Lenze PLC Designer PLC Designer (R3-1) - Manual (Page 939)

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DMS 4.1 EN 03/2011 TD29 937
14.5.5 Survey on special use cases
The library SM3_Basic.library includes some higher level function blocks that interact
with the drive not via the standard set/act position interface, but give commands or
modify settings of the drive by reading/writing parameters of the AXIS_REF.
Employing these function blocks the following use cases may be handled properly:
Reinitialization of a drive
A modification of drive parameters (like scaling factors, position period of rotary drives
etc. ) during runtime necessitates a reinitialization of the drive. Calling the function
block SMC3_ReinitDrive with a rising edge at input Execute will reset the parameter
wCommuncationState of the drive and repeat the complete start-up process for the
drive.
Enabling/Disabling a drive
The AXIS_REF parameters bRegulatorOn and bDriveStart control the power stage and
the brake of a drive; they can be influenced by use of the function block MC_Power.
To enable the power stage the parameter bRegulatorOn has to be set; by
bRegulatorRealState the drive reports the current state of this process. If supported by
the drive device, a reset of bRegulatorOn during a move will suspend the torque
immediately .
The variable bDriveStart determines whether the drive is allowed to move or not; by
bDriveStartRealState the current state of this parameter is reported. If supported by
the drive, a rest of the parameter bDriveStart during a move will decelerate the drive
according to the configured ramp; thereafter the drive will keep its position as long as
bRegulatorOn remains set.
Handling of mechanical brakes
If supported by the drive, the variable eBrakeControl may be (re)set by the function
block SMC3_BrakeControl. Three different modes are possible (SMC3_BrakeSetState:
SMC_BRAKE_AUTO, SMC_BRAKE_OPEN, SMC_BRAKE_CLOSE).
The variable bBrakeClosedRealState reports the current state of the brake.
From SoftMotion point of view the control as well as the state of the mechanical brake
neither depend on the state of the drive nor on the ongoing motion.