FB_AxisModule - Behavior in the Operating Modes
Command Processing
A successful executed command is displayed as follows:
q_xCMDActive = FALSE
q_diCMDActive = last command
q_xCMDDone = TRUE
iq_diCMD = 0
Operating mode commands are not possible if an error reaction TPL.ET_Reaction.AsyncStop, TPL.ET_Reaction.SyncStopEL or TPL.ET_Reaction.SyncStopEH is pending.
You cannot enable the position control via the DriveEnableOn command if an error reaction TPL.ET_Reaction.AsyncStop, TPL.ET_Reaction.SyncStopEL is pending.
Operating modes
oNoOp
No operating mode choosen. The module is in wait state.
The technology POU PDL.FB_DriveEnable is being activated.
Basic monitoring systems are enabled:
oMonitoring the diagnostic messages of the axis
oMonitoring of the hardware limit switches
oMonitoring of the reduced velocity
Possible state commands
oDriveEnableOn -> The position control of the axis is activated.
oDriveEnableOff -> The position control of the axis is being disabled.
Possible operating mode commands
oHoming -> Change to operating mode Homing takes place.
oManual -> Change to operating mode Manual takes place.
oCamCs -> Change to operating mode MultiCam takes place and a cold start is preselected.
oCamWs -> Change to operating mode MultiCam takes place and a warm start is preselected.
oEndless -> Change to operating mode Endless takes place.
oEndlessIls -> Change to operating mode EndlessIls takes place.
oPositioning -> Change to operating mode Positioning takes place.
oBrakeRelease -> Change to operating mode BrakeRelease takes place.
oAdditionalCs -> Change to operating mode Additional takes place and a cold start is preselected.
oAdditionalWs -> Change to operating mode Additional takes place and a warm start is preselected.
The operating mode Homing is selected. The axis is homed via the mode selected in i_etMode.
The operating mode is parameterized in the structures ST_Home and ST_Main.
The technology POUs PDL.FB_DriveEnable and PDL.FB_Homing are being activated.
Basic monitoring systems are enabled:
oMonitoring the diagnostic messages of the axis
oMonitoring of the hardware limit switches
oMonitoring of the reduced velocity
Possible state commands
oStart -> Homing of the axis is started.
oHold -> Homing of the axis is stopped.
oDriveEnableOn -> The position control of the axis is activated.
oDriveEnableOff -> The position control of the axis is being disabled.
Possible operating mode commands
oStop -> Change to operating mode NoOp takes place.
oCamCs -> Change to operating mode MultiCam takes place and a cold start is preselected.
oCamWs -> Change to operating mode MultiCam takes place and a warm start is preselected.
oManual -> Change to operating mode Manual takes place.
oEndless -> Change to operating mode Endless takes place.
oEndlessIls -> Change to operating mode EndlessIls takes place.
oPositioning -> Change to operating mode Positioning takes place.
oBrakeRelease -> Change to operating mode BrakeRelease takes place.
oAdditionalCs -> Change to operating mode Additional takes place and a cold start is preselected.
oAdditionalWs -> Change to operating mode Additional takes place and a warm start is preselected.
The operating mode Manual is selected. In jogging mode, the axis can be activated via the inputs i_xJogForw and i_xJogBack.
The operating mode is parameterized in the structures ST_Manual and ST_Main.
The technology POUs PDL.FB_DriveEnable and PDL.FB_Jogging are being activated.
Basic monitoring systems are enabled:
oMonitoring the diagnostic messages of the axis
oMonitoring of the hardware limit switches
oMonitoring of the reduced velocity
Possible state commands
oi_xJogForw and i_xJogBack of the stAxisModuleManual structure move the axis in positive and negative direction.
oDriveEnableOn -> The position control of the axis is activated.
oDriveEnableOff -> The position control of the axis is being disabled.
Possible operating mode commands
oStop -> Change to operating mode NoOp takes place.
oHoming -> Change to operating mode Homing takes place.
oCamCs -> Change to operating mode MultiCam takes place and a cold start is preselected.
oCamWs -> Change to operating mode MultiCam takes place and a warm start is preselected.
oEndless -> Change to operating mode Endless takes place.
oEndlessIls -> Change to operating mode EndlessIls takes place.
oPositioning -> Change to operating mode Positioning takes place.
oBrakeRelease -> Change to operating mode BrakeRelease takes place.
oAdditionalCs -> Change to operating mode Additional takes place and a cold start is preselected.
oAdditionalWs -> Change to operating mode Additional takes place and a warm start is preselected.
The operating mode MultiCam is selected. The axis is appended as slave to a master via cams.
The operating mode is parameterized in the structures ST_MultiCam and ST_Main.
The technology POUs PDL.FB_DriveEnable and PDL.FB_MultiCam are being activated.
If the axis shall be activated in an ILS network, the pstIlsData parameter of the ST_MultiCam structure must be linked to the (global) stIlsData structure, to which also the pstIlsData parameter of the ST_EndlessFeed structure of the master module was linked. Subsequently, the technology POU PDL.FB_PreCalcMultiCam is called up first.
Basic monitoring systems are enabled:
oMonitoring the diagnostic messages of the axis
oMonitoring of the hardware limit switches
oMonitoring of the reduced velocity
Possible state commands
oStart -> If the operating mode was entered via the CamCs command, a cold start is executed.
If the operating mode was entered via the CamWs command, a warm start is preselected. Subsequently, a WsStart command is waited for.
oWsStart -> After the warm start has been prepared via the commands CamWs - Start, the warm start motion is started via WsStart.
oHold -> The start command is canceled.
oDriveEnableOn -> The position control of the axis is activated.
oDriveEnableOff -> The position control of the axis is being disabled.
Possible operating mode commands
oStop -> Change to operating mode NoOp takes place.
oHoming -> Change to operating mode Homing takes place.
oManual -> Change to operating mode Manual takes place.
oEndless -> Change to operating mode Endless takes place.
oEndlessIls -> Change to operating mode EndlessIls takes place.
oPositioning -> Change to operating mode Positioning takes place.
oBrakeRelease -> Change to operating mode BrakeRelease takes place.
oAdditionalCs -> Change to operating mode Additional takes place and a cold start is preselected.
oAdditionalWs -> Change to operating mode Additional takes place and a warm start is preselected.
The operating mode Endless is selected. The axis is endlessly moved at a (constant) velocity in one direction.
The operating mode is parameterized in the structures ST_EndlessFeed and ST_Main.
The technology POUs PDL.FB_DriveEnable and PDL.FB_EndlessFeed are being activated.
Basic monitoring systems are enabled:
oMonitoring the diagnostic messages of the axis
oMonitoring of the hardware limit switches
oMonitoring of the reduced velocity
Possible state commands
oStart -> The endless feed of the axis is started.
oHold -> The endless feed of the axis is stopped.
oDriveEnableOn -> The position control of the axis is activated.
oDriveEnableOff -> The position control of the axis is being disabled.
Possible operating mode commands
oStop -> Change to operating mode NoOp takes place.
oHoming -> Change to operating mode Homing takes place.
oCamCs -> Change to operating mode MultiCam takes place and a cold start is preselected.
oCamWs -> Change to operating mode MultiCam takes place and a warm start is preselected.
oManual -> Change to operating mode Manual takes place.
oEndlessIls -> Change to operating mode EndlessIls takes place.
oPositioning -> Change to operating mode Positioning takes place.
oBrakeRelease -> Change to operating mode BrakeRelease takes place.
oAdditionalCs -> Change to operating mode Additional takes place and a cold start is preselected.
oAdditionalWs -> Change to operating mode Additional takes place and a warm start is preselected.
The operating mode EndlessIIs is selected. The axis is endlessly moved at a (constant) velocity in one direction. It serves as master for an Ils network.
The operating mode is parameterized in the ST_EndlessFeed structure and in the stIlsData structure contained in it, as well as in the ST_Main structure.
The technology POUs PDL.FB_DriveEnable and PDL.FB_EndlessFeedIls are being activated.
Basic monitoring systems are enabled:
oMonitoring the diagnostic messages of the axis
oMonitoring of the hardware limit switches
oMonitoring of the reduced velocity
Possible state commands
oStart -> The endless feed of the axis is started.
oHold -> The endless feed of the axis is stopped.
oDriveEnableOn -> The position control of the axis is activated.
oDriveEnableOff -> The position control of the axis is being disabled.
Possible operating mode commands
oStop -> Change to operating mode NoOp takes place.
oHoming -> Change to operating mode Homing takes place.
oCamCs -> Change to operating mode MultiCam takes place and a cold start is preselected.
oCamWs -> Change to operating mode MultiCam takes place and a warm start is preselected.
oManual -> Change to operating mode Manual takes place.
oEndless -> Change to operating mode Endless takes place.
oPositioning -> Change to operating mode Positioning takes place.
oBrakeRelease -> Change to operating mode BrakeRelease takes place.
oAdditionalCs -> Change to operating mode Additional takes place and a cold start is preselected.
oAdditionalWs -> Change to operating mode Additional takes place and a warm start is preselected.
The operating mode Positioning is selected. The axis is moved relatively by a certain distance or absolutely to a position.
The operating mode is parameterized in the structures ST_Positioning and ST_Main.
The technology POUs PDL.FB_DriveEnable and PDL.FB_VarioPosJerk are being activated.
In the operating mode Positioning the Start command may be overwritten by the Hold command. The internal start bit may also be reset by the i_xPosStop input of the ST_Main structure, so that the axis starts to move again with the next start signal without having received a Hold command.
Basic monitoring systems are enabled:
oMonitoring the diagnostic messages of the axis
oMonitoring of the hardware limit switches
oMonitoring of the reduced velocity
Possible state commands
oStart -> Positioning is started.
oHold -> Positioning is stopped.
oDriveEnableOn -> The position control of the axis is activated.
oDriveEnableOff -> The position control of the axis is being disabled.
Possible operating mode commands
oStop -> Change to operating mode NoOp takes place.
oHoming -> Change to operating mode Homing takes place.
oCamCs -> Change to operating mode MultiCam takes place and a cold start is preselected.
oCamWs -> Change to operating mode MultiCam takes place and a warm start is preselected.
oManual -> Change to operating mode Manual takes place.
oEndless -> Change to operating mode Endless takes place.
oEndlessIls -> Change to operating mode EndlessIls takes place.
oBrakeRelease -> Change to operating mode BrakeRelease takes place.
oAdditionalCs -> Change to operating mode Additional takes place and a cold start is preselected.
oAdditionalWs -> Change to operating mode Additional takes place and a warm start is preselected.
The operating mode BrakeRelease is selected. The axis is not moved. Only the holding brake of the axis is opened and closed.
The operating mode is parameterized in the structures ST_BrakeRelease and ST_Main.
The technology POUs PDL.FB_DriveEnable and PDL.FB_Brake are being activated.
Basic monitoring systems are enabled:
oMonitoring the diagnostic messages of the axis
oMonitoring of the hardware limit switches
oMonitoring of the reduced velocity
Possible state commands
oStart -> The holding brake is opened.
oHold -> The holding brake is closed.
oDriveEnableOn -> The position control of the axis is activated.
oDriveEnableOff -> The position control of the axis is being disabled.
Possible operating mode commands
oStop -> Change to operating mode NoOp takes place.
oHoming -> Change to operating mode Homing takes place.
oCamCs -> Change to operating mode MultiCam takes place and a cold start is preselected.
oCamWs -> Change to operating mode MultiCam takes place and a warm start is preselected.
oManual -> Change to operating mode Manual takes place.
oEndless -> Change to operating mode Endless takes place.
oEndlessIls -> Change to operating mode EndlessIls takes place.
oPositioning -> Change to operating mode Positioning takes place.
oAdditionalCs -> Change to operating mode Additional takes place and a cold start is preselected.
oAdditionalWs -> Change to operating mode Additional takes place and a warm start is preselected.
The operation mode Additional is selected. In this operating mode an external user POU is activated. The axis module takes over the position control of the axis and the command handling.
The operating mode is parameterized in the structures ST_AdditionalMode and ST_Main.
The technology POU PDL.FB_DriveEnable is being activated.
Basic monitoring systems are enabled:
oMonitoring the diagnostic messages of the axis
oMonitoring of the hardware limit switches
oMonitoring of the reduced velocity
Possible state commands
oStart -> The q_xStart bit of the ST_AdditionalMode structure is being set to TRUE. If the operating mode was entered via the AdditionalCs command, a cold start is executed. The q_xWsSelect bit of the ST_AdditionalMode structure remains on FALSE.
If the operating mode was entered via the AdditionalWs command, a warm start is preselected. The q_xWsSelect bit of the ST_AdditionalMode structure is being set to TRUE. Subsequently, a WsStart command is waited for.
oWsStart -> After the warm start has been prepared by means of the commands AdditionalWs - Start, the warm start motion is started via WsStart. The q_xWsStart bit of the ST_AxisModuleAdditionalMode structure is being set to TRUE.
oHold -> The external POU is stopped. The q_xStart bit of the ST_AxisModuleAdditionalMode structure is being set to FALSE.
oDriveEnableOn -> The position control of the axis is activated.
oDriveEnableOff -> The position control of the axis is being disabled.
Possible operating mode commands
oStop -> Change to operating mode NoOp takes place.
oHoming -> Change to operating mode Homing takes place.
oCamCs -> Change to operating mode MultiCam takes place and a cold start is preselected.
oCamWs -> Change to operating mode MultiCam takes place and a warm start is preselected.
oManual -> Change to operating mode Manual takes place.
oEndless -> Change to operating mode Endless takes place.
oEndlessIls -> Change to operating mode EndlessIls takes place.
oPositioning -> Change to operating mode Positioning takes place.
oBrakeRelease -> Change to operating mode BrakeRelease takes place.
