Type:

Function block

Available as of:

V1.0.3.0

Inherits from:

-

Implements:

-

Versions:

Current version

i_xEnable

BOOL

A rising edge FALSE -> TRUE activates the POU, a falling edge TRUE -> FALSE deactivates the POU.

A deactivated POU does not execute any actions.

i_ifDrive

IF_Drive

Input for the axis that shall be controlled.

i_xStart

BOOL

FALSE -> TRUE: Start of the motion according to set parameters.

A rising edge at the input i_xStart during an active positioning interrupts the running motion and starts a new motion without stopping (floating). That is, parameter changes during motion are adopted with the first rising edge at the input i_xStart. All parameters (i_lrTarget, i_lrVel, i_lrAcc, i_lrDec, i_lrJerk) can be changed for the new positioning.

i_xStop

BOOL

TRUE: Stops a running positioning with the deceleration i_lrDec.

i_lrTarget

LREAL

Travel distance or targets of the motion in units are dependent on i_etPosMode.

i_lrVel

LREAL

Velocity (change of position) in units/s.

i_lrAcc

LREAL

Acceleration (change of velocity) in units/s².

i_lrDec

LREAL

Deceleration (change of velocity) in units/s².

i_lrJerk

LREAL

Jerk (change of acceleration/deceleration) in units/s³.

i_etPosMode

ET_PosMode

There are the following modes for positioning:

oEndless

The position counter is set to zero before positioning. Then it is positioned to the specified value in i_lrTarget.

oRelative

Positioning is performed relative to the position counter. That is, the position counter is not reset before positioning.

oAbsolute

Positioning is absolute. The position counter is not reset before positioning.

q_xActive

BOOL

TRUE: The POU is active and has to be executed further.

FALSE: The POU is inactive.

q_xReady

BOOL

TRUE: The POU is ready to operate and can accept user commands.

FALSE: The function block is not ready to accept user commands.

q_etDiag

GD.ET_Diag

General library-independent statement on the diagnostic.

A value not equal to ET_Diag.Ok corresponds to an diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output on the diagnostic.

q_etDiag = ET_Diag.Ok -> Status message

q_etDiag <> ET_Diag.Ok -> Diagnostic message

q_sMsg

STRING[80]

Event-triggered message which gives more detailed information on the diagnostic state.

q_xMotionInstructionActive

BOOL

TRUE: The axis is processing a motion command. The output is also set if the motion command defines that the axis is at stand still.

q_xInPosition

BOOL

TRUE: The axis is at target. If the positioning is interrupted, then the q_xInPosition is not set until the original target is approached.

q_lrPosition

LREAL

Position (RefPosition) of the axis.

OK

Disabled

9

The POU is disabled.

OK

Initializing

4

The POU is being initialized.

OK

Positioning

6

Positioning is being executed.

OK

Stopping

7

Active motion commands are stopped.

OK

WaitForStart

5

Waiting for starting command.

OK

WaitUntilDisabled

8

Waiting until the POU is deactivated.

DriveConditionInvalid

DriveNotReady

10

The drive is not ready for motion commands.

DriveConditionInvalid

SercosNotInPhaseFour

19

The Sercos bus is not in phase 4.

InputParameterInvalid

AccRange

12

Acc is outside the valid range.

InputParameterInvalid

DecRange

13

Dec is outside the valid range.

InputParameterInvalid

DriveInvalid

3

The connected drive is invalid.

InputParameterInvalid

JerkRange

14

Jerk is outside the valid range.

InputParameterInvalid

PosModeRange

322

PosMode is out of range

InputParameterInvalid

VelRange

11

Vel is outside the valid range.

UnexpectedProgramBehavior

UnexpectedFeedback

1

An unintended detected error occurred during execution.

UnexpectedProgramBehavior

UnknownState

2

The POU is in an undefined state.

Enumeration name:

AccRange

Enumeration value:

12

Description:

Acc is outside the valid range.

-

At the input i_lrAcc, an invalid value has been transferred.

The following must hold: 0 < i_lrAcc < drive parameter MaxAcc

For the valid value range for i_lrAcc, see output q_sMsg

Enumeration name:

DecRange

Enumeration value:

13

Description:

Dec is outside the valid range.

-

At the input i_lrDec, an invalid value has been transferred.

The following must hold: 0 < i_lrDec < drive parameter MaxAcc

For the valid value range for i_lrDec, see output q_sMsg

Enumeration name:

Disabled

Enumeration value:

9

Description:

The POU is disabled.

Enumeration name:

DriveInvalid

Enumeration value:

3

Description:

The connected drive is invalid.

-

At the input i_ifDrive, no drive was applied.

At the input i_ifDrive, a valid drive must be transferred.

-

The connected drive does not support all required functionalities.

Establish which functionalities are not supported by the drive by means of output q_sMsg.

Use a drive which supports all required functionalities.

Enumeration name:

DriveNotReady

Enumeration value:

10

Description:

The drive is not ready for motion commands.

-

The axis is not in position control.

Verify the state of the axis.

-

The parameter State of the SERCOS bus is not 4.

Set the SERCOS bus parameter PhaseSet to 4.

Verify the SERCOS bus for errors.

Enumeration name:

Initializing

Enumeration value:

4

Description:

The POU is being initialized.

Enumeration name:

JerkRange

Enumeration value:

14

Description:

Jerk is outside the valid range.

-

At the input i_lrJerk, an invalid value has been applied.

At the input i_lrJerk, a value greater than 0 and smaller than or equal to Gc_lrMaxJerk must be transferred.

Enumeration name:

Positioning

Enumeration value:

6

Description:

Positioning is being executed.

Enumeration name:

PosModeRange

Enumeration value:

322

Description:

PosMode is out of range

-

The operating mode Positioning has been selected and the i_etPosMode parameter of the ST_Positioning structure was allocated with an invalid value.

 For i_etPosMode, one of the values SystemInterface.ET_PosMode.Absolute, SystemInterface.ET_PosMode.Relative or SystemInterface.ET_PosModeEndless has to be given. The pos mode SystemInterface.ET_PosMode.Increment or other values are forbitten.

Enumeration name:

SercosNotInPhaseFour

Enumeration value:

19

Description:

The Sercos bus is not in phase 4.

-

The parameter State of the SERCOS bus is not 4.

Set the SERCOS bus parameter PhaseSet to 4.

Verify the SERCOS bus for errors.

Enumeration name:

Stopping

Enumeration value:

7

Description:

Active motion commands are stopped.

Enumeration name:

UnexpectedFeedback

Enumeration value:

1

Description:

An unintended detected error occurred during execution.

-

An error occurred in the internal execution.

Please inform the support team about this error.

Enumeration name:

UnknownState

Enumeration value:

2

Description:

The POU is in an undefined state.

-

An error occurred in the internal execution.

Please inform the support team about this error.

Enumeration name:

VelRange

Enumeration value:

11

Description:

Vel is outside the valid range.

-

At the input i_lrVel, an invalid value has been transferred.

For i_lrVel, a value greater than 0 and smaller than the axis parameter MaxVel must be specified.

Enumeration name:

WaitForStart

Enumeration value:

5

Description:

Waiting for starting command.

Enumeration name:

WaitUntilDisabled

Enumeration value:

8

Description:

Waiting until the POU is deactivated.

RegisterLoggerPoint

Registering the logger points of the POU in the Application Logger