Lenze PLC Designer PLC-Designer (R2-x) SoftMotion - Manual (Page 48)

L-force | PLC Designer - SoftMotion
The SoftMotion drive interface
Drive element <BusInterfaceName>Drive.lib
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DMS 5.2 EN 03/2011 TD17
3.3 Drive element <BusInterfaceName>Drive.lib
 Drive elements are responsible for communication between the IEC program, in
particular the AXIS_REF structures, and the drives. These libraries are usually supplied
by the manufacturer of the control system and have to be integrated in the project.
 DummyDrive.lib is an example of drive element libraries and is supplied with the
SoftMotion libraries. Even if this library does not operate real drives, it functions
according to the same principle.
3.3.1 LenzeCANdrive.lib
The LenzeCANdrive.lib function library supports the drive types (Drive.wControlType)
Servo Drive 9400 StateLine and the ECSxM axis module (Motion):
ECSxM axis module (Motion)
Apart from control and status signals, the process data contain the current set position and
actual position.
Servo Drive 9400 StateLine
The process data can be configured. Apart from control and status signals they can contain
the following values:
 Set position and actual position
 Setpoint speed and actual speed
 Setpoint torque and actual torque