FB_HomePosToStation - General Information

Overview

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

Task

Move the trains into a station.

Description

The module moves the trains into a station. Thereby, the home positions of the trains must be between -lrBeltLength and +lrBeltLength. After calling up the function block, the train 1 stands in i_stParameter.uiStation and the rest of the trains in the distance of lrTrainsDistance behind it. The motion parameters can be set via the respective inputs. The application of the POU is the homing with multiturn encoder. If all trains have reached their end position, q_xHomeOk is set to TRUE. Then the module can be deactivated.

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: Reference run is started
i_stParameter	ST_HomePosToStationParameter	Parameter structure to reference the MultiBelt network

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: Reference run is started

i_stParameter

ST_HomePosToStationParameter

Parameter structure to reference the MultiBelt network

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.
q_xHomeOk	BOOL	TRUE: The reference run has been completed successfully.

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	Disabled	0	The POU is disabled.
OK	WaitAllTrainsStopped	10	Wait until all the trains are stopped.
OK	WaitForHomeDone	16	Wait until the homing is completed.
OK	WaitForStart	2	Waiting for starting command.
OK	WaitForStartOff	11	Wait for the reset of the start.
InputParameterInvalid	ControllerStopInterfaceInvalid	101	The ControllerStopInterface is invalid.
InputParameterInvalid	DriveLogAdrInvalid	26	The interface of the axis is invalid.
InputParameterInvalid	DriveNotSet	81	The axis has not been set.
InputParameterInvalid	HomeAccelerationRange	85	The acceleration for the homing is outside the valid range.
InputParameterInvalid	HomeDecelerationRange	86	The deceleration for the homing is outside the valid range.
InputParameterInvalid	HomeJerkRange	87	The jerk for the homing is outside the valid range.
InputParameterInvalid	HomeOffsetInvalid	30	The distance between two trains is invalid.
InputParameterInvalid	HomeVelocityRange	84	The velocity for the homing is outside the valid range.
InputParameterInvalid	LimitInterfaceInvalid	36	The interface Limit is invalid.
InputParameterInvalid	NumOfStationsRange	43	NumOfStations is outside the valid range.
InputParameterInvalid	RefActValuesInterfaceInvalid	80	The interface RefActValues is invalid.
InputParameterInvalid	SetLimitInterfaceInvalid	42	The interface SetLimit is invalid.
InputParameterInvalid	TrainOrderInvalid	31	The sequence of the trains is invalid.
SercosConditionInvalid	SercosInterfaceInvalid	24	The Sercos interface is invalid.

ControllerStopInterfaceInvalid

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

Issue	Cause	Solution
ControllerStopInterface invalid.	Incorrect drive type.	Select a correct drive type.

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.	Assign or modify stMultiBelt.astTrain[x].ifDrive.stLogAdr.

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.	Assign the parameter stMultiBelt.astTrain[x].ifDrive.

HomeAccelerationRange

Enumeration name:	HomeAccelerationRange
Enumeration value:	85
Description:	The acceleration for the homing is outside the valid range.

Issue	Cause	Solution
The parameter stHomePosToStationParameter.stMove.lrAcc is invalid.	The parameter stHomePosToStationParameter.stMove.lrAcc is outside its value range.	The parameter stHomePosToStationParameter.stMove.lrAcc must be > Gc_lrMinAcceleration.

HomeDecelerationRange

Enumeration name:	HomeDecelerationRange
Enumeration value:	86
Description:	The deceleration for the homing is outside the valid range.

Issue	Cause	Solution
The parameter stHomePosToStationParameter.stMove.lrDec is invalid.	The parameter stHomePosToStationParameter.stMove.lrDec is outside its value range.	The parameter stHomePosToStationParameter.stMove.lrDec must be > Gc_lrMinAcceleration.

HomeJerkRange

Enumeration name:	HomeJerkRange
Enumeration value:	87
Description:	The jerk for the homing is outside the valid range.

Issue	Cause	Solution
The parameter stHomePosToStationParameter.stMove.lrJerk is invalid.	The parameter stHomePosToStationParameter.stMove.lrJerk is outside its value range.	The parameter stHomePosToStationParameter.stMove.lrJerk must be > Gc_lrMinJerk.

HomeOffsetInvalid

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

Issue	Cause	Solution
The distance between two trains is invalid.	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.

HomeVelocityRange

Enumeration name:	HomeVelocityRange
Enumeration value:	84
Description:	The velocity for the homing is outside the valid range.

Issue	Cause	Solution
The parameter stHomePosToStationParameter.stMove.lrVel is invalid.	The parameter stHomePosToStationParameter.stMove.lrVel is outside its value range.	The parameter stHomePosToStationParameter.stMove.lrVel must be > Gc_lrMinVelocity.

LimitInterfaceInvalid

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

Issue	Cause	Solution
Limit interface is invalid.	Incorrect drive type.	Select a correct drive type.

NumOfStationsRange

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

Issue	Cause	Solution
The parameter stMultiBelt.stGeneral.uiNumOfStations is invalid.	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.

RefActValuesInterfaceInvalid

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

Issue	Cause	Solution
RefActValues interface is invalid.	Incorrect drive type.	Select a correct 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.	Modify the drive bus or the controller.

SetLimitInterfaceInvalid

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

Issue	Cause	Solution
SetLimit interface is invalid.	Incorrect drive type.	Select a correct drive type.

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.

WaitAllTrainsStopped

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

Issue	Cause	Solution
-	Status message - Stop when deactivating the function block. Input i_xEnable = FALSE.	Set input i_xEnable to TRUE.

Issue

Cause

Solution

-

Status message - Stop when deactivating the function block.

Input i_xEnable = FALSE.

Set input i_xEnable to TRUE.

WaitForHomeDone

Enumeration name:	WaitForHomeDone
Enumeration value:	16
Description:	Wait until the homing is completed.

Status message - Wait until the homing is completed.

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.

Issue

Cause

Solution

-

Status message - The function block waits for start.

The input i_xStart is FALSE.

Set the input i_xStart to TRUE.

WaitForStartOff

Enumeration name:	WaitForStartOff
Enumeration value:	11
Description:	Wait for the reset of the start.

Issue	Cause	Solution
-	Status message - Wait for i_xStart = FALSE.	Set the input i_xStart to FALSE.