The hardware abstraction layer is used to separate the motion of an axis (the so-called AXIS_REF) from the inverter. This means that it is possible to define which motion axis is to be connected to which inverter in the PLC program during project creation, but also at application runtime.
To create the hardware abstraction, the PLC project contains the new object 'Functions'. Motion axes and motion encoders can be attached to this object and connected to the desired hardware, participants on the EtherCAT.
When an inverter is added to the EtherCAT master, a query appears asking whether a motion axis should be created for this inverter in the 'Functions' object. This may be necessary if a motion axis has already been created in advance to test the motion function:
The dialog for the 'Functions' object shows an overview of which motion axis is connected to which inverter (online and offline) and shows which technology module is using the motion axis (UsedBy). This dialog can also be used to connect the motion axis to another inverter:
In the project settings (menu 'Project' > 'Project settings'), you can set how motion axes are to be inserted. If no EtherCAT devices have been inserted yet, you can set that motion axes are inserted directly under the inverter, as in PLC Designer V3:
The blocks from the 'L_IF1P_FunctionsConnections' library can be used to connect a motion axis (function) to an inverter at runtime of the PLC program or to disconnect an existing connection.
Contained in the following products:
PLC Designer V4.0
Application:If no inverter is connected to the motion axis, its motion profile can be tested virtually. This means that no inverters must be connected to the EtherCAT master of the Lenze controller for program creation.
The inverter required to achieve the required function performance can be easily linked to the motion axis of this function and therefore to the programmed movement.
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