IF_PosReferenceGenerator - Calculate (Method)
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Type: |
Method |
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Available as of: |
V1.0.0.0 |
Calculation of reference values of externally defined positioning jobs.
This method is called up in the real-time cycle of the SoMotionGenerator. By means of output q_lrY, the reference values for the slave axis have to be made available.
Via the input i_lrRtbCycleTimeSec, the SoMotionGenerator transfers the cycle time of the real-time process (unit: seconds) to the external positioning function block. The cycle time can be used for calculating reference values as well as for observing reference velocities and accelerations.
By setting the output q_xReady, the SoMotionGenerator can be informed that the positioning job has been completed and the next job in the queue can be activated.
By means of the return value of the method, the SoMotionGenerator can be notified about any errors that may have occurred. In the case of a return value <> 0, the IEcRefenceGenerator reports via the parameter etCurrentJobState of the structure ST_RealtimeChannel that an error hasbeen detected while calling up the method.
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Input |
Data type |
Description |
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i_xFirstCall |
BOOL |
TRUE := First call-up of job processing. Can be used for precalculations. |
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i_lrRtbCycleTimeSec |
LREAL |
Cycle time of the real-time process. Unit: sec. (3 positions after decimal point) |
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i_lrCurrentPosition |
LREAL |
Position of the channel to which the positioning job has been assigned. Used to calculate start values. Unit: Length units |
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i_lrCurrentVelocity |
LREAL |
Velocity of the channel to which the positioning job has been assigned. Used to calculate start values. Unit: length units/s |
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i_lrCurrentAcceleration |
LREAL |
Acceleration of the channel to which the positioning job has been assigned. Used to calculate start values. Unit: length units/s2 |
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Output |
Data type |
Description |
|---|---|---|
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q_etDiag |
General library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message. |
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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 |
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q_lrY |
LREAL |
Calculated slave position. Unit: Length units |
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q_xReady |
BOOL |
TRUE := Job processing is finished. FALSE := Job processing is still active. |
