FC_PhyEncGetPosition

FC_PhyEncGetPosition - General Information

Overview

Type:	Function
Available as of:	SystemInterface_1.32.6.0
Versions:	Current version

Task

Read-in the encoder position of the physical encoder (SinCos encoder).

Description

With this function the actual, absolute position (InitPosition) of the physical encoder (P_ENC) is read and the EncoderPosition is updated. The function only sends one job. This job is processed by a system task. This task communicates with the physical encoder via a serial interface.

WARNING

INVALID READING OF THE POSITION

Ensure that the encoder does not move during the read process.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

Use the function FC_PhyEncGetCmdState() to determine if the job was completed.

Interface

Input	Data type	Description
i_stEncId	ST_LogicalAddress	Logical address of the encoder

Return Value

Data type	Description
BOOL	TRUE: job started FALSE: job interface is busy (try again) or error

Example

PROGRAM PLC_PRG
VAR CONSTANT
   c_diErrorState: DINT := 50000;
END_VAR
VAR
   diState : DINT := 10;
   xPhyEncGetPositionResult: BOOL;
   xGetCmd2Result : BOOL;
   TONInst:TON;
   q_sErrorText:STRING;
END_VAR
CASE diState OF
10:

   xPhyEncGetPositionResult := FC_PhyEncGetPosition(PMEnc.stLogicalAddress);
   TONInst(IN := FALSE, PT := t#5s);
   TONInst(IN := TRUE, PT := t#5s);
   IF xPhyEncGetPositionResult = FALSE THEN
      q_sErrorText:=' FC_PhyEncGetPosition failed';
      diState := c_diErrorState;
   ELSE
      diState := 20;
   END_IF
20:

   TONInst(IN := TRUE, PT := t#5s);
   xGetCmd2Result := PhyEncGetCmdState2( PMEnc.stLogicalAddress );
   IF xGetCmd2Result = TRUE THEN
      diState := 30;
   END_IF
   IF TONInst.Q THEN
      q_sErrorText:=' FC_PhyEncGetPosition timeout';
      diState := c_diErrorState;
   END_IF
   c_diErrorState:;

END_CASE