DriveParamWrite

 Function Block A function block groups an algorithm and a set of private data. It has inputs and outputs. - Writes a drive parameter by sending an ASCII command to a drive.

Inputs

Input	Data Type	Range	Unit	Default	Description
Execute	BOOL	0, 1	N/A	No default	On the rising edge A rising edge is the transition of a digital signal from low to high. It is also called positive edge of Execute, a drive parameter is set. The function block processes only one request at a time. If Execute is toggled quickly so that another rising edge occurs before the function block has completed, the function block does not issue a second write command.
Drive	INT	No range	N/A	No default	The address of the drive where data is written. The first node usually has the value 1001. The second node usually has the value 1002. Alternately, use the members of the 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 structure to specify a device's address to Create Variables.
Param	STRING	No range	N/A	No default	The parameter to write.
Value	LREAL	No range	N/A	No default	The value to set the drive parameter to.

Outputs

Output	Data Type	Range	Unit	Description
Done	BOOL	No range	N/A	Indicates whether this function block has completed without error.
Error	BOOL	No range	N/A	Indicates whether this function block has completed with error.
ErrorID	DINT	No range	N/A	The DriveParamWrite error result if Error is TRUE. Upon success, Error is set to 0 (zero). See the EtherCAT Error Codes for more information.

Remarks

• 
  

• This function block uses and reserves the EtherCAT SDO Channel.
  The SDO Channel remains reserved until the done output is TRUE.
  This FB should be called at each cycle until the done output is TRUE.
  If it is not called at each cycle, the rest of SDO communication (e.g., the AKD GUI "Graphical User Interface" A GUI is a type of user interface which allows people to interact with a computer and computer-controlled devices Views) is blocked.
  Using this FB in SFC "Sequential Function Chart" It can be used to program processes that can be split into steps. The main components of SFC are: - Steps with associated actions - Transitions with associated logic conditions - Directed links between steps and transitions P0 or P1 steps is not recommended because these steps are executed only once.
  If this FB is used in P0 or P1, then it must be used in an SFC N step to ensure the FB completes.

• Use this function block to change drive parameters.
  Examples include:
  • Tuning parameters.
  • Changing drive limits (i.e., peak current).

• It takes multiple cycles to complete this function block.
• Typically only one DriveParamRead or DriveParamWrite function should be active for each axis at one time.
• If executing this function block continuously or if multiple times is required, add code that waits for this function block to complete (e.g., Done bit = 1) before executing it again.
  • See stats about the Execution Time.
• See EtherCAT Function Blocks that Work with Drive Parameters for information about function blocks not supported by ML and MC function blocks.

Figure 6-71: DriveParamWrite

EtherCAT Error Codes

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

      (* Write 58.000 to PL.KP of first AKD Dri
      ve on Ethe
      rCAT network *)
Inst_DriveParamWrite( TRUE, 1001, 'PL.KP', 58 );

See Also

DriveParamRead