FB_MultiPos

FB_MultiPos - General Information

Overview

Type:	Function block
Available as of:	V1.0.3.0
Inherits from:	-
Implements:	-
Versions:	Current version

Task

Execute sequential positioning motions from the table

Description

Positioning tasks are processed from a table using the function block. The function is based on the FB_MultiCam function block.

It is used in applications that only have positioning tasks in an axis and require relatively simple control logic. The main advantage is the simple programming of motion processes by filling a table.

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_ifDrive	IF_Drive	Input for the axis that shall be controlled.
i_xStart	BOOL	FALSE -> TRUE: Positioning start with i_diStartStep. The table runs sequentially through the steps and at the end jumps to the beginning of the table and continues processing. TRUE -> FALSE: Processing stops at the end of the current step.
i_xStop	BOOL	TRUE: Stops a running positioning with the deceleration StopDec (axis parameter). The table is set on the first step.
i_diStartStep	DINT	Startstep (start positioning from the table). oi_diStartStep = 0 A rising edge at the input i_xStart always starts the next step. During the first start after i_xEnable = TRUE, it is started in the first step. oi_diStartStep > 0 A rising edge at the input i_xStart always starts the Startstep.
i_xSingleStepMode	BOOL	TRUE -> Single step mode: For every step (individual positioning from the table), a rising edge (FALSE -> TRUE) at the input i_xStart is necessary. The single step mode can be activated and deactivated during operation.
i_byStartCondition	BYTE	Using i_byStartCond a starting condition can be formulated. This step is only executed if the input i_byStartCond and the table value byStartCond are equal or if the table value byStartCond = 0.
i_byJumpCondition	BYTE	Jump condition oi_byJumpCond = 0 Jump is always executed. oi_byJumpCond <> 0 Jump is executed if the input i_byJumpCond and the table value byJumpCond are equal.
i_pstMultiPosStep	POINTER TO ST_MultiPosStep	Pointer on the first element of the positioning table.
i_diNumberOfSteps	DINT	Number of positionings from the table.

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 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_xTableActive	BOOL	TRUE: Positionings in accordance with the table are processed. Stays active until the last positioning from the table has been ended.
q_lrPosition	LREAL	Position (RefPosition) of the axis.
q_diActualStep	DINT	Number of current positioning from the table.
q_byOutput	BYTE	A bit pattern can be set per step. This is specified by g_byOutPut in the table. It is set at the beginning of the step and remains active until being overwritten by another step.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Disabled	9	The POU is disabled.
OK	Initializing	4	The POU is being initialized.
OK	WaitForStart	5	Waiting for starting command.
OK	WaitForStartCondition	243	Waiting for start condition.
OK	WaitForStopRelease	238	Waiting for the stop command to be taken back.
OK	WaitUntilDisabled	8	Waiting until the POU is deactivated.
OK	WaitUntilDwellTimeOver	241	Waiting until the dwell time is over.
OK	WaitUntilPositionReached	242	Waiting until position has been reached.
OK	WaitUntilStopped	159	Waiting until the drive has stopped.
DriveConditionInvalid	SercosNotInPhaseFour	19	The Sercos bus is not in phase 4.
DriveConditionInvalid	DriveNotReady	10	The drive is not ready for motion commands.
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	JumpStepInvalid	244	JumpStep is invalid.
InputParameterInvalid	NumberOfStepsRange	191	NumberOfSteps is outside the valid range.
InputParameterInvalid	PointerMultiPosStepInvalid	239	The pointer MultiPosStep is invalid.
InputParameterInvalid	PosModeRange	322	PosMode is out of range
InputParameterInvalid	StartStepInvalid	240	StartStep is invalid.
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.

AccRange

Enumeration name:	AccRange
Enumeration value:	12
Description:	Acc is outside the valid range.

Issue	Cause	Solution
-	In the parameter lrAcc of the current table step, an invalid value has been transferred. (The table steps are transferred at the input i_pstMultiPosStep)	The following must hold: 0 < lrAcc < drive parameter MaxAcc For the valid value range for lrAcc, see output q_sMsg

Issue

Cause

Solution

In the parameter lrAcc of the current table step, an invalid value has been transferred. (The table steps are transferred at the input i_pstMultiPosStep)

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

For the valid value range for lrAcc, see output q_sMsg

DecRange

Enumeration name:	DecRange
Enumeration value:	13
Description:	Dec is outside the valid range.

Issue	Cause	Solution
-	In the parameter lrDec of the current table step, an invalid value has been transferred. (The table steps are transferred at the input i_pstMultiPosStep)	The following must hold: 0 < lrDec < parameter MaxAcc of the drive For the valid value range for lrDec, see output q_sMsg

Issue

Cause

Solution

In the parameter lrDec of the current table step, an invalid value has been transferred. (The table steps are transferred at the input i_pstMultiPosStep)

The following must hold: 0 < lrDec < parameter MaxAcc of the drive

For the valid value range for lrDec, see output q_sMsg

Disabled

Enumeration name:	Disabled
Enumeration value:	9
Description:	The POU is disabled.

The function block is disabled and executes no actions whatsoever. i_xEnable and q_xActive are set to FALSE

DriveInvalid

Enumeration name:	DriveInvalid
Enumeration value:	3
Description:	The connected drive is invalid.

Issue	Cause	Solution
-	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.

Issue

Cause

Solution

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.

DriveNotReady

Enumeration name:	DriveNotReady
Enumeration value:	10
Description:	The drive is not ready for motion commands.

Issue	Cause	Solution
-	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.

Issue

Cause

Solution

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.

Initializing

Enumeration name:	Initializing
Enumeration value:	4
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.

JerkRange

Enumeration name:	JerkRange
Enumeration value:	14
Description:	Jerk is outside the valid range.

Issue	Cause	Solution
-	At the input lrJerk of the i_pstMultiPosStep sequencer, an invalid value has been applied.	At the input lrJerk, a value greater than 0 and smaller than or equal to Gc_lrMaxJerk must be transferred.

JumpStepInvalid

Enumeration name:	JumpStepInvalid
Enumeration value:	244
Description:	JumpStep is invalid.

Issue	Cause	Solution
-	One of the diJumpStep parameters of the i_pstMultiPosStep sequencer is invalid.	Ensure that each jump command diJumpStep is linked to an element of the sequencer.

NumberOfStepsRange

Enumeration name:	NumberOfStepsRange
Enumeration value:	191
Description:	NumberOfSteps is outside the valid range.

Issue	Cause	Solution
-	At the input i_diNumberOfSteps, a value which is too small has been applied.	At the input i_diNumberOfSteps, a value greater than 0 must be transferred.

PointerMultiPosStepInvalid

Enumeration name:	PointerMultiPosStepInvalid
Enumeration value:	239
Description:	The pointer MultiPosStep is invalid.

Issue	Cause	Solution
-	At the input i_pstMultiPosStep, a null pointer has been transferred.	At the input i_pstMultiPosStep, the address of the memory containing the sequencer must be transferred.

PosModeRange

Enumeration name:	PosModeRange
Enumeration value:	322
Description:	PosMode is out of range

Issue	Cause	Solution
-	At the input i_pstMultiPosStep^.etPosMode, an invalid value has been transferred.	For i_pstMultiPosStep^.etPosMode, one of the values SystemInterface.ET_PosMode.Absolute, SystemInterface.ET_PosMode.Relative or SystemInterface.ET_PosMode.Endless has to be given. The pos mode SystemInterface.ET_PosMode.Increment or other values are forbitten.

SercosNotInPhaseFour

Enumeration name:	SercosNotInPhaseFour
Enumeration value:	19
Description:	The Sercos bus is not in phase 4.

Issue	Cause	Solution
-	The parameter State of the SERCOS bus is not 4.	Set the SERCOS bus parameter PhaseSet to 4. Verify the SERCOS bus for errors.

Issue

Cause

Solution

The parameter State of the SERCOS bus is not 4.

Set the SERCOS bus parameter PhaseSet to 4.

Verify the SERCOS bus for errors.

StartStepInvalid

Enumeration name:	StartStepInvalid
Enumeration value:	240
Description:	StartStep is invalid.

Issue	Cause	Solution
-	At the input i_diStartStep, a value which is too high has been applied.	At the input i_diStartStep, a value smaller than or equal to the value at the input i_diNumberOfSteps must be applied.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	1
Description:	An unintended detected error occurred during execution.

Issue	Cause	Solution
-	An error occurred in the internal execution.	Please inform the support team about this error.

UnknownState

Enumeration name:	UnknownState
Enumeration value:	2
Description:	The POU is in an undefined state.

Issue	Cause	Solution
-	An error occurred in the internal execution.	Please inform the support team about this error.

VelRange

Enumeration name:	VelRange
Enumeration value:	11
Description:	Vel is outside the valid range.

Issue	Cause	Solution
-	The axis cannot move at the velocity of a positioning step.	For every parameter lrVel of a positioning step of the list i_pstMultiPosStep, a value between 0 and the axis parameter MaxVel must be specified.

WaitForStart

Enumeration name:	WaitForStart
Enumeration value:	5
Description:	Waiting for starting command.

The function block has completed its initialization and is waiting for a positive edge at the input i_xStart before continuing the processing.

WaitForStartCondition

Enumeration name:	WaitForStartCondition
Enumeration value:	243
Description:	Waiting for start condition.

Processing is continued as soon as the start condition of the step is fulfilled.

WaitForStopRelease

Enumeration name:	WaitForStopRelease
Enumeration value:	238
Description:	Waiting for the stop command to be taken back.

In order to proceed, the input i_xStop must be FALSE.

WaitUntilDisabled

Enumeration name:	WaitUntilDisabled
Enumeration value:	8
Description:	Waiting until the POU is deactivated.

The function block is disabled. All internal states are reset and connected resources (e.g. axes) are transferred to a safe state. The function block has to be called up continuously until it reports q_xActive = FALSE.

WaitUntilDwellTimeOver

Enumeration name:	WaitUntilDwellTimeOver
Enumeration value:	241
Description:	Waiting until the dwell time is over.

The function block is waiting for the end of a parameterized dwell time.

WaitUntilPositionReached

Enumeration name:	WaitUntilPositionReached
Enumeration value:	242
Description:	Waiting until position has been reached.

The axis is being moved to its target position.

WaitUntilStopped

Enumeration name:	WaitUntilStopped
Enumeration value:	159
Description:	Waiting until the drive has stopped.

The axis is stopped.