FB_WriteDriveEncoder

FB_WriteDriveEncoder - General Information

Overview

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

NOTE: The elements FB_WriteDriveEncoder und FC_ReadDriveEncoder are obsolete.

Use instead the elements FB_HomeAbs and FB_HomeSetPos with the mode PDL.ET_HomeSetPosMode.RestoreFromAxisEncoder.

Task

The position of the motor sensor should be changed.

Description

This function block sets the encoder position to a preset absolute position value. The coordinate system of the encoder is moved. This requires a write process to the EEPROM of the encoder. A few milliseconds are required for this write access. The cycle time of the task is increased by the function block.

The axis is "disabled" during the implementation and "enabled" again in case it was "enabled".

The waiting time after the writing procedure is considered by the function block automatically. This means, you do not have to verify if the writing procedure has been completed with the function FC_DrvEncPositionGetState().

The position is read back and checked after completing the writing procedure.

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. NOTE: Cancelling the encoder position modification leads to an undefined condition. If the input i_xEnable is set to FALSE before q_xDone or q_xError = TRUE, then the function block stops and q_xActive also switches to FALSE. Depending on when i_xEnable is set to FALSE, the encoder setting is not started or the axis is disabled and will not be enabled. With the rising edge at i_xEnable, the cycle monitoring time is increased. The overrun time (diagnostic message 317 "Cycle time overrun") is increased by 100 ms and is reset to the original value with the negative edge.
i_ifDrive	IF_Drive	Input for the axis that shall be controlled.
i_lrHomePos	LREAL	Position value that the motor encoder (RefPosition of the axis) should be set to. The position value should lie within the encoder period (0 ... MaxEncoderValue). If the position value lies outside the encoder period, then the function PDL.FC_ReadDriveEncoder has to be used. Single turn and multi turn encoders are supported. With i_lrUserPeriod > 0 the position is set in the application period (e.g. machine period).
i_lrAbsEncOffset	LREAL	Allows the position to be reconstructed after the controller or drive has been reset (e.g. Lexium 62), when the position of the axis is less than i_lrHomePos . This is only effective with i_ lrUserPeriod = 0. Value range: 0 < lrAbsEncOffset < Max. Encoder value Start of run range = i_lrHomePos – i_lrAbsEncOffset End run range = Begin run range + Encoder period See also input i_lrUserPeriod.
i_lrUserPeriod	LREAL	Position range (e.g. machine period) that the encoder position (EncoderPosition) should be within. oi_lrUserPeriod = 0 The i_lrAbsEncOffset is taken into account when setting RefPosition. oi_lrUserPeriod <> 0 The input i_lrAbsEncOffset is not taken into account. If the value is outside the period range, the POU determines the respective position within the period (Position = i_lrHomePos MOD i_lrUserPeriod).
i_xExecute	BOOL	If i_xEnable = TRUE, this input can be used to start the encoder writing process. Once the encoder writing process has been started, it is not possible to cancel the process using i_xExecute TRUE -> FALSE.

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_xBusy	BOOL	Writing process active, the function block has to be executed further
q_xDone	BOOL	Writing completed
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.

Examples

Example with Single-Turn-Encoder (Encoder period standardized to 0 ... 360° standardized)

i_lrHomePos	i_lrAbsEncOffset	i_lrUserPeriod	Axis position according to FB_WriteDriveEncoder or FC_ReadDriveEncoder	Run range
1000	100	0	1000	900 ... 1260 (Delta 360)
0	100	0	0	-100 ... 260 (Delta 360)
-1000	100	0	-1000	-1100 ... -740 (Delta 360)
1000	0	360	280	0 ... 360
-1000	0	360	80	0 ... 360
1	0	36	1	0 ... 36
35	0	36	35	0 ... 36
54	0	36	18	0 ... 36
-54	0	36	18	0 ... 36
-55	0	36	17	0 ... 36

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	WaitForExecute	180	Wait for execution.
OK	WaitUntilDriveDisabled	179	Waiting until the drive is deactivated.
OK	WaitUntilDriveEnabled	145	Waiting until the drive is enabled.
OK	WaitUntilEncoderWritten	188	Waiting until the encoder has been written.
OK	WritingPositionDone	184	The encoder position has been written.
DriveConditionInvalid	DriveEncoderInvalid	175	The drive encoder is invalid.
DriveConditionInvalid	DriveIsMoving	182	The drive is moving.
DriveConditionInvalid	DriveNotDisabled	183	The drive is not disabled.
DriveConditionInvalid	NoAccessToEEPROM	187	The EEPROM of the drive cannot be accessed.
DriveConditionInvalid	NoRealDrive	176	The drive is not real.
DriveConditionInvalid	ProgrammingInProgress	189	Writing is being performed on the encoder.
DriveConditionInvalid	ProgrammingInvalidEEPROM	186	An error has been detected while writing on the encoder EEPROM.
ExecutionAborted	AsyncInitNotFinished	290	Init has not been completed yet.
ExecutionAborted	ColdResetOfControllerNecessary	297	A cold start of the controller is required
ExecutionAborted	NoAsyncTasksCreated	289	No asynchronous task has been generated.
InputParameterInvalid	AbsEncOffsetRange	178	AbsEncOffset is outside the valid range.
InputParameterInvalid	AsyncInvalid	288	The value of IF_Async is invalid.
InputParameterInvalid	DriveInvalid	3	The connected drive is invalid.
InputParameterInvalid	UserPeriodRange	177	UserPeriod is outside the valid range.
UnexpectedProgramBehavior	AsyncAddWasNotSuccessful	284	It was not possible to transfer an asynchronous job to a task.
UnexpectedProgramBehavior	EncoderWriteTimeOut	185	Timeout during encoder writing.
UnexpectedProgramBehavior	InterfaceCastFailed	285	The prompt for the interface was unsuccessful.
UnexpectedProgramBehavior	SemaphoreMeCreateFailed	287	The creating of a Semaphore failed
UnexpectedProgramBehavior	SercosNotInPhaseFour	19	The Sercos bus is not in phase 4.
UnexpectedProgramBehavior	UnexpectedFeedback	1	An unintended detected error occurred during execution.
UnexpectedProgramBehavior	UnknownState	2	The POU is in an undefined state.

AbsEncOffsetRange

Enumeration name:	AbsEncOffsetRange
Enumeration value:	178
Description:	AbsEncOffset is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrAbsEncOffset, a number <= 0 or greater than the encoder period has been transferred.	For i_lrAbsEncOffset, the following must hold: 0 < i_lrAbsEncOffset < maximum possible value of Drive.EncoderPosition. For the valid value range for i_lrAbsEncOffset, see output q_sMsg of FB_WriteDriveEncoder

Issue

Cause

Solution

At the input i_lrAbsEncOffset, a number <= 0 or greater than the encoder period has been transferred.

For i_lrAbsEncOffset, the following must hold: 0 < i_lrAbsEncOffset < maximum possible value of Drive.EncoderPosition.

For the valid value range for i_lrAbsEncOffset, see output q_sMsg of FB_WriteDriveEncoder

AsyncAddWasNotSuccessful

Enumeration name:	AsyncAddWasNotSuccessful
Enumeration value:	284
Description:	It was not possible to transfer an asynchronous job to a task.

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

AsyncInitNotFinished

Enumeration name:	AsyncInitNotFinished
Enumeration value:	290
Description:	Init has not been completed yet.

Issue	Cause	Solution
-	Init() method has not yet been completed.	Call up the Init() before you call up Start() for the first time. After you have called up the Init, wait until Init has been executed successfully. (Init.q_xDone = TRUE)

Issue

Cause

Solution

Init() method has not yet been completed.

Call up the Init() before you call up Start() for the first time.

After you have called up the Init, wait until Init has been executed successfully. (Init.q_xDone = TRUE)

AsyncInvalid

Enumeration name:	AsyncInvalid
Enumeration value:	288
Description:	The value of IF_Async is invalid.

Issue	Cause	Solution
-	No valid value has been transferred at the i_ifAsync input.	Verify the value at the i_ifAsync input for <> 0.

ColdResetOfControllerNecessary

Enumeration name:	ColdResetOfControllerNecessary
Enumeration value:	297
Description:	A cold start of the controller is required

Issue	Cause	Solution
-	Gc_udiNumOfAsyncTasks has been changed.	A cold start of the controller and a call up of Init() is required.

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

DriveEncoderInvalid

Enumeration name:	DriveEncoderInvalid
Enumeration value:	175
Description:	The drive encoder is invalid.

Issue	Cause	Solution
-	The axis encoder is not supported.	Use an axis with a different encoder.

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.

DriveIsMoving

Enumeration name:	DriveIsMoving
Enumeration value:	182
Description:	The drive is moving.

Issue	Cause	Solution
-	The axis is moving.	Verify the state of the axis.

DriveNotDisabled

Enumeration name:	DriveNotDisabled
Enumeration value:	183
Description:	The drive is not disabled.

Issue	Cause	Solution
-	The axis is not in AxisState 1	Verify the state of the axis.

EncoderWriteTimeOut

Enumeration name:	EncoderWriteTimeOut
Enumeration value:	185
Description:	Timeout during encoder writing.

Issue	Cause	Solution
-	The encoder writing process has taken too long.	Verify the connection to the encoder and retry.

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.

InterfaceCastFailed

Enumeration name:	InterfaceCastFailed
Enumeration value:	285
Description:	The prompt for the interface was unsuccessful.

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

NoAccessToEEPROM

Enumeration name:	NoAccessToEEPROM
Enumeration value:	187
Description:	The EEPROM of the drive cannot be accessed.

Issue	Cause	Solution
-	The access to the encoder has been denied.	Verify the axis state.

NoAsyncTasksCreated

Enumeration name:	NoAsyncTasksCreated
Enumeration value:	289
Description:	No asynchronous task has been generated.

Issue	Cause	Solution
-	Gc_udiNumOfAsyncTasks = 0	Allocate Gc_udiNumOfAsyncTasks with a value > 0 and <= 10.

NoRealDrive

Enumeration name:	NoRealDrive
Enumeration value:	176
Description:	The drive is not real.

Issue	Cause	Solution
-	At the input i_ifDrive, a virtual axis has been applied.	At the input i_ifDrive, a real axis must be transferred.

ProgrammingInProgress

Enumeration name:	ProgrammingInProgress
Enumeration value:	189
Description:	Writing is being performed on the encoder.

Issue	Cause	Solution
-	You cannot write on the encoder because a writing process is already active.	Wait until the active writing process is completed and try to perform the FB_WriteDriveEncoder again. If this diagnostic message occurs even after retrying it several times, then please inform the support team about this detected error.

Issue

Cause

Solution

You cannot write on the encoder because a writing process is already active.

Wait until the active writing process is completed and try to perform the FB_WriteDriveEncoder again.

If this diagnostic message occurs even after retrying it several times, then please inform the support team about this detected error.

ProgrammingInvalidEEPROM

Enumeration name:	ProgrammingInvalidEEPROM
Enumeration value:	186
Description:	An error has been detected while writing on the encoder EEPROM.

Issue	Cause	Solution
-	Writing is already being performed on the encoder.	Please retry later.

SemaphoreMeCreateFailed

Enumeration name:	SemaphoreMeCreateFailed
Enumeration value:	287
Description:	The creating of a Semaphore failed

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

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.

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.

UserPeriodRange

Enumeration name:	UserPeriodRange
Enumeration value:	177
Description:	UserPeriod is outside the valid range.

Issue	Cause	Solution
-	The input i_lrUserPeriod is negative.	For the input i_lrUserPeriod, a positive value or zero must be specified.
-	The input i_lrUserPeriod does not fit into the encoder period.	Assign the i_lrUserPeriod with zero to not consider any offset. The input i_lrUserPeriod must be chosen such that the following formula is fulfilled: ABS(lrEncoderPeriode/i_lrUserPeriod - TRUNC_INT(lrEncoderPeriode / i_lrUserPeriod)) = 0 with lrEncoderPeriode := EncoderRange * FeedConstant * DINT_TO_LREAL(GearIn) / DINT_TO_LREAL(GearOut) EncoderRange, FeedConstant, GearIn and GearOut are parameters of the i_ifDrive axis.

Issue

Cause

Solution

The input i_lrUserPeriod is negative.

For the input i_lrUserPeriod, a positive value or zero must be specified.

The input i_lrUserPeriod does not fit into the encoder period.

Assign the i_lrUserPeriod with zero to not consider any offset.

The input i_lrUserPeriod must be chosen such that the following formula is fulfilled:

ABS(lrEncoderPeriode/i_lrUserPeriod - TRUNC_INT(lrEncoderPeriode / i_lrUserPeriod)) = 0

with

lrEncoderPeriode := EncoderRange * FeedConstant * DINT_TO_LREAL(GearIn) / DINT_TO_LREAL(GearOut)

EncoderRange, FeedConstant, GearIn and GearOut are parameters of the i_ifDrive axis.

WaitForExecute

Enumeration name:	WaitForExecute
Enumeration value:	180
Description:	Wait for execution.

The function block is ready. As reaction to a positive edge from i_xExecute, the data is written on the encoder.

WaitUntilDriveDisabled

Enumeration name:	WaitUntilDriveDisabled
Enumeration value:	179
Description:	Waiting until the drive is deactivated.

The axis is disabled.

WaitUntilDriveEnabled

Enumeration name:	WaitUntilDriveEnabled
Enumeration value:	145
Description:	Waiting until the drive is enabled.

The function block enables the position control of the axis.

WaitUntilEncoderWritten

Enumeration name:	WaitUntilEncoderWritten
Enumeration value:	188
Description:	Waiting until the encoder has been written.

Writing is being performed on the encoder of the axis.

WritingPositionDone

Enumeration name:	WritingPositionDone
Enumeration value:	184
Description:	The encoder position has been written.

Writing on the axis encoder has been completed.