Yt_PE_VFD_AxisStructure
Data type that supports PLCopen motion functionality for EtherCAT VFDs.
Yt_PE_VFD_AxisArray: CONST
| Variable Name | Data Type | Description | Usage |
|---|---|---|---|
| Yt_PE_VFD_MaxCount | INT | Variable used in the Yt_PE_VFD_AxisArray array definition. Allows overwriting of the value. | Yt_PE_VFD_MaxCount := #10 |
Yt_PE_VFD_AxisStructure: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| AxisArray | Yt_PE_VFD_AxisArray | Axis information for VFD axes. | g_PE_VFD_AxisData.AxisArray[index] |
Yt_PE_VFD_AxisArray: Array
| Array Name | Data Type | Range | Description | Usage |
|---|---|---|---|---|
| Yt_PE_VFD_AxisArray | Yt_PE_VFD_AxisDetails | 1..Yt_PE_VFD_MaxCount |
Axis information for up to
Yt_PE_VFD_MaxCount
axes.
|
g_PE_VFD_AxisData.AxisArray[0] |
Yt_PE_VFD_AxisDetails: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| AxisInfo | Yt_AxisInfo |
General axis information like configuration values and actual status information.
|
g_PE_VFD_AxisData.AxisArray[index].AxisInfo
|
| PE_VFD_AxisInfo | Yt_PE_VFD_AxisInfo |
EtherCAT Servo specific axis information like configuration values, actual values, set values, status information.
|
g_PE_VFD_AxisData.AxisArray[index].PE_VFD_AxisInfo |
Yt_PE_VFD_AxisInfo: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| NodeID | DWORD |
EtherCAT Node ID
|
g_PE_VFD_AxisData.AxisArray[index].PE_VFD_AxisInfo.
NodeID
|
| StationName | Yt_String32 |
EtherCAT Station Name -reserved for future use
|
g_PE_VFD_AxisData.AxisArray[index].PE_VFD_AxisInfo.
StationName
|
| MaxOutputFrequency | LREAL |
Max. output Frequency VFD parameter E1-04
|
g_PE_VFD_AxisData.AxisArray[index].PE_VFD_AxisInfo.
MaxOutputFrequency
|
| MinOutputFrequency | LREAL |
Min. output Frequency VFD parameter E1-09
|
g_PE_VFD_AxisData.AxisArray[index].PE_VFD_AxisInfo.
MaxOutputFrequency
|
| UpperLimitFrequencyRef | LREAL |
Upper Limit Frequency Reference VFD parameter D2-01
|
g_PE_VFD_AxisData.AxisArray[index].PE_VFD_AxisInfo.
UpperLimitFrequencyRef
|
| MaxMotorVelocity | LREAL |
Max Motor Velocity VFD parameter E2-02
|
g_PE_VFD_AxisData.AxisArray[index].PE_VFD_AxisInfo.
MaxMotorVelocity
|
| Fault | WORD |
Stores Current Fault code from the VFD.
|
g_PE_VFD_AxisData.AxisArray[index].PE_VFD_AxisInfo.
Fault
|
| Warning | WORD |
Stores Current Warning code from the VFD.
|
g_PE_VFD_AxisData.AxisArray[index].PE_VFD_AxisInfo.
Warning
|
| InputData | Yt_PE_VFD_InputDataStructure |
Input data mapped to process data
|
g_PE_VFD_AxisData.AxisArray[index].PE_VFD_AxisInfo.
InputData
|
| OutputData | Yt_PE_VFD_OutputDataStructure |
Output data mapped to process data
|
g_PE_VFD_AxisData.AxisArray[index].PE_VFD_AxisInfo.
OutputData
|
| SystemCommand | Yt_PE_VFD_SystemCommand |
System Commands
|
g_PE_VFD_AxisData.AxisArray[index].PE_VFD_AxisInfo.
SystemCommand
|
| CyclicCommand | Yt_PE_VFD_CommandBuffer |
Cyclic CommandBuffer containing all commands issues by the application and their status.
|
g_PE_VFD_AxisData.AxisArray[index].PE_VFD_AxisInfo.
CyclicCommand
|
| ParameterCommand | Yt_PE_VFD_ParameterBuffer |
Acyclic parameter communication command buffer containing all acyclic parameter commands.
|
g_PE_VFD_AxisData.AxisArray[index].PE_VFD_AxisInfo.
ParamterCommand
|
| DriveState | Yt_PE_VFD_DriveState | List of states the VFD can be in as defined by DSP402. |
g_PE_VFD_AxisData.AxisArray[index].PE_VFD_AxisInfo.
DriveState
|
| PowerInstanceActive | BOOL |
True when an instance of the VFD Power FB is Enabled
|
g_PE_VFD_AxisData.AxisArray[index].PE_VFD_AxisInfo.
PowerInstanceActive
|
| EtherCATCommsEstablished | BOOL |
TRUE when the VFD is in EtherCAT OP mode
|
g_PE_VFD_AxisData.AxisArray[index].PE_VFD_AxisInfo.
EtherCATCommsEstablished
|
| DebugMode | BOOL |
For Future Use
|
g_PE_VFD_AxisData.AxisArray[index].PE_VFD_AxisInfo.
DebugMode
|
| DataIntegrity | BOOL |
Data Integrity
|
g_PE_VFD_AxisData.AxisArray[index].PE_VFD_AxisInfo.
DataIntegrity
|
Yt_PE_VFD_InputDataStructure: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| StatusWord | WORD |
Status word read cyclically from VFD.
|
g_PE_VFD_AxisData.AxisArray[index]. PE_VFD_AxisInfo. InputData.StatusWord |
| OutputFrequency | UINT | Actual output frequency read cyclically from the VFD. |
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
InputData.OutputFrequency
|
| DeviceStatus | BYTE | Status of the EtherCAT device. |
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
InputData.DeviceStatus
|
| DataStatus | BYTE | Data status of the EtherCAT Device. |
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
InputData.DataStatus
|
Yt_PE_VFD_OutputDataStructure: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| ControlWord | WORD |
Control word written cyclically to the VFD.
|
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
OutputData.ControlWord
|
| TargetVelocity | UINT | Reference frequency written cyclically to the VFD. |
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
OutputData.TargetVelocity
|
Yt_PE_VFD_SystemCommand
| Element | Data Type | Description | Usage |
|---|---|---|---|
| EnablePower | BOOL |
With MC_Power.Enable = TRUE the value of EnablePower is set to true and the Y_MotionAxisDriver switches the VFD to drive state operation.
|
g_PE_VFD_AxisData.AxisArray[index]. PE_VFD_AxisInfo. SystemCommand.EnablePower |
| Reset | BOOL |
Is set to true by MC_Reset to reset a error on the axis and leave the PLCopen state ErrorStop.
Is set to false after resetting the drive error or after a time out time. The reset function is managed by Y_MotionAxisDriver. |
g_PE_VFD_AxisData.AxisArray[index]. PE_VFD_AxisInfo. SystemCommand.Reset |
| ReadError | BOOL |
Is set and managed by Y_MotionAxisDriver.
|
g_PE_VFD_AxisData.AxisArray[index]. PE_VFD_AxisInfo. SystemCommand.ReadError |
| StopCommand | BOOL |
Is set to true by MC_Stop when the input MC_Stop.Execute is set to true. The stop function is managed by Y_MotionAxisDriver.
|
g_PE_VFD_AxisData.AxisArray[index]. PE_VFD_AxisInfo. SystemCommand.StopCommand |
Yt_PE_VFD_CommandStates
| Element | Data Type | Description | Usage |
|---|---|---|---|
| Velocity | LREAL |
Target velocity of this command.
|
g_PE_VFD_AxisData.AxisArray[index]. PE_VFD_AxisInfo. CyclicCommand.CommandArray[index2].Velocity |
| Acceleration | LREAL |
Target acceleration of this command.
|
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
CyclicCommand.CommandArray[index2].Acceleration
|
| Deceleration | LREAL | Target Deceleration of this command. |
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
CyclicCommand.CommandArray[index2].Deceleration
|
| ErrorID | UINT |
Error ID of this command.
|
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
CyclicCommand.CommandArray[index2].ErrorID
|
| Execute | BOOL | Execution of this command. |
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
CyclicCommand.CommandArray[index2].Execute
|
| Done | BOOL | Done of this command. |
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
CyclicCommand.CommandArray[index2].Done
|
| Busy | BOOL | Busy of this command. |
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
CyclicCommand.CommandArray[index2].Busy
|
| Active | BOOL | Active of this command. |
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
CyclicCommand.CommandArray[index2].Active
|
| CommandAborted | BOOL | Command Aborted of this command. |
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
CyclicCommand.CommandArray[index2].CommandAborted
|
| Error | BOOL | Error of this command. |
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
CyclicCommand.CommandArray[index2].Error
|
| CommandID | UINT | ID used for the cammand that is being processed. |
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
CyclicCommand.CommandArray[index2].CommandID
|
| CommandType | Yt_PE_VFD_CommandType | List of Commands that are used by the Y_MotionAxisDriver function block. |
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
CyclicCommand.CommandArray[index2].CommandType
|
| BufferMode | MC_Buffermode | TransitionMode for two velocity segments. |
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
CyclicCommand.CommandArray[index2].BufferMode
|
Yt_PE_VFD_CommandBuffer:Array
| Array Name | Data Type | Range | Description | Usage |
|---|---|---|---|---|
| Yt_PE_VFD_CommandBufferArray | Yt_PE_VFD_CommandStates | 0..9 |
Array of command buffers.
|
g_PE_VFD_AxisData.AxisArray[index]. PE_VFD_AxisInfo. CyclicCommand.CommandArray[0] |
Yt_PE_VFD_ParameterStates: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| ReadValue | DINT |
Value read from the servo with this parameter command.
|
g_PE_VFD_AxisData.AxisArray[index]. PE_VFD_AxisInfo. ParamterCommand.CommandArray[index2].ReadValue |
| WriteValue | DINT |
Value to write to the servos with this parameter command.
|
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
ParamterCommand.CommandArray[index2].WriteValue
|
| Datatype | INT |
Data type of the parameter command.
|
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
ParamterCommand.CommandArray[index2].Datatype
|
| ParameterNumber | UINT |
Parameter number / Index of the parameter command.
|
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
ParamterCommand.CommandArray[index2].ParamterNumber
|
| DataTypeOverride | INT |
Datatype override of the parameter command.
|
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
ParamterCommand.CommandArray[index2].DataTypeOverriede
|
| CommandType | Yt_PE_VFD_CommandType | List of Commands that are used by the Y_MotionAxisDriver function block. |
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
ParamterCommand.CommandArray[index2].CommandType
|
| ErrorID | UINT |
Error ID of the parameter command.
|
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
ParamterCommand.CommandArray[index2].ErrorID
|
| Execute | BOOL |
Execution of the parameter command.
|
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
ParamterCommand.CommandArray[index2].Execute
|
| Done | BOOL |
Done of the parameter command.
|
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
ParamterCommand.CommandArray[index2].Done
|
| Busy | BOOL |
Busy of the parameter command.
|
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
ParamterCommand.CommandArray[index2].Busy
|
| Error | BOOL |
Error of the parameter command.
|
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
ParamterCommand.CommandArray[index2].Error
|
| CommandID | UINT | ID used for the cammand that is being processed. |
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
CyclicCommand.CommandArray[index2].CommandID
|
Yt_PE_VFD_ParameterBuffer:Array
| Array Name | Data Type | Range | Description | Usage |
|---|---|---|---|---|
| Yt_PE_VFD_ParamterBufferArray | Yt_PE_VFD_ParamterCommandStates | 0..9 |
Array of parameter command buffers.
|
g_PE_VFD_AxisData.AxisArray[index].
PE_VFD_AxisInfo.
ParamterCommand.CommandArray[0]
|