AXIS#.FBUS.PROTECTION
Description
When an AKD2G is a slave node on a fieldbus (for example an AKD2G is connected to an EtherCAT master) and WorkBench is simultaneously connected to an AKD2G using a service channel, there are several options for the AKD2G to respond to commands from each of the channels.
When the fieldbus is operational, the AKD2G uses the AXIS#.FBUS.PROTECTION parameter to select how commands from WorkBench, or any other device sending commands to the drive through a service channel, should be handled. WorkBench uses either of two service channels: Telnet or ASCII SDO. Both service channels are affected identically by AXIS#.FBUS.PROTECTION.
The following table shows the available options. If the fieldbus is not connected or not started, then parameters executed through a service channel are not blocked.
| Value | Description |
|---|---|
| 0 | Motion and Tuning Commands Allowed - Commands that interfere with motion are allowed. Gain and IO configuration changes are allowed. |
DRV.HELP includes the [Blocked] attribute to indicate if a parameter is being blocked. For example, if AXIS#.FBUS.PROTECTION is 0 and the network is operational, the following help is shown.
-->DRV.HELP AXIS1.EN
Help for: AXIS1.EN [ActionCommand] [Blocked]
-->
If an attempt is made to execute a blocked parameter, the following error appears.
-->AXIS1.EN
Error: [0106] Command blocked while fieldbus is operational.
All write or command functions of a parameter are blocked by AXIS#.FBUS.PROTECTION. AXIS#.FBUS.PROTECTION does not block the read function of any parameter.
If a parameter is blocked through telnet, it is accessible through the fieldbus. For example, SDOs in the case of CANopen or EtherCAT.
Use AXIS#.FBUS.BLOCKING to read if the axis is blocked.
Parameters Affected by AXIS#.FBUS.PROTECTION
This is a list of all parameters that are blocked when AXIS#.FBUS.PROTECTION is 1 and CANOPEN.STATE = 5 (operational).
- AXIS#.EN
- AXIS#.DIS
- AXIS#.OPMODE
- AXIS#.CMDSOURCE
- AXIS#.STOP
- AXIS#.CLRFAULTS
- DRV.CLRFAULTS
- AXIS#.SM.MOVE
- AXIS#.MT.MOVE
- AXIS#.HOME.MOVE
- AXIS#.IL.CMDU
- AXIS#.VL.CMDU
- AXIS#.MOTOR.BRAKECONTROL
The action table and any associated active actions still operate when AXIS#.FBUS.PROTECTION is set (see Action Table).
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-00-00-000 |
General Information
|
Type |
Read/Write |
|
Units |
N/A |
|
Range |
0 to 1 |
|
Default Value |
0 |
|
Data Type |
Integer |
|
Stored in Non-Volatile Memory |
Yes |
Variants Supported
Not supported on analog drive models.
Fieldbus Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
AXIS1.FBUS.PROTECTION |
5005h |
01h |
Unsigned8 |
- |
- |
Read/Write |
No |
|
AXIS2.FBUS.PROTECTION |
5105h |
01h |
Unsigned8 |
- |
- |
Read/Write |
No |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
5102 |
1 |
5102 (0x13ee) |
AXIS1.FBUS.PROTECTION |
Unsigned8 |
Read/Write |
Yes |
|
70638 |
2 |
5102 (0x13ee) |
AXIS2.FBUS.PROTECTION |
Unsigned8 |
Read/Write |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.FBUS.PROTECTION |
5102 |
Unsigned8 |
Read/Write |
- |
