.. _BeckhoffSimpleMotor: =================== BeckhoffSimpleMotor =================== Commands ++++++++ +----------+---------------+--------------------------------------------------+----------+-------------+----------------------------------+ |Key |Displayed Name |Description |Alias |Access Level |Allowed States | +==========+===============+==================================================+==========+=============+==================================+ |calibrate |Calibrate | | Calibrate actual position to calibrated | |USER |ON, INTERLOCK_BROKEN | | | | | position. | | | | +----------+---------------+--------------------------------------------------+----------+-------------+----------------------------------+ |home |Home | | Start homing procedure. |CHoming |USER |ON, INTERLOCK_BROKEN | +----------+---------------+--------------------------------------------------+----------+-------------+----------------------------------+ |move |Move | | Move to target position. |CMove |USER |ON, INTERLOCKED, INTERLOCK_BROKEN | +----------+---------------+--------------------------------------------------+----------+-------------+----------------------------------+ |off |Off | | Switch motor current Off. |COff |USER | | +----------+---------------+--------------------------------------------------+----------+-------------+----------------------------------+ |on |On | | Switch motor current On. |CStop |USER |OFF, INTERLOCK_BROKEN | +----------+---------------+--------------------------------------------------+----------+-------------+----------------------------------+ |stepDown |StepDown | | Move to actual position minus step length. |CStepDown |USER |ON, ACTIVE, INTERLOCK_BROKEN | +----------+---------------+--------------------------------------------------+----------+-------------+----------------------------------+ |stepUp |StepUp | | Move to actual position plus step length. |CStepUp |USER |ON, ACTIVE, INTERLOCK_BROKEN | +----------+---------------+--------------------------------------------------+----------+-------------+----------------------------------+ |stop |Stop | | Instructs the device to switch on and stopped. |CStop |USER | | +----------+---------------+--------------------------------------------------+----------+-------------+----------------------------------+ Properties ++++++++++ +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |Key |Displayed Name |Description |Alias |Type |Access Level |Access Mode |Allowed States | +=======================+==============================+==================================================+==================+=============+=============+===============+=========================================+ |actualPosition |Actual Position | | Actual position of the motor. If an encoder is |AEncPosition |Float |OBSERVER |READONLY | | | | | | activated, this represents the encoder | | | | | | | | | | position. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |isCCWLimit |At CCW Limit | | Is at hardware end-switch low - CCW limit. | |Bool |OBSERVER |READONLY | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |isCWLimit |At CW Limit | | Is at hardware end-switch high - CW limit. | |Bool |OBSERVER |READONLY | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |isOnTarget |isOnTarget | | Indicates whether the motor is on target or | |Bool |OBSERVER |READONLY | | | | | | not. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |isSWLimitHigh |At S/W limit high | | Is at software limit high. | |Bool |OBSERVER |READONLY | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |isSWLimitLow |At S/W limit low | | Is at software limit low. | |Bool |OBSERVER |READONLY | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |isSlave |is Slave | | The motor is configured as slave in a | |Bool |OBSERVER |READONLY | | | | | | coordinated motion. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |calibrateTarget |Calibrate target | | The motor scale is set to this position when | |Float |USER |RECONFIGURABLE | | | | | | hitting calibrate | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |isIdleOpenLoop |Stopped on Target | | True - Stopped on target; False - Idle on |AOpenLoop |Bool |USER |RECONFIGURABLE |ON, ERROR, OFF, INTERLOCK_BROKEN | | | | | target (follows encoder position). | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |limitPosH |S/W limit high | | Software limit high. |ALimitPosH |Float |USER |RECONFIGURABLE |ON, ERROR, ACTIVE, OFF, INTERLOCK_BROKEN | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |limitPosL |S/W limit low | | Software limit low. |ALimitPosL |Float |USER |RECONFIGURABLE |ON, ERROR, ACTIVE, OFF, INTERLOCK_BROKEN | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |stepLength |Step length | | Step length used in StepUp/StepDown. |AStepLength |Float |USER |RECONFIGURABLE |ON, ERROR, OFF, INTERLOCK_BROKEN | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |targetPosition |Target position | | Target position in position mode. |ATargetPos |Float |USER |RECONFIGURABLE | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |aMax |aMax [terminalUnit/Cycle^2] | | Maximum velocity difference per cycle (EL7041 |AaMax |Int16 |EXPERT |RECONFIGURABLE |ERROR, OFF, INTERLOCK_BROKEN | | | | | unit 32767 is full speed). | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |acceleration |Acceleration [targetUnit/s^2] | | Maximum velocity difference in |AaMaxUnit |Float |EXPERT |RECONFIGURABLE |ERROR, OFF, INTERLOCK_BROKEN | | | | | [targetUnit/s^2]. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |backlash |Backlash | | Backlash distance. ONLY valid in modus 2. |ABacklash |Float |EXPERT |RECONFIGURABLE | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |checkLimitConsistency |Check Limit Consistency | | Check for limit consistency. NOTE: Motor state |AChkLimCons |Bool |EXPERT |RECONFIGURABLE | | | | | | switches to error in case of moving in high | | | | | | | | | | direction (H/W coordinates) triggers H/W limit | | | | | | | | | | low. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |controllerVoltage |Controller Voltage | | Voltage of the controller section of the |ACtrlVolt |Float |EXPERT |READONLY | | | | | | terminal. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |deadband |Deadband | | Within deadband the motor is on target. |ADeadBand |Float |EXPERT |RECONFIGURABLE |ON, ERROR, OFF, INTERLOCK_BROKEN | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |encodeStep |Encoder step size | | Size of encoder increment in target unit; |AEncStep |Float |EXPERT |RECONFIGURABLE |ON, ERROR, OFF, INTERLOCK_BROKEN | | | | | Without Encoder: Element is the length of a | | | | | | | | | | micro-step [1/Gear]. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |extEncoderEnabled |Ext. Encoder enabled | | True - Use external encoder; False - Don't use |AExtEncEn |Bool |EXPERT |RECONFIGURABLE | | | | | | external encoder for position reference. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |extEncoderName |Ext. Encoder name | | Declare device name for external encoder. |AExtEncName |String |EXPERT |RECONFIGURABLE | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |gear |Gear | | Conversion factor in [micro-steps/targetUnit]. |AGear |Float |EXPERT |RECONFIGURABLE |ON, ERROR, OFF, INTERLOCK_BROKEN | | | | | Convert with 64 micro-steps per step. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |homeNoLimit |homeNoLimit | | False - Homing searches for a limit switch |AHomeNoLimitFirst |Bool |EXPERT |RECONFIGURABLE | | | | | | first and then searches for a home switch | | | | | | | | | | starting at limit; True - search for home | | | | | | | | | | switch directly. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |homeUp |HomeUp | | False - default homing searches down for a home|AHomeUp |Bool |EXPERT |RECONFIGURABLE | | | | | | switch; True - will search up for a home switch| | | | | | | | | | instead. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |interfaces |Abstract Interfaces | | Abstract interface for external proxies to be | |VectorString |EXPERT |READONLY | | | | | | considered when working with this device | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |invLogicLim1 |Invert limit 1 logic | | Limit switch 1 logic: False - active high ; |AInvLogicLim1 |Bool |EXPERT |RECONFIGURABLE |ON, ERROR, OFF, INTERLOCK_BROKEN | | | | | True - active low. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |invLogicLim2 |Invert limit 2 logic | | Limit switch 2 logic: False - active high ; |AInvLogicLim2 |Bool |EXPERT |RECONFIGURABLE |ON, ERROR, OFF, INTERLOCK_BROKEN | | | | | True - active low. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |isInternalCounter |Terminal Counter | | False - No step counter in terminal available; |AFeedback |Bool |EXPERT |READONLY | | | | | | True - Internal counter from terminalis used. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |isInvertLimits |Invert limit logic | | Logic calibration: False - Limits active high |AInvertLimits |Bool |EXPERT |RECONFIGURABLE |ON, ERROR, OFF, INTERLOCK_BROKEN | | | | | (24 V); True - limits active low (0 V). | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |isLimitless |isLimitless | | Set to True for limit less axes - e.g. filter |ALimitless |Bool |EXPERT |RECONFIGURABLE | | | | | | wheels. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |masterMotor |Master motor | | Define master motor for master/slave operation |AMasterDevice |String |EXPERT |RECONFIGURABLE |ON, ERROR, OFF, INTERLOCK_BROKEN | | | | | mode. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |masterSlaveCorrelation |Master Slave Correlation | | The velocity of the slave motor is the velocity|ACouplingFactor |Float |EXPERT |RECONFIGURABLE |ON, ERROR, OFF, INTERLOCK_BROKEN | | | | | of the master multiplied by this factor (Only | | | | | | | | | | useful in mode 4). | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |maxCurrent |Max current | | Maximum motor current. |ACurrent |UInt16 |EXPERT |RECONFIGURABLE |ON, ERROR, ACTIVE, OFF, INTERLOCK_BROKEN | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |modus |Operation mode | | Operation mode: 0 - velocity mode; 1 - position|AModus |UInt8 |EXPERT |RECONFIGURABLE |ON, ERROR, OFF, INTERLOCK_BROKEN | | | | | mode; 2 - backlash mode; 3 - not implemented | | | | | | | | | | (reserved); 4 - master/slave mode. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |motorDriverVoltage |Motor Driver Voltage | | Voltage of the motor driver. |AMotVolt |Float |EXPERT |READONLY | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |offset |Offset | | Offset will be added to encoder position. |AOffset |Float |EXPERT |RECONFIGURABLE |ON, OFF, INTERLOCK_BROKEN | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |pConst |pConst | | Proportional feedback constant. |ApConst |Float |EXPERT |RECONFIGURABLE |ERROR, OFF, INTERLOCK_BROKEN | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |plcCycleAveraging |Number of PLC Cycles/Update | | Number of PLC Cycles after which the averaged |AAverage |UInt8 |EXPERT |RECONFIGURABLE | | | | | | encoder value is sent out. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |reducedCurrent |Reduced current | | Reduced current, when Idle or stopped - Holding|ARedCurrent |UInt16 |EXPERT |RECONFIGURABLE |ON, ERROR, ACTIVE, OFF, INTERLOCK_BROKEN | | | | | current. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |relativeDeadband |Software Deadband | | if target and actual positions have a relative | |Float |EXPERT |RECONFIGURABLE | | | | | | difference smaller than this property the | | | | | | | | | | 'move' command will not be sent to the PLC. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |saveLimitPosition |Save H/W limit | | Save Hardware limit position to the soft limit |ASaveLimPos |Bool |EXPERT |RECONFIGURABLE | | | | | | position. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |stepCounterPosition |Stepcounter position | | Motor position calculated from counter steps |AMotPosition |Float |EXPERT |READONLY | | | | | | (instead of encoder values). ONLY valid if | | | | | | | | | | connected to external encoder. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |syncEncoder |SyncMotPos | | True - Synchronizes motor and encoder terminal |ASyncMotPos |Bool |EXPERT |RECONFIGURABLE | | | | | | in time (offset cancellation). This offset is | | | | | | | | | | kept until a new trigger of this property; | | | | | | | | | | False - No synchronization is triggered. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |targetVelocity |Target velocity | | Target velocity in velocity mode. |ATargetVel |Int16 |EXPERT |RECONFIGURABLE | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |terminalTemperature |Terminal Temperature | | Terminal Temperature. |ATemperature |UInt8 |EXPERT |READONLY | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |vMax |vMax [terminalUnit/Cycle] | | Maximum velocity the motor can drive (EL7041 |AvMax |Int16 |EXPERT |RECONFIGURABLE |ERROR, OFF, INTERLOCK_BROKEN | | | | | unit 32767 is full speed). | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |vMin |vMin [terminalUnit/Cycle] | | Minimum velocity expressed in arbitrary |AvMin |Int16 |EXPERT |RECONFIGURABLE | | | | | | terminal units/cycle. | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+ |velocity |Velocity [targetUnit/s] | | Maximum velocity in [targetUnit/s] (EL7041 unit|AvMaxUnit |Float |EXPERT |RECONFIGURABLE |ERROR, OFF, INTERLOCK_BROKEN | | | | | 32767 is full speed). | | | | | | +-----------------------+------------------------------+--------------------------------------------------+------------------+-------------+-------------+---------------+-----------------------------------------+