AXIS#.FBUS.PROTECTION
Description
When an AKD2G is a slave node on a fieldbus (for example an AKD2G is connected to an EtherCAT
EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs master) and WorkBench is simultaneously connected to an AKD2G via a service channel, then you have several options on how you would like 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 allow the user to select how commands from WorkBench, or any other device sending commands to the drive through a service channel, should be handled. WorkBench can use 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 will not be blocked.
| Value | Description |
|---|---|
| 0 | Motion and Tuning Commands Allowed - Commands that would interfere with motion are allowed. Gain and IO configuration changes are allowed. |
DRV.HELP will include the [Blocked] attribute to indicate whether a parameter is being blocked. For example, if AXIS#.FBUS.PROTECTION is 0 and the network is operational, the following help will be shown.
-->DRV.HELP AXIS1.EN
Help for: AXIS1.EN [ActionCommand] [Blocked]
-->
If you attempt to execute a blocked parameter, the following error would display.
-->AXIS1.EN
Error: [0106] Command blocked while fieldbus is operational.
All write or command functions of a parameter will be blocked by AXIS#.FBUS.PROTECTION. AXIS#.FBUS.PROTECTION will not block the read function of any parameter.
If a parameter is blocked through telnet, it will be accessible through the fieldbus. For example, SDOs in the case of CANopen or EtherCAT.
You can use AXIS#.FBUS.BLOCKING to read if the axis is currently being 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"Instruction list"
This is a low-level language and resembles assembly.CMDU
- AXIS#.VL.CMDU
- AXIS#.MOTOR.BRAKECONTROL
The action table and any associated active actions will 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
| FieldbusA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design
|
Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable |
|---|---|---|---|---|---|---|---|---|
| EtherCAT COE and CANopen | AXIS1.FBUS.PROTECTION | 0x5005 | 0x1 | USINT | - | - | RW | False |
| AXIS2.FBUS.PROTECTION | 0x5105 | 0x1 | USINT | - | - | RW | False |
