXIS_REF_SM3
	`fbeFBError`	ARRAY [0..g_SMC_NUMBER_FB_ERRORS] OF SMC_FBERROR		Parameter number: 1035	AXIS_REF_SM3
	`dwRatioTechUnitsDenom`	`DWORD`	1	Parameter number 1051	AXIS_REF_SM3
	`iRatioTechUnitsNum`	`DINT`	1	Parameter number 1052	AXIS_REF_SM3
	`nDirection`	`MC_Direction`	positive	Parameter number 1053	AXIS_REF_SM3
	`fScalefactor`	`LREAL`	1	Parameter number 1054	AXIS_REF_SM3
	`fFactorVel`	`LREAL`	1	Parameter number 1055	AXIS_REF_SM3
	`fFactorAcc`	`LREAL`	1	Parameter number: 1056	AXIS_REF_SM3
	`fFactorTor`	`LREAL`	1	Parameter number: 1057	AXIS_REF_SM3
	`fFactorJerk`	`LREAL`	1	Factor jerk Parameter number: 1058	AXIS_REF_SM3
	`fFactorCur`	`LREAL`	1	Parameter number: 1059	AXIS_REF_SM3
	`fFactorReference`	`LREAL`	1	The factor the home offset (fReference, parameter 1211) is multiplied by after conversion to increments. When converting from increments, the received value in increments is divided by the factor. Drivers can set this to -1 to invert the sign of the home offset.	AXIS_REF_SM3
	`iMovementType`	`INT`	SMC_AXIS_TYPE.finite	Parameter number: 1060	AXIS_REF_SM3
	`fPositionPeriod`	`LREAL`	1000	Parameter number: 1061	AXIS_REF_SM3
	`eRampType`	`SMC_RAMPTYPE`	trapez	Parameter number: 1062	AXIS_REF_SM3
	`motorType`	`SMC_MOTOR_TYPE`		Parameter number: 5007	AXIS_REF_SM3
	`byControllerMode`	`BYTE`	SMC_position	Parameter number: 1091	AXIS_REF_SM3
	`byRealControllerMode`	`BYTE`	SMC_position	Parameter number: 1092	AXIS_REF_SM3
	`fSetPosition`	`LREAL`	0	Parameter number: 1100, 1	AXIS_REF_SM3
	`fActPosition`	`LREAL`	0	Parameter number: 1101	AXIS_REF_SM3
	`fAimPosition`	`LREAL`	0	Parameter number: 1105	AXIS_REF_SM3
	`fSavePosition`	`LREAL`	0	Parameter number: 1107	AXIS_REF_SM3
	`fSetVelocity`	`LREAL`	0	Parameter number: 1110, 11	AXIS_REF_SM3
	`fActVelocity`	`LREAL`	0	Parameter number: 1111, 10	AXIS_REF_SM3
	`fMaxVelocity`	`LREAL`	0	Maximum velocity of the drive (remote parameter) in [u/s] Parameter number: 1112,9	AXIS_REF_SM3
	`fSWMaxVelocity`	`LREAL`	0	Maximum velocity (software limit) in [u/s] Parameter number: 1113	AXIS_REF_SM3
	`bConstantVelocity`	`BOOL`	FALSE	Parameter number: 1115	AXIS_REF_SM3
	`fSaveVelocity`	`LREAL`	0	Parameter number: 1117	AXIS_REF_SM3
	`fSetAcceleration`	`LREAL`	0	Parameter number: 1120	AXIS_REF_SM3
	`fActAcceleration`	`LREAL`	0	Parameter number: 1121	AXIS_REF_SM3
	`fMaxAcceleration`	`LREAL`	0	Maximum acceleration of the drive (remote parameter) in [u/s²] Parameter number: 1122, 13	AXIS_REF_SM3
	`fSWMaxAcceleration`	`LREAL`	0	Maximum acceleration (software limit) in [u/s²] Parameter number: 1123	AXIS_REF_SM3
	`bAccelerating`	`BOOL`	FALSE	Parameter number: 1125	AXIS_REF_SM3
	`fSaveAcceleration`	`LREAL`	0	Parameter number: 1127	AXIS_REF_SM3
	`fMaxDeceleration`	`LREAL`	0	Maximum deceleration of the drive (remote parameter) in [u/s²] Parameter number: 1132, 15	AXIS_REF_SM3
	`fSWMaxDeceleration`	`LREAL`	0	Maximum deceleration (software limit) in [u/s²] Parameter number: 1133	AXIS_REF_SM3
	`bDecelerating`	`BOOL`	FALSE	Parameter number: 1135	AXIS_REF_SM3
	`fSaveDeceleration`	`LREAL`	0	Parameter number: 1137	AXIS_REF_SM3
	`fSetJerk`	`LREAL`	0	Parameter number: 1140	AXIS_REF_SM3
	`fActJerk`	`LREAL`	0	Parameter number: 1141	AXIS_REF_SM3
	`fMaxJerk`	`LREAL`	0	Maximum jerk of the drive (remote parameter) in [u/s³] Parameter number: 1142, 16	AXIS_REF_SM3
	`fSWMaxJerk`	`LREAL`	0	Maximum jerk (software limit) in [u/s³] Parameter number: 1143	AXIS_REF_SM3
	`fRampJerk`	`LREAL`	100000	Maximum Jerk, special value for sin² ramp type in [u/s³] Parameter number: 1144	AXIS_REF_SM3
	`fSaveJerk`	`LREAL`	0	Parameter number: 1147	AXIS_REF_SM3
	`fSetCurrent`	`LREAL`	0	Parameter number: 1150	AXIS_REF_SM3
	`fActCurrent`	`LREAL`	0	Parameter number: 1151	AXIS_REF_SM3
	`fMaxCurrent`	`LREAL`	100	Maximum current in [A] Parameter number: 1152	AXIS_REF_SM3
	`fSWMaxCurrent`	`LREAL`	0	Maximum user defined current in [A] Parameter number: 1153	AXIS_REF_SM3
`fSetTorque`	`LREAL`	0	The set torque in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1160	AXIS_REF_SM3
`fActTorque`	`LREAL`	0	Actual torque in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1161	AXIS_REF_SM3
`fMaxTorque`	`LREAL`	0	The maximum torque in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1162	AXIS_REF_SM3
`fSWMaxTorque`	`LREAL`	FPU.GetLRealSpecialVal(FPU.ESpecial_FP_Value.PosInf)	The maximum torque (software limit) in [Nm] or [N] (linear) at the gearbox output. Parameter number: 1163	AXIS_REF_SM3
`fSWLimitPositive`	`LREAL`	0	Position limit in positive direction in [u] Parameter number: 1200, 2	AXIS_REF_SM3
`fSWLimitNegative`	`LREAL`	0	Position limit in negative direction in [u] Parameter number: 1201, 3	AXIS_REF_SM3
`usiSWEndSwitchState`	`USINT`	0	Parameter number: 1204	AXIS_REF_SM3
`bSWLimitEnable`	`BOOL`	FALSE	Parameter number: 1205	AXIS_REF_SM3
`bHWLimitEnable`	`BOOL`	TRUE	Parameter number: 1206	AXIS_REF_SM3
`bStartReference`	`BOOL`	FALSE	Parameter number: 1210	AXIS_REF_SM3
`fReference`	`LREAL`	0	Parameter number: 1211	AXIS_REF_SM3
`bStartReferenceRealState`	`BOOL`	FALSE	Parameter number: 1212	AXIS_REF_SM3
`fOffsetPosition`	`LREAL`	0	Parameter number: 1215	AXIS_REF_SM3
`dwPosOffsetForResiduals`	`DWORD`	0	Parameter number: 1230	AXIS_REF_SM3
`dwOneTurn`	`DWORD`	0	Parameter number: 1231	AXIS_REF_SM3
`dwLastPosition`	`DWORD`	0	Parameter number: 1232	AXIS_REF_SM3
`bySwitchingState`	`SMC_SWITCHING_STATE`	SMC_ST_INITIALIZING	Parameter number: 1233	AXIS_REF_SM3
`iRestNumerator`	`DINT`	0	Parameter number: 1234	AXIS_REF_SM3
`iTurn`	`INT`	0	Parameter number: 1235	AXIS_REF_SM3
`dwActPosition`	`DWORD`	0	Parameter number: 1238	AXIS_REF_SM3
`usiBusBitWidth`	`USINT`	32	The bus bit depth. This is the number of bits used to send the actual and set position from and to the drive. Between 1 and 32.	AXIS_REF_SM3
`dwBusModuloMask`	`DWORD`	16#FFFFFFFF	The value (2^k - 1) where k is the bus bit depth.	AXIS_REF_SM3
`eBrakeControl`	`SMC3_BrakeSetState`	SMC_BRAKE_AUTO	Parameter number: 1017	AXIS_REF_SM3
`bBrakeClosedRealState`	`BOOL`	FALSE	Parameter number: 1018	AXIS_REF_SM3
`bOldError`	`BOOL`		Parameter number: 1033	AXIS_REF_SM3
`bVirtual`	`BOOL`		`TRUE`: Virtual drive. Parameter number: 1040	AXIS_REF_SM3
`bLogical`	`BOOL`		Parameter number: 1041	AXIS_REF_SM3
`fSetActTimeLagCycles`	`LREAL`	3	The dead time in cycles between the fActPosition received in this bus task cycle, and the fSetPosition at the beginning OF THIS bus task cycle. Parameter number: 1070	AXIS_REF_SM3
`diSetPosition`	`DINT`	0	Parameter number: 1108	AXIS_REF_SM3
`diActPosition`	`DINT`	0	Parameter number: 1109	AXIS_REF_SM3
`diSetVelocity`	`DINT`	0	Parameter number: 1118	AXIS_REF_SM3
`diActVelocity`	`DINT`	0	Parameter number: 1119	AXIS_REF_SM3
`diSetAcceleration`	`DINT`	0	Parameter number: 1128	AXIS_REF_SM3
`diActAcceleration`	`DINT`	0	Parameter number: 1129	AXIS_REF_SM3
`diSetCurrent`	`DINT`	0	Parameter number: 1158	AXIS_REF_SM3
`diActCurrent`	`DINT`	0	Parameter number: 1159	AXIS_REF_SM3
`diSetTorque`	`DINT`	0	Parameter number: 1168	AXIS_REF_SM3
`diActTorque`	`DINT`	0	Parameter number: 1169	AXIS_REF_SM3
`fSWLimitDeceleration`	`LREAL`	0	Deceleration in [u/s²] with which the system will brake in case of a software limit. Parameter number: 1203	AXIS_REF_SM3
`xWaitForHaltWhenStopInterruptsHome`	`BOOL`		`TRUE`: When \|MC_Home\| is interrupted by \|MC_Stop\|, then``MC_Stop.bDone`` is delayed until the drive reports that it has successfully halted. `bStartReferenceRealState` = `FALSE` Parameter number: 1213	AXIS_REF_SM3
`fSWErrorMaxDistance`	`LREAL`	0	Distance in which the drive has to reach standstill after an error has occurred. Parameter number: 1250	AXIS_REF_SM3
`eCheckPositionLag`	`SMC3_CheckPositionLagMode`	0	Parameter number: 1207	AXIS_REF_SM3
`fMaxPositionLag`	`LREAL`		Parameter number: 1208	AXIS_REF_SM3
`bPositionLagActive`	`BOOL`		Parameter number: 1209	AXIS_REF_SM3
`bModuloDoneByDrive`	`BOOL`		Parameter number: 1242	AXIS_REF_SM3
`diFollowingError`	`DINT`		Parameter number: 1243	AXIS_REF_SM3
`fFollowingError`	`LREAL`		Parameter number: 1244	AXIS_REF_SM3
`aCaptDesc`	ARRAY [0..7] OF SMC3_CaptureDescription		Parameter number: 1400	AXIS_REF_SM3
`xPersistentDataLoaded`	`BOOL`	FALSE		AXIS_REF_SM3
`strDriveInterfaceError`	`STRING(255)`			AXIS_REF_SM3
`adatAcyclic`	ARRAY [1..SMC3_gc_usiNumberAcyclicChannels] OF SMC3_DriveAcyclicTel			AXIS_REF_SM3
`nAbortCounter`	`UDINT`		Internal: counts the number of aborts. This counter simply wraps to 0 when exceeding 2^32-1, so use accordingly. Increased in method SetOwner().	AXIS_REF_SM3
`vMinRequiredVersion`	`VERSION`		The minimum version of SM3_Basic that the driver requires.	AXIS_REF_SM3
`bAvoidReversalOnHaltStop`	`BOOL`		Parameter number: 1260	AXIS_REF_SM3
`bConsiderLimitsOfAbortedMotionOnHaltStop`	`BOOL`		Parameter number: 1270	AXIS_REF_SM3
`bUpdateIOsInStop`	`BOOL`		Update the IOs if the application is stopped. Parameter number 1280	AXIS_REF_SM3
`bAutoRestart`	`BOOL`	TRUE	If TRUE, an implict \|SMC3_ReinitDrive\| is executed after the communication to the drive is established again after a communication loss (e.g. fieldbus slave no longer operational). If FALSE, an explicit call to \|SMC3_ReinitDrive\| is required after communication has been established again. (This is the behavior of SoftMotion versions before 4.18.0.0.) Default is TRUE if not set by the device parameter, i.e. the drive device can override the default. Parameter number 1281	AXIS_REF_SM3
`overrideFactors`	`SMRB.DynFactors`	STRUCT(fVel := 1, fAcc := 1, fJerk := 1, fTorque := 1)		AXIS_REF_SM3
`m_superimposed`	`SMC_SuperimposedData`		Internal: information of superimposed movements	AXIS_REF_SM3
Output	`strDriver`	`STRING(16)`			AXIS_REF_SM3
Output	`dwDriverVersion`	`DWORD`			AXIS_REF_SM3
Input	`out`	`SMC3_CIA_DSP402_SpecificOutputs`			AXIS_REF_ETC_DS402_IP
	`wDigitalOutputs`	`DWORD`		Digital outputs
	`bMaskBitSet`	`BOOL`		Internal Variable
	`bTransmitSetVel`	`BOOL`		Internal Variable