FB_PreCalcMultiCam

FB_PreCalcMultiCam - General Information

Overview

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

Task

The function block receives the same input data as with a MultiCam function block and creates the data for the Intelligent Line Shaft so that the axis moved by the MultiCam function block can be monitored as an ILS slave axis.

Description

After a positive edge on i_xEnable or i_xNewCam the function block generates the motion profile from the data from iq_stMultiCamDat and calculates the scaling (YMax) of the front axis of the Intelligent Line Shaft. The function block writes both into the data structure iq_stIlsData from where it is read out by the function block FB_EndlessFeedIls.

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_xNewCam	BOOL	Starts a new motion profile based on the current motion profile
i_diSlaveNumber	DINT	Number of slave axis that have to be monitored.

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_xNewCam

BOOL

Starts a new motion profile based on the current motion profile

i_diSlaveNumber

DINT

Number of slave axis that have to be monitored.

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.

Input/Output	Data type	Description
iq_stMultiCamData	ST_MultiCam	Information about the course of the cam (ST_MultiCam structure).
iq_stIlsData	ST_IlsData	Information for the motion sequence of the slave axes as well as the parameterized limits and feedback variables.

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	Working	99	The POU is active.
InputParameterInvalid	BoundaryConditionInvalid	125	The boundary conditions are invalid.
InputParameterInvalid	NumberOfCamPointsRange	121	NumberOfCamPoints is outside the valid range.
InputParameterInvalid	RangeK	129	K is outside the valid range.
InputParameterInvalid	RangeM	130	M is outside the valid range.
InputParameterInvalid	SlaveNumberRange	197	SlaveNumber is outside the valid range.
InputParameterInvalid	UnknownCamType	126	The cam type is indeterminable.
InputParameterInvalid	XFactorTooSmall	122	XFactor is too small.
InputParameterInvalid	YFactorTooSmall	124	YFactor is too small.
UnexpectedProgramBehavior	ProfileAlreadyInUse	116	The profile is already in use.
UnexpectedProgramBehavior	ProfileMemoryFull	127	The memory for tables from system profiles is full.
UnexpectedProgramBehavior	ProfileTableFull	123	The system profile table is full.
UnexpectedProgramBehavior	UnexpectedFeedback	1	An unintended detected error occurred during execution.

BoundaryConditionInvalid

Enumeration name:	BoundaryConditionInvalid
Enumeration value:	125
Description:	The boundary conditions are invalid.

Issue	Cause	Solution
-	When defining the motion profile in iq_stMultiCamData, the set boundary conditions cannot be complied with.	Verify the definition of the motion profile and particularly the boundary conditions of the sub-segments. As an alternative, select different profiles for the sub-segments to be able to comply with all desired boundary conditions.

Issue

Cause

Solution

When defining the motion profile in iq_stMultiCamData, the set boundary conditions cannot be complied with.

Verify the definition of the motion profile and particularly the boundary conditions of the sub-segments.

As an alternative, select different profiles for the sub-segments to be able to comply with all desired boundary conditions.

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

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.

NumberOfCamPointsRange

Enumeration name:	NumberOfCamPointsRange
Enumeration value:	121
Description:	NumberOfCamPoints is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stMultiCamData.diNumberOfCamPoints, an invalid value has been transferred.	At the input iq_stMultiCamData.diNumberOfCamPoints, a value greater than 0 and smaller than or equal to SystemInterface.MAX_NO_OF_SEG + 1 must be transferred.

ProfileAlreadyInUse

Enumeration name:	ProfileAlreadyInUse
Enumeration value:	116
Description:	The profile is already in use.

Issue	Cause	Solution
-	The motion profile is already in use.	Verify the motion data.

ProfileMemoryFull

Enumeration name:	ProfileMemoryFull
Enumeration value:	127
Description:	The memory for tables from system profiles is full.

Issue	Cause	Solution
-	The system profile memory is full.	Delete any profiles that are no longer needed using the SystemInterface.FC_ProfileDelete function

ProfileTableFull

Enumeration name:	ProfileTableFull
Enumeration value:	123
Description:	The system profile table is full.

Issue	Cause	Solution
-	The maximum number of system profiles has been exceeded.	Delete any profiles that are no longer needed using the SystemInterface.FC_ProfileDelete function

RangeK

Enumeration name:	RangeK
Enumeration value:	129
Description:	K is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stMultiCamData.astCamPoint[ ].lrK, an invalid value has been applied.	Verify the values for iq_stMultiCamData.astCamPoint[ ].lrK

RangeM

Enumeration name:	RangeM
Enumeration value:	130
Description:	M is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stMultiCamData.astCamPoint[ ].lrM, an invalid value has been applied.	Verify the values for iq_stMultiCamData.astCamPoint[ ].lrM

SlaveNumberRange

Enumeration name:	SlaveNumberRange
Enumeration value:	197
Description:	SlaveNumber is outside the valid range.

Issue	Cause	Solution
-	The number of slave axes i_diSlavenumber is smaller than 1 or the number of slave axes i_diSlavenumber is greater than iq_stIlsData.i_stConfig.diNumberOfSlaves, or The number of slave axes iq_stIlsData.i_stConfig.diNumberOfSlaves is greater than Gc_diMaxNumberOfSlaves	At the input i_diSlavenumber, a positive value smaller than iq_stIlsData.i_stConfig.diNumberOfSlaves and smaller than Gc_diMaxNumberOfSlaves must be transferred.

Issue

Cause

Solution

The number of slave axes i_diSlavenumber is smaller than 1 or

the number of slave axes i_diSlavenumber is greater than iq_stIlsData.i_stConfig.diNumberOfSlaves, or

The number of slave axes iq_stIlsData.i_stConfig.diNumberOfSlaves is greater than Gc_diMaxNumberOfSlaves

At the input i_diSlavenumber, a positive value smaller than iq_stIlsData.i_stConfig.diNumberOfSlaves and smaller than Gc_diMaxNumberOfSlaves must be transferred.

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.

UnknownCamType

Enumeration name:	UnknownCamType
Enumeration value:	126
Description:	The cam type is indeterminable.

Issue	Cause	Solution
-	The cam type of a point iq_stMultiCamData.astCamPoint is assigned with an invalid cam profile.	The cam types etCamType of all used cam points at the input iq_stMultiCamData.astCamPoint must be assigned with an element of the enumeration ET_CamType.

Working

Enumeration name:	Working
Enumeration value:	99
Description:	The POU is active.

The precalculations are being performed.

XFactorTooSmall

Enumeration name:	XFactorTooSmall
Enumeration value:	122
Description:	XFactor is too small.

Issue	Cause	Solution
-	Two successive cam points iq_stMultiCamData.astCamPoint[ ].lrX have a distance of less than 0.1 units.	Verify the definition of the cam and, if necessary, remove cam profiles that are too short.

YFactorTooSmall

Enumeration name:	YFactorTooSmall
Enumeration value:	124
Description:	YFactor is too small.

Issue	Cause	Solution
-	A cam profile requiring a motion of the slave axis is to be used with identical start and end points.	At the input iq_stMultiCamData.astCamPoint[i-1].etCamType, a cam profile of type ModSinCom has been applied. The value of the difference between its start point iq_stMultiCamData.astCamPoint[i-1].lrY and its end point iq_stMultiCamData.astCamPoint[i].lrY is smaller than Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam. At the input iq_stMultiCamData.astCamPoint[i-1].etCamType, a cam profile of type ModAccTrCom has been applied. The value of the difference between its start point iq_stMultiCamData.astCamPoint[i-1].lrY and its end point iq_stMultiCamData.astCamPoint[i].lrY is smaller than Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam. At the input iq_stMultiCamData.astCamPoint[i-1].etCamType, a cam profile of type HarmoComb has been applied. The value of the difference between its start point iq_stMultiCamData.astCamPoint[i-1].lrY and its end point iq_stMultiCamData.astCamPoint[i].lrY is smaller than Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam. At the input iq_stMultiCamData.astCamPoint[i-1].etCamType, a cam profile of type SinStraightComb has been applied. The value of the difference between its start point iq_stMultiCamData.astCamPoint[i-1].lrY and its end point iq_stMultiCamData.astCamPoint[i].lrY is smaller than Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam.

Issue

Cause

Solution

A cam profile requiring a motion of the slave axis is to be used with identical start and end points.

At the input iq_stMultiCamData.astCamPoint[i-1].etCamType, a cam profile of type ModSinCom has been applied. The value of the difference between its start point iq_stMultiCamData.astCamPoint[i-1].lrY and its end point iq_stMultiCamData.astCamPoint[i].lrY is smaller than Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam.

At the input iq_stMultiCamData.astCamPoint[i-1].etCamType, a cam profile of type ModAccTrCom has been applied. The value of the difference between its start point iq_stMultiCamData.astCamPoint[i-1].lrY and its end point iq_stMultiCamData.astCamPoint[i].lrY is smaller than Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam.

At the input iq_stMultiCamData.astCamPoint[i-1].etCamType, a cam profile of type HarmoComb has been applied. The value of the difference between its start point iq_stMultiCamData.astCamPoint[i-1].lrY and its end point iq_stMultiCamData.astCamPoint[i].lrY is smaller than Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam.

At the input iq_stMultiCamData.astCamPoint[i-1].etCamType, a cam profile of type SinStraightComb has been applied. The value of the difference between its start point iq_stMultiCamData.astCamPoint[i-1].lrY and its end point iq_stMultiCamData.astCamPoint[i].lrY is smaller than Gc_lrZeroTolerance. This type of profile requires a motion of the slave cam.