BeckhoffSimpleMotor¶
Commands¶
| Key | Displayed Name | Description | Alias | Access Level | Allowed States |
|---|---|---|---|---|---|
| calibrate | Calibrate | Calibrate actual position to calibrated
position.
|
USER | ON, INTERLOCK_BROKEN | |
| 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
activated, this represents the encoder
position.
|
AEncPosition | Float | OBSERVER | READONLY | |
| 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
not.
|
Bool | OBSERVER | READONLY | ||
| 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
coordinated motion.
|
Bool | OBSERVER | READONLY | ||
| calibrateTarget | Calibrate target | The motor scale is set to this position when
hitting calibrate
|
Float | USER | RECONFIGURABLE | ||
| isIdleOpenLoop | Stopped on Target | True - Stopped on target; False - Idle on
target (follows encoder position).
|
AOpenLoop | Bool | USER | RECONFIGURABLE | ON, ERROR, OFF, INTERLOCK_BROKEN |
| 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
unit 32767 is full speed).
|
AaMax | Int16 | EXPERT | RECONFIGURABLE | ERROR, OFF, INTERLOCK_BROKEN |
| acceleration | Acceleration [targetUnit/s^2] | Maximum velocity difference in
[targetUnit/s^2].
|
AaMaxUnit | Float | EXPERT | RECONFIGURABLE | ERROR, OFF, INTERLOCK_BROKEN |
| backlash | Backlash | Backlash distance. ONLY valid in modus 2.
|
ABacklash | Float | EXPERT | RECONFIGURABLE | |
| checkLimitConsistency | Check Limit Consistency | Check for limit consistency. NOTE: Motor state
switches to error in case of moving in high
direction (H/W coordinates) triggers H/W limit
low.
|
AChkLimCons | Bool | EXPERT | RECONFIGURABLE | |
| controllerVoltage | Controller Voltage | Voltage of the controller section of the
terminal.
|
ACtrlVolt | Float | EXPERT | READONLY | |
| 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;
Without Encoder: Element is the length of a
micro-step [1/Gear].
|
AEncStep | Float | EXPERT | RECONFIGURABLE | ON, ERROR, OFF, INTERLOCK_BROKEN |
| extEncoderEnabled | Ext. Encoder enabled | True - Use external encoder; False - Don’t use
external encoder for position reference.
|
AExtEncEn | Bool | EXPERT | RECONFIGURABLE | |
| extEncoderName | Ext. Encoder name | Declare device name for external encoder.
|
AExtEncName | String | EXPERT | RECONFIGURABLE | |
| gear | Gear | Conversion factor in [micro-steps/targetUnit].
Convert with 64 micro-steps per step.
|
AGear | Float | EXPERT | RECONFIGURABLE | ON, ERROR, OFF, INTERLOCK_BROKEN |
| homeNoLimit | homeNoLimit | False - Homing searches for a limit switch
first and then searches for a home switch
starting at limit; True - search for home
switch directly.
|
AHomeNoLimitFirst | Bool | EXPERT | RECONFIGURABLE | |
| homeUp | HomeUp | False - default homing searches down for a home
switch; True - will search up for a home switch
instead.
|
AHomeUp | Bool | EXPERT | RECONFIGURABLE | |
| interfaces | Abstract Interfaces | Abstract interface for external proxies to be
considered when working with this device
|
VectorString | EXPERT | READONLY | ||
| invLogicLim1 | Invert limit 1 logic | Limit switch 1 logic: False - active high ;
True - active low.
|
AInvLogicLim1 | Bool | EXPERT | RECONFIGURABLE | ON, ERROR, OFF, INTERLOCK_BROKEN |
| invLogicLim2 | Invert limit 2 logic | Limit switch 2 logic: False - active high ;
True - active low.
|
AInvLogicLim2 | Bool | EXPERT | RECONFIGURABLE | ON, ERROR, OFF, INTERLOCK_BROKEN |
| isInternalCounter | Terminal Counter | False - No step counter in terminal available;
True - Internal counter from terminalis used.
|
AFeedback | Bool | EXPERT | READONLY | |
| isInvertLimits | Invert limit logic | Logic calibration: False - Limits active high
(24 V); True - limits active low (0 V).
|
AInvertLimits | Bool | EXPERT | RECONFIGURABLE | ON, ERROR, OFF, INTERLOCK_BROKEN |
| isLimitless | isLimitless | Set to True for limit less axes - e.g. filter
wheels.
|
ALimitless | Bool | EXPERT | RECONFIGURABLE | |
| masterMotor | Master motor | Define master motor for master/slave operation
mode.
|
AMasterDevice | String | EXPERT | RECONFIGURABLE | ON, ERROR, OFF, INTERLOCK_BROKEN |
| masterSlaveCorrelation | Master Slave Correlation | The velocity of the slave motor is the velocity
of the master multiplied by this factor (Only
useful in mode 4).
|
ACouplingFactor | Float | EXPERT | RECONFIGURABLE | ON, ERROR, OFF, INTERLOCK_BROKEN |
| 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
mode; 2 - backlash mode; 3 - not implemented
(reserved); 4 - master/slave mode.
|
AModus | UInt8 | EXPERT | RECONFIGURABLE | ON, ERROR, OFF, INTERLOCK_BROKEN |
| 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
encoder value is sent out.
|
AAverage | UInt8 | EXPERT | RECONFIGURABLE | |
| reducedCurrent | Reduced current | Reduced current, when Idle or stopped - Holding
current.
|
ARedCurrent | UInt16 | EXPERT | RECONFIGURABLE | ON, ERROR, ACTIVE, OFF, INTERLOCK_BROKEN |
| relativeDeadband | Software Deadband | if target and actual positions have a relative
difference smaller than this property the
‘move’ command will not be sent to the PLC.
|
Float | EXPERT | RECONFIGURABLE | ||
| saveLimitPosition | Save H/W limit | Save Hardware limit position to the soft limit
position.
|
ASaveLimPos | Bool | EXPERT | RECONFIGURABLE | |
| stepCounterPosition | Stepcounter position | Motor position calculated from counter steps
(instead of encoder values). ONLY valid if
connected to external encoder.
|
AMotPosition | Float | EXPERT | READONLY | |
| syncEncoder | SyncMotPos | True - Synchronizes motor and encoder terminal
in time (offset cancellation). This offset is
kept until a new trigger of this property;
False - No synchronization is triggered.
|
ASyncMotPos | Bool | EXPERT | RECONFIGURABLE | |
| 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
unit 32767 is full speed).
|
AvMax | Int16 | EXPERT | RECONFIGURABLE | ERROR, OFF, INTERLOCK_BROKEN |
| vMin | vMin [terminalUnit/Cycle] | Minimum velocity expressed in arbitrary
terminal units/cycle.
|
AvMin | Int16 | EXPERT | RECONFIGURABLE | |
| velocity | Velocity [targetUnit/s] | Maximum velocity in [targetUnit/s] (EL7041 unit
32767 is full speed).
|
AvMaxUnit | Float | EXPERT | RECONFIGURABLE | ERROR, OFF, INTERLOCK_BROKEN |