Python script options

The following options can be selected before executing the Python script.

Init (mandatory)

The code positions of the User_PRG\INIT action are adjusted so that all necessary user settings, parameter adjustments and functions are written to the respective axes when the INIT action is executed.

Referencing on PLC (mandatory)

Changes to User_PRG and its actions INIT and MAIN are necessary so that the axes of the decentralized controller can be referenced as usual via the axis interface.

Persistent variables for reference data and variables for the reference offset are created in the User_PRG. In INIT, referencing is prepared by transferring the persistent reference data including the reference method to the CiA402 axis. The reference offset is written cyclically to the MAIN so that the required reference offset takes effect during referencing.

Error history

The code positions for error tracking during operation are prepared. This makes it easier to rectify an error.

MultiAxis tuning page

The project is adapted for controller optimization of multi-axis applications, e.g. for double turntable drive vehicles. Up to 4 axes can be optimized simultaneously.

Traces

A trace with preset variables of the setpoints and actual values for position and speed is added to the IEC project. This allows to observe the behavior of single axes.

SCM PowerCap diagnostics

The code position of the User_PRG\MAIN action is extended for the diagnostics of MOVI-DPS^® energy storage units from SEW-EURODRIVE. For example, the DC link voltage and the temperature of the modules can be diagnosed.