Description
When an AKD is a slave node on a fieldbus (for example an AKD 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 AKD via a service channel, then you have several options on how you would like the AKD to respond to commands from each of the channels.
When the fieldbus is operational the AKD uses the 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 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. |
| 1 | Block Motion but Allow Tuning Commands - Commands that would interfere with motion are blocked. Gain and I/O configuration changes are allowed. |
DRV.HELP will include the [Blocked] attribute to indicate whether a parameter is being blocked. For example, if FBUS.PROTECTION is 0 and the network is operational, the following help will be shown.
-->DRV.HELP DRV.EN
Help for: DRV.EN [ActionCommand] [Blocked]
-->
If you attempt to execute a blocked parameter the following error would display.
-->DRV.EN
Error: [0008] Command blocked.
All write or command functions of a parameter will be blocked by FBUS.PROTECTION. FBUS.PROTECTION will not block the read function of any parameter.
When the fieldbus is operational, FBUS.PROTECTION is always blocked, but can be edited through the fieldbus. This ensures that the protection level can only be modified by the fieldbus when it is in control.
If a parameter is blocked through telnet, it will be accessible through the fieldbus. For example, SDO's in the case of CANopen or EtherCAT.
Parameters Affected by FBUS.PROTECTION
This table shows how the blocked attribute affects the following parameters in each state of FBUS.PROTECTION. This table is true only if FBUS.STATE = 5 (operational).
| FBUS.PROTECTION | 0 - Block Nothing | 1 - Block Motion Commands |
|---|---|---|
| DRV.EN DRV.DIS |
[Blocked] | |
| FBUS.PROTECTION | [Blocked] | |
| DRV.OPMODE DRV.CMDSOURCE |
[Blocked] | |
| DRV.STOP DRV.CLRFAULTS |
[Blocked] |
General Information
|
Type |
R/W Parameter |
|
Units |
N/A |
|
Range |
0 to 1 |
|
Default Value |
0 |
|
Data Type |
Integer |
|
Start Version |
M_01-08-00-000 |
| 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
|
Index/Subindex | Object Start Version |
|---|---|---|
|
EtherCAT COE and CANopen |
3498h/0 |
M_01-08-00-000 |
Related Topics
