FB_MultiBelt

FB_MultiBelt - General Information

Overview

Type:	Function block
Available as of:	V1.0.0.0
Inherits from:	-
Implements:	-
Versions:	Current version

Task

Processing several trains in a MultiBelt network. The function block replaces and enhances DualBelt functionality and can be used for the infeed or grouping of products.

Description

Using this module, several belts processing parallel can be processed with the trains mounted on them. Stations can be defined where the trains can pick up or deliver the products. See Basics for a detailed description of the function and the options.

NOTE: Only Controller OnBoard I/O touch probes and drive touch probes are supported by the functionalities of this library. TM5 module touch probes are not supported.

Interface

Input	Data type	Description
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_xStart	BOOL	FALSE -> TRUE: Start of the MultiBelt network according to the set parameters.
i_xWSSelect	BOOL	TRUE: Warm start is selected. With a positive edge on i_xStart, a warm start is performed first.

Input

Data type

Description

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_xStart

BOOL

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

i_xWSSelect

BOOL

TRUE: Warm start is selected. With a positive edge on i_xStart, a warm start is performed first.

Output	Data type	Description
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 POU is not ready to accept user commands.
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> status message q_etDiag <> GD.ET_Diag.Ok -> diagnostic message
q_sMsg	STRING[80]	Event-triggered message which gives more detailed information on the diagnostic state.

Input/Output	Data type	Description
iq_stMultiBelt	ST_MultiBelt	Parameter structure of the MultiBelt network

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	AllTrainsHold	9	All trains were stopped.
OK	Automatic	8	The MultiBelt is in automatic mode.
OK	Disabled	0	The POU is disabled.
OK	Initializing	91	The POU is being initialized.
OK	WaitAllTrainsInactive	15	Wait until all the trains are deactivated.
OK	WaitAllTrainsReady	1	Wait until all the trains are ready.
OK	WaitAllTrainsStopped	10	Wait until all the trains are stopped.
OK	WaitColdStartAccepted	3	Wait until the cold start has been accepted.
OK	WaitColdStartDone	4	Wait until the cold start is completed.
OK	WaitForStart	2	Waiting for starting command.
OK	WaitStationsReady	7	Wait until all the stations are ready.
OK	WaitWarmStartDone	6	Wait until the warm start is completed.
ControllerConditionInvalid	TimerInterfaceInvalid	35	The interface Timer is invalid.
InputParameterInvalid	AdditionalStepRange	74	AdditionalStep is outside the valid range.
InputParameterInvalid	BeltLengthInvalid	34	The length of the belt is invalid.
InputParameterInvalid	BeltLengthRange	47	BeltLength is outside the valid range.
InputParameterInvalid	ControllerStopInterfaceInvalid	101	The ControllerStopInterface is invalid.
InputParameterInvalid	CrashDistanceRange	46	CrashDistance is outside the valid range.
InputParameterInvalid	DepartureAccelerationRange	54	The acceleration of the start motion is outside the valid range.
InputParameterInvalid	DepartureDecelerationRange	55	The deceleration of the departure move is outside the valid range.
InputParameterInvalid	DepartureDelayRange	62	DepartureDelay is outside the valid range.
InputParameterInvalid	DepartureJerkRange	56	The jerk of the start moiton is outside the valid range.
InputParameterInvalid	DepartureVelocityRange	53	The velocity of the start motion is outside the valid range.
InputParameterInvalid	DriveLogAdrInvalid	26	The interface of the axis is invalid.
InputParameterInvalid	DriveNotSet	81	The axis has not been set.
InputParameterInvalid	FeatureNotSupported	102	This feature is not supported at present. For additional information refer to g_sMsg.
InputParameterInvalid	GearFactorRange	99	The GearFactor is outside its value range
InputParameterInvalid	HomeOffsetInvalid	30	The distance between two trains is invalid.
InputParameterInvalid	LencHelpNotSet	61	The help encoder was not set.
InputParameterInvalid	LimitInterfaceInvalid	36	The interface Limit is invalid.
InputParameterInvalid	LockOutTimeRange	63	LockOutTime is outside the valid range.
InputParameterInvalid	MasterPeriodeRange	92	lrMasterPeriod is outside its value range
InputParameterInvalid	MinProductLengthRange	93	The value of the parameter lrMinProductLength is outside its range.
InputParameterInvalid	MinProductTimeRange	64	MinProductTime is outside the valid range.
InputParameterInvalid	NumOfBeltsRange	44	NumOfBelts is outside the valid range.
InputParameterInvalid	NumOfStationsRange	43	NumOfStations is outside the valid range.
InputParameterInvalid	NumOfStepsRange	70	NumOfSteps is outside the valid range.
InputParameterInvalid	PhaseRange	94	lrPhase is outside its value range
InputParameterInvalid	ProductsPerStepRange	71	ProductsPerStep is outside the valid range.
InputParameterInvalid	ReadyForStepOffsetRange	66	ReadyForStepOffset is outside the valid range.
InputParameterInvalid	RefActValuesInterfaceInvalid	80	The interface RefActValues is invalid.
InputParameterInvalid	SetLimitInterfaceInvalid	42	The interface SetLimit is invalid.
InputParameterInvalid	SkipStepsNotSupportedForSynchron	103	SkipSteps feature is not supported for synchron stations.
InputParameterInvalid	StartAcceptOffsetRange	78	StartAcceptOffset is outside the valid range.
InputParameterInvalid	StartDelayDistanceRange	98	The parameter lrStartDelayDistance is outside its value range.
InputParameterInvalid	StartDelayTimeRange	65	StartDelayTime is outside the valid range.
InputParameterInvalid	StationLockOffsetRange	79	StationLockOffset is outside the valid range.
InputParameterInvalid	StationPosRange	69	StationPos is outside the valid range.
InputParameterInvalid	StepAccelerationRange	58	The acceleration of a step is outside the valid range.
InputParameterInvalid	StepDecelerationRange	59	The deceleration of a step is outside the valid range.
InputParameterInvalid	StepJerkRange	60	The jerk of a step is outside the valid range.
InputParameterInvalid	StepsRange	72	Steps is outside the valid range.
InputParameterInvalid	StepVelocityRange	57	The velocity for a step is outside the valid range.
InputParameterInvalid	StopDistanceRange	75	StopDistance is outside the valid range.
InputParameterInvalid	SumOfStepsRange	73	The sum of the steps is invalid.
InputParameterInvalid	SynchronEndRange	95	lrSynchronEnd is outside its value range.
InputParameterInvalid	SynchronStartPlusSychronEndEndRange	97	The sum of (SynchronStart + SynchronEnd) is outside its value range.
InputParameterInvalid	SynchronStartRange	96	lrSynchronStart is outside its value range.
InputParameterInvalid	TrainLengthRange	48	TrainLength is outside the valid range.
InputParameterInvalid	TrainOrderInvalid	31	The sequence of the trains is invalid.
InputParameterInvalid	TrainsDistanceFactorRange	67	TrainsDistanceFactor is outside the valid range.
InputParameterInvalid	TrainsDistanceRange	68	TrainsDistance is outside the valid range.
InputParameterInvalid	TrainsPerBeltRange	45	TrainsPerBeltRange is outside the valid range.
InputParameterInvalid	TrainTimeOutRange	77	TrainTimeOut is outside the valid range.
InputParameterInvalid	UserCamIdNotSet	100	diUserCamId for the law of motion SystemCam is not assigned.
InputParameterInvalid	WarmStartAccelerationRange	51	The acceleration for the warm start is outside the valid range.
InputParameterInvalid	WarmStartDecelerationRange	51	The deceleration for the warm start is outside the valid range.
InputParameterInvalid	WarmStartJerkRange	50	The jerk for the warm start is outside the valid range.
InputParameterInvalid	WarmStartVelocityRange	49	The velocity for the warm start is outside the valid range.
InputParameterInvalid	WarningDistanceRange	76	Warning distance is outside the valid range.
SercosConditionInvalid	SercosInterfaceInvalid	24	The Sercos interface is invalid.
SystemParameterInvalid	CycleTimeDiag	33	The cycle time of the RTB is outside the valid range.
UnexpectedProgramBehavior	Crash	22	Collision
UnexpectedProgramBehavior	SmgDiag	23	Diagnostic message of the Smg.
UnexpectedProgramBehavior	TrainMovesBackward	39	A train is moving backwards.
UnexpectedProgramBehavior	UnknownState	25	Indeterminable state.
WarmStartConditionInvalid	OutOfWarmStartWindow	32	The position of the train is outside the warm start window.
WarmStartConditionInvalid	WarmStartNotPossible	27	A warm start is not possible.

AdditionalStepRange

Enumeration name:	AdditionalStepRange
Enumeration value:	74
Description:	AdditionalStep is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].lrAdditionalStep is outside its value range.	The parameter stMultiBelt.astStation[x].lrAdditionalStep must be in the range >= 0.

AllTrainsHold

Enumeration name:	AllTrainsHold
Enumeration value:	9
Description:	All trains were stopped.

Issue	Cause	Solution
-	Status message - Stop during automatic mode Input i_xStart = FALSE	Set the input i_xStart to TRUE.

Issue

Cause

Solution

Status message - Stop during automatic mode

Input i_xStart = FALSE

Set the input i_xStart to TRUE.

Automatic

Enumeration name:	Automatic
Enumeration value:	8
Description:	The MultiBelt is in automatic mode.

Automatic mode is active

BeltLengthInvalid

Enumeration name:	BeltLengthInvalid
Enumeration value:	34
Description:	The length of the belt is invalid.

Issue	Cause	Solution
-	At least one train position is greater than +/-stGeneral.lrBeltLength	The trains must be homed. Adjust the parameter stMultiBelt.stGeneral.lrBeltLength.

BeltLengthRange

Enumeration name:	BeltLengthRange
Enumeration value:	47
Description:	BeltLength is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.stGeneral.lrBeltLength is outside its value range.	The parameter stMultiBelt.stGeneral.lrBeltLength must be in the range > 0.

ControllerStopInterfaceInvalid

Enumeration name:	ControllerStopInterfaceInvalid
Enumeration value:	101
Description:	The ControllerStopInterface is invalid.

Issue	Cause	Solution
-	ControllerStop interface invalid	Incorrect drive type

Crash

Enumeration name:	Crash
Enumeration value:	22
Description:	Collision

Issue	Cause	Solution
-	The collision monitoring has detected critical distances between the trains and stopped.	Verify parameterization of the stations and trains. Verify parameter stMultiBelt.stGeneral.lrCrashDistance.

CrashDistanceRange

Enumeration name:	CrashDistanceRange
Enumeration value:	46
Description:	CrashDistance is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.stGeneral.lrCrashDistance is outside its value range.	The parameter stMultiBelt.stGeneral.lrCrashDistance must be in the range > - stMultiBelt.stGeneral.lrBeltLength.

CycleTimeDiag

Enumeration name:	CycleTimeDiag
Enumeration value:	33
Description:	The cycle time of the RTB is outside the valid range.

Issue	Cause	Solution
-	The RTB cycle time must be less than the cycle time of the task.	Decrease the RTB cycle time. Increase the task cycle time.

Issue

Cause

Solution

The RTB cycle time must be less than the cycle time of the task.

Decrease the RTB cycle time.

Increase the task cycle time.

DepartureAccelerationRange

Enumeration name:	DepartureAccelerationRange
Enumeration value:	54
Description:	The acceleration of the start motion is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].stIndexed.stDepartureMove.lrAcc is outside its value range.	The parameter stMultiBelt.astStation[x].stIndexed.stDepartureMove.lrAcc must be in the range between Gc_lrMinAcceleration and the smallest MaxAcc of all trains.

DepartureDecelerationRange

Enumeration name:	DepartureDecelerationRange
Enumeration value:	55
Description:	The deceleration of the departure move is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].stIndexed.stDepartureMove.lrDec is outside its value range.	The parameter stMultiBelt.astStation[x].stIndexed.stDepartureMove.lrDec must be in the range between Gc_lrMinDeceleration and the smallest MaxAcc of all trains.

DepartureDelayRange

Enumeration name:	DepartureDelayRange
Enumeration value:	62
Description:	DepartureDelay is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[iStation].stIndexed.lrDepartureDelay is outside its value range.	The parameter stMultiBelt.astStation[iStation].stIndexed.lrDepartureDelay must be in the range 0 to stMultiBelt.astStation[iStation].stIndexed.lrStartDelayTime.

DepartureJerkRange

Enumeration name:	DepartureJerkRange
Enumeration value:	56
Description:	The jerk of the start moiton is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].stIndexed.stDepartureMove.lrJerk is outside the valid range.	The parameter stMultiBelt.astStation[x].stIndexed.stDepartureMove.lrJerk must be in the range > Gc_lrMinJerk.

DepartureVelocityRange

Enumeration name:	DepartureVelocityRange
Enumeration value:	53
Description:	The velocity of the start motion is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].stIndexed.stDepartureMove.lrVel is outside its value range.	The parameter stMultiBelt.astStation[x].stIndexed.stDepartureMove.lrVel must be in the range between Gc_lrMinVelocity and the smallest MaxVel of all trains.

Disabled

Enumeration name:	Disabled
Enumeration value:	0
Description:	The POU is disabled.

Issue	Cause	Solution
-	Status message - Function block is not activated. The input i_xEnable is FALSE.	Set the input i_xEnable to TRUE.

Issue

Cause

Solution

Status message - Function block is not activated.

The input i_xEnable is FALSE.

Set the input i_xEnable to TRUE.

DriveLogAdrInvalid

Enumeration name:	DriveLogAdrInvalid
Enumeration value:	26
Description:	The interface of the axis is invalid.

Issue	Cause	Solution
-	The drive interface is invalid	stMultiBelt.astTrain[x].ifDrive.stLogAdr is not assigned or invalid value.

DriveNotSet

Enumeration name:	DriveNotSet
Enumeration value:	81
Description:	The axis has not been set.

Issue	Cause	Solution
-	The drive interface is invalid	The parameter stMultiBelt.astTrain[x].ifDrive is not assigned.

FeatureNotSupported

Enumeration name:	FeatureNotSupported
Enumeration value:	102
Description:	This feature is not supported at present. For additional information refer to g_sMsg.

GearFactorRange

Enumeration name:	GearFactorRange
Enumeration value:	99
Description:	The GearFactor is outside its value range

Issue	Cause	Solution
-	The parameter stMultiBelt.stStation[x].stSynchron.lrGearFactor is outside its value range	The parameter stMultiBelt.stStation[x].stSynchron.lrGearFactor must be in the range > 0 (Default = 1).

HomeOffsetInvalid

Enumeration name:	HomeOffsetInvalid
Enumeration value:	30
Description:	The distance between two trains is invalid.

Issue	Cause	Solution
-	The distance between two trains is smaller than the train length	The trains must be homed. The train positions are lost (retain variables) and must be set again.

Initializing

Enumeration name:	Initializing
Enumeration value:	91
Description:	The POU is being initialized.

The function block is being initialized and thus is not yet ready to receive commands at its inputs.

The function block will signalize that it is ready for operation with the signal q_xReady = TRUE.

LencHelpNotSet

Enumeration name:	LencHelpNotSet
Enumeration value:	61
Description:	The help encoder was not set.

Issue	Cause	Solution
-	The parameter iq_stMultiBelt.astStation[iStation].stIndexed.lencHelp is not set.	The parameter iq_stMultiBelt.astStation[iStation].stIndexed.lencHelp has to be assigned with a logical encoder from the PLC configuration.

LimitInterfaceInvalid

Enumeration name:	LimitInterfaceInvalid
Enumeration value:	36
Description:	The interface Limit is invalid.

Issue	Cause	Solution
-	Limit interface is invalid	Incorrect drive type

LockOutTimeRange

Enumeration name:	LockOutTimeRange
Enumeration value:	63
Description:	LockOutTime is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].stIndexed.lrLockOutTime is outside its value range.	The parameter stMultiBelt.astStation[x].stIndexed.lrLockOutTime must be in the range >= 0.

MasterPeriodeRange

Enumeration name:	MasterPeriodeRange
Enumeration value:	92
Description:	lrMasterPeriod is outside its value range

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[iStation].stSynchron.lrMasterPeriod is outside its value range.	The parameter stMultiBelt.astStation[iStation].stSynchron.lrMasterPeriod must be greater than 0.

MinProductLengthRange

Enumeration name:	MinProductLengthRange
Enumeration value:	93
Description:	The value of the parameter lrMinProductLength is outside its range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].stSynchron.lrMinProductLength is outside its value range.	The parameter stMultiBelt.astStation[x].stSynchron.lrMinProductLength must be >= 0.

MinProductTimeRange

Enumeration name:	MinProductTimeRange
Enumeration value:	64
Description:	MinProductTime is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].stIndexed.lrMinProductTime is outside its value range.	The parameter stMultiBelt.astStation[x].stIndexed.lrMinProductTime must be in the range >= 0.

NumOfBeltsRange

Enumeration name:	NumOfBeltsRange
Enumeration value:	44
Description:	NumOfBelts is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.stGeneral. uiNumOfBelts is outside its value range.	The parameter stMultiBelt.stGeneral. uiNumOfBelts must be in the range from 2 to Gc_uiMaxNumberOfBelts.

NumOfStationsRange

Enumeration name:	NumOfStationsRange
Enumeration value:	43
Description:	NumOfStations is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.stGeneral.uiNumOfStations is outside its value range.	The parameter stMultiBelt.stGeneral.uiNumOfStations must be in the range from 1 to Gc_uiMaxNumberOfStations.

NumOfStepsRange

Enumeration name:	NumOfStepsRange
Enumeration value:	70
Description:	NumOfSteps is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].uiNumOfSteps is outside its value range.	The parameter stMultiBelt.astStation[x].uiNumOfSteps must be in the range >= 1.

OutOfWarmStartWindow

Enumeration name:	OutOfWarmStartWindow
Enumeration value:	32
Description:	The position of the train is outside the warm start window.

Issue

Cause

Solution

During the warm start at least one train is outside the warm start window.

Enlarge the parameter stMultiBelt.stGeneral.lrWarmStartWindow.

Execute a cold start.

PhaseRange

Enumeration name:	PhaseRange
Enumeration value:	94
Description:	lrPhase is outside its value range

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].stSynchron.lrPhase is outside its value range.	The parameter stMultiBelt.astStation[x].stSynchron.lrPhase must be > 0 and < stMultiBelt.astStation[x].stSynchron.lrMasterPeriod.

ProductsPerStepRange

Enumeration name:	ProductsPerStepRange
Enumeration value:	71
Description:	ProductsPerStep is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].auiProductsPerStep[y] is outside its value range.	The parameter stMultiBelt.astStation[x].auiProductsPerStep[y] must be in the range >= 1.

ReadyForStepOffsetRange

Enumeration name:	ReadyForStepOffsetRange
Enumeration value:	66
Description:	ReadyForStepOffset is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].stIndexed.lrReadyForStepOffset is outside its value range.	The parameter stMultiBelt.astStation[x].stIndexed.lrReadyForStepOffset must be in the range <= 0.

RefActValuesInterfaceInvalid

Enumeration name:	RefActValuesInterfaceInvalid
Enumeration value:	80
Description:	The interface RefActValues is invalid.

Issue	Cause	Solution
-	RefActValues interface is invalid	Incorrect drive type

SercosInterfaceInvalid

Enumeration name:	SercosInterfaceInvalid
Enumeration value:	24
Description:	The Sercos interface is invalid.

Issue

Cause

Solution

The global Sercos interface is invalid

Incorrect drive bus or incorrect controller.

Contact support

SetLimitInterfaceInvalid

Enumeration name:	SetLimitInterfaceInvalid
Enumeration value:	42
Description:	The interface SetLimit is invalid.

Issue	Cause	Solution
-	SetLimit interface is invalid	Incorrect drive type

SkipStepsNotSupportedForSynchron

Enumeration name:	SkipStepsNotSupportedForSynchron
Enumeration value:	103
Description:	SkipSteps feature is not supported for synchron stations.

SmgDiag

Enumeration name:	SmgDiag
Enumeration value:	23
Description:	Diagnostic message of the Smg.

Issue	Cause	Solution
-	An error has been detected when generating the internal reference values.	see q_sMsg for more details

StartAcceptOffsetRange

Enumeration name:	StartAcceptOffsetRange
Enumeration value:	78
Description:	StartAcceptOffset is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].lrTrainTimeOut is outside its value range.	The parameter stMultiBelt.astStation[x].lrTrainTimeOut must be in the range >= 0.

StartDelayDistanceRange

Enumeration name:	StartDelayDistanceRange
Enumeration value:	98
Description:	The parameter lrStartDelayDistance is outside its value range.

Issue

Cause

Solution

The parameter stMultiBelt.astStation[x].stSynchron.lrStartDelayDistance is outside its value range.

The parameter stMultiBelt.astStation[x].stSynchron.lrStartDelayDistance must be >= 0.

If ET_EventTrigger = StartOnSignal then stMultiBelt.astStation[x].stSynchron.lrStartDelayDistance has to be >= (stMultiBelt.astStation[x].stSynchron.lrSynchronStart *2 + stMultiBelt.astStation[x].stSynchron.lrMinProductLength).

If ET_EventTrigger = MasterSelectPos then stMultiBelt.astStation[x].stSynchron.lrStartDelayDistance has to be >= stMultiBelt.astStation[x].stSynchron.lrMasterPeriod.

StartDelayTimeRange

Enumeration name:	StartDelayTimeRange
Enumeration value:	65
Description:	StartDelayTime is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].stIndexed.lrStartDelayTime is outside its value range.	The parameter stMultiBelt.astStation[x].stIndexed.lrStartDelayTime must be in the range >= 0.

StationLockOffsetRange

Enumeration name:	StationLockOffsetRange
Enumeration value:	79
Description:	StationLockOffset is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].lrStationLockOffset is outside its value range.	The parameter stMultiBelt.astStation[x].lrStationLockOffset must be in the range <= 0.

StationPosRange

Enumeration name:	StationPosRange
Enumeration value:	69
Description:	StationPos is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].lrStationPos is outside its value range.	The parameter stMultiBelt.astStation[x].lrStationPos must be in the range <= stMultiBelt.stGeneral.lrBeltLength and in ascending order (Stationpos2 > Stationpos1).

StepAccelerationRange

Enumeration name:	StepAccelerationRange
Enumeration value:	58
Description:	The acceleration of a step is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].stIndexed.stStepMove.lrAcc is outside its value range.	The parameter stMultiBelt.astStation[x].stIndexed.stStepMove.lrAcc must be in the range between Gc_lrMinAcceleration and the smallest MaxAcc.

StepDecelerationRange

Enumeration name:	StepDecelerationRange
Enumeration value:	59
Description:	The deceleration of a step is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].stIndexed.stStepMove.lrDec is outside its value range.	The parameter stMultiBelt.astStation[x].stIndexed.stStepMove.lrDec must be in the range between Gc_lrMinDeceleration and the smallest MaxAcc.

StepJerkRange

Enumeration name:	StepJerkRange
Enumeration value:	60
Description:	The jerk of a step is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].stIndexed.stStepMove.lrJerk is outside its value range.	The parameter stMultiBelt.astStation[x].stIndexed.stStepMove.lrJerk must be in the range > Gc_lrMinJerk.

StepsRange

Enumeration name:	StepsRange
Enumeration value:	72
Description:	Steps is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].alrSteps[y] is outside its value range.	The parameter stMultiBelt.astStation[x].alrSteps[y] must be in the range > 0.

StepVelocityRange

Enumeration name:	StepVelocityRange
Enumeration value:	57
Description:	The velocity for a step is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].stIndexed.stStepMove.lrVel is outside its value range.	The parameter stMultiBelt.astStation[x].stIndexed.stStepMove.lrVel must be in the range between Gc_lrMinVelocity and the smallest MaxVel.

StopDistanceRange

Enumeration name:	StopDistanceRange
Enumeration value:	75
Description:	StopDistance is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x]. lrStopDistance is outside its value range.	The parameter stMultiBelt.astStation[x]. lrStopDistance must be in the range >= 0.

SumOfStepsRange

Enumeration name:	SumOfStepsRange
Enumeration value:	73
Description:	The sum of the steps is invalid.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].alrSteps[y] is outside its value range.	The sum of all steps must be <= stMultiBelt.stGeneral.lrTrainLength.

SynchronEndRange

Enumeration name:	SynchronEndRange
Enumeration value:	95
Description:	lrSynchronEnd is outside its value range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].stSynchron.lrSynchronEnd is outside its value range.	The parameter stMultiBelt.astStation[x].stSynchron.lrSynchronEnd must be > 0.

SynchronStartPlusSychronEndEndRange

Enumeration name:	SynchronStartPlusSychronEndEndRange
Enumeration value:	97
Description:	The sum of (SynchronStart + SynchronEnd) is outside its value range.

Issue	Cause	Solution
-	The sum of the parameters (stMultiBelt.astStation[x].stSynchron.lrSynchronStart + iq_stMultiBelt.astStation[x].stSynchron.lrSynchronEnd) is outside their value range.	The sum of the parameters (stMultiBelt.astStation[x].stSynchron.lrSynchronStart + iq_stMultiBelt.astStation[x].stSynchron.lrSynchronEnd) must be < iq_stMultiBelt.astStation[x].alrSteps[0].

SynchronStartRange

Enumeration name:	SynchronStartRange
Enumeration value:	96
Description:	lrSynchronStart is outside its value range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].stSynchron.lrSynchronStart is outside its value range.	The parameter stMultiBelt.astStation[x].stSynchron.lrSynchronStart must be > 0.

TimerInterfaceInvalid

Enumeration name:	TimerInterfaceInvalid
Enumeration value:	35
Description:	The interface Timer is invalid.

Issue	Cause	Solution
-	Timer interface invalid	Incorrect controller type

TrainLengthRange

Enumeration name:	TrainLengthRange
Enumeration value:	48
Description:	TrainLength is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.stGeneral.lrTrainLength is outside its value range.	The parameter stMultiBelt.stGeneral.lrTrainLength must be in the range > 0 to stMultiBelt.stGeneral.lrBeltLength.

TrainMovesBackward

Enumeration name:	TrainMovesBackward
Enumeration value:	39
Description:	A train is moving backwards.

Issue	Cause	Solution
-	The crash monitoring detected a reversing train.	Verify the parameters.

TrainOrderInvalid

Enumeration name:	TrainOrderInvalid
Enumeration value:	31
Description:	The sequence of the trains is invalid.

Issue	Cause	Solution
-	The sequence of the trains is incorrect.	The trains must be positioned one after the other. The trains must be homed.

TrainsDistanceFactorRange

Enumeration name:	TrainsDistanceFactorRange
Enumeration value:	67
Description:	TrainsDistanceFactor is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].stIndexed.lrTrainsDistanceFactor is outside its value range.	The parameter stMultiBelt.astStation[x].stIndexed.lrTrainsDistanceFactor must be in the range >= 0.

TrainsDistanceRange

Enumeration name:	TrainsDistanceRange
Enumeration value:	68
Description:	TrainsDistance is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].lrTrainsDistance is outside its value range.	The parameter stMultiBelt.astStation[x].lrTrainsDistance must be in the range >= 0.

TrainsPerBeltRange

Enumeration name:	TrainsPerBeltRange
Enumeration value:	45
Description:	TrainsPerBeltRange is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.stGeneral.uiTrainsPerBelt is outside its value range.	The parameter stMultiBelt.stGeneral.uiTrainsPerBelt must be in the range >= 1.

TrainTimeOutRange

Enumeration name:	TrainTimeOutRange
Enumeration value:	77
Description:	TrainTimeOut is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].lrTrainTimeOut is outside its value range.	The parameter stMultiBelt.astStation[x].lrTrainTimeOut must be in the range >= 0.

UnknownState

Enumeration name:	UnknownState
Enumeration value:	25
Description:	Indeterminable state.

Issue	Cause	Solution
-	An invalid state occurred during the program processing.	Contact support

UserCamIdNotSet

Enumeration name:	UserCamIdNotSet
Enumeration value:	100
Description:	diUserCamId for the law of motion SystemCam is not assigned.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].stSynchron.diUserCamId is not assigned.	If stMultiBelt.astStation[x].stSynchron.etLawOfMotion = SystemCam then stMultiBelt.astStation[iStation].stSynchron.diUserCamId must be assigned with a valid CamId.

WaitAllTrainsInactive

Enumeration name:	WaitAllTrainsInactive
Enumeration value:	15
Description:	Wait until all the trains are deactivated.

Status message - Internal state

WaitAllTrainsReady

Enumeration name:	WaitAllTrainsReady
Enumeration value:	1
Description:	Wait until all the trains are ready.

Issue

Cause

Solution

Status message - When activating, the FB waits until all the trains (axes) are in position control.

The axes have to be activated external.

There must be no errors pending.

WaitAllTrainsStopped

Enumeration name:	WaitAllTrainsStopped
Enumeration value:	10
Description:	Wait until all the trains are stopped.

Issue

Cause

Solution

Status message - Stop when deactivating the FB.

Input i_xEnable = FALSE

Set input i_xEnable to TRUE.

WaitColdStartAccepted

Enumeration name:	WaitColdStartAccepted
Enumeration value:	3
Description:	Wait until the cold start has been accepted.

Status message - Internal state

WaitColdStartDone

Enumeration name:	WaitColdStartDone
Enumeration value:	4
Description:	Wait until the cold start is completed.

Status message - Moving to the cold start position

WaitForStart

Enumeration name:	WaitForStart
Enumeration value:	2
Description:	Waiting for starting command.

Issue

Cause

Solution

Status message - The function block waits for start.

The input i_xStart is FALSE.

Set the input i_xStart to TRUE.

WaitStationsReady

Enumeration name:	WaitStationsReady
Enumeration value:	7
Description:	Wait until all the stations are ready.

Status message - Internal state

WaitWarmStartDone

Enumeration name:	WaitWarmStartDone
Enumeration value:	6
Description:	Wait until the warm start is completed.

Status message - Moving to the warm start position.

WarmStartAccelerationRange

Enumeration name:	WarmStartAccelerationRange
Enumeration value:	51
Description:	The acceleration for the warm start is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.stGeneral.stWarmStartMove.lrAcc is outside its value range.	The parameter stMultiBelt.stGeneral.stWarmStartMove.lrAcc must be in the range between Gc_lrMinAcceleration and the smallest MaxAcc.

WarmStartDecelerationRange

Enumeration name:	WarmStartDecelerationRange
Enumeration value:	51
Description:	The deceleration for the warm start is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.stGeneral.stWarmStartMove.lrDec is outside its value range.	The parameter stMultiBelt.stGeneral.stWarmStartMove.lrDec must be in the range bewteen Gc_lrMinDeceleration and the smallest MaxAcc.

WarmStartJerkRange

Enumeration name:	WarmStartJerkRange
Enumeration value:	50
Description:	The jerk for the warm start is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.stGeneral.stWarmStartMove.lrJerk is outside its value range.	The parameter stMultiBelt.stGeneral.stWarmStartMove.lrJerk must be in the range > Gc_lrMinJerk.

WarmStartNotPossible

Enumeration name:	WarmStartNotPossible
Enumeration value:	27
Description:	A warm start is not possible.

Issue	Cause	Solution
-	WarmStart is not possible	After a serious error detection. No previous cold start.

WarmStartVelocityRange

Enumeration name:	WarmStartVelocityRange
Enumeration value:	49
Description:	The velocity for the warm start is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.stGeneral.stWarmStartMove.lrVel is outside its value range.	The parameter stMultiBelt.stGeneral.stWarmStartMove.lrVel must be in the range between Gc_lrMinVelocity and the smallest MaxVel.

WarningDistanceRange

Enumeration name:	WarningDistanceRange
Enumeration value:	76
Description:	Warning distance is outside the valid range.

Issue	Cause	Solution
-	The parameter stMultiBelt.astStation[x].lrWarningDistance is outside its value range.	The parameter stMultiBelt.astStation[x].lrWarningDistance must be in the range >= 0.