Specifications
AP - 32 Applications Ver. 0002
AP.5 HANDLING OF INTERNAL VARIABLES VIA SERCOS
The features documented in this chapter need the following software versions:
8050/55 CNC versions V13.02 (mill) and V12.01 (lathe).
Drive versions V03.01 and later.
The data transmitted through the Sercos ring is classified in two groups:
Cyclic channel (fast):
It is updated at every position loop. It contains the velocity commands, feedback, etc.
Each variable read or written at the Drive is included in this information package. In order
not to overload the interface, one must limit the number of affected variables of the drive
to a minimum.
Service channel (slow):
Data transmitted at every certain number of position loops (monitoring, etc.)
This channel is accessed through part-program instructions, from the PLC channel or
from the user channel.
Cyclic channel. Variables of the Drive to be read from the PLC.
These variables are:
(See appendix A of this manual):
Driver name Sercos ID Name
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DV9 00012 -S12- Class2Diagnostics(Warnings)
DV10 00013 -S13- Class3Diagnostics(OperationStatus)
SV2 00040 -S40- VelocityFeedback
PV51 00051 -S51- PositionFeedback1
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TV2 00084 -S84- TorqueFeedback
CV3 33079 -F311- CurrentFeedback
DV11 33172 -F404- FagorDiagnostics
IV1 33673 -F905- AnalogInput1
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IV2 33674 -F906- AnalogInput2
IV10 33675 -F907- DigitalInputs
TV50 34468 -F1700- PowerFeedback
TV3 34469 -F1701- TorqueFeedbackPercentage
Identify the drive parameter to be read in one of the parameters P28-P67 of the PLC
table. Use an "n.i" format where "n" is the drive identifier in the Sercos ring and "i" is the
Sercos identifier of the drive parameter. See the next example.
These PLC parameters P28-P67 are associated with registers:
P28 with R700 P29 with R701 P30 with R702 etc...
Reading example: Set P28=4.33172 in the CNC machine parameters.
This way, PLC register R700 will contain the value of the variable DV11 -F00404-
which belongs to the drive identified with the Sercos number 4.