FB_VarioPosTp

FB_VarioPosTp - General Information

Overview

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

Task

Carry out positioning motion with correction of the target position using a reference signal.

Description

A motion (positioning) to a position is possible using the function block. In doing so, the axis with a defined velocity and acceleration/deceleration is moved. The velocity profile of the motion development is trapezoidal as a default.

Velocity profile of the FB_VarioPosTp function block.

Function block FB_VarioPosTP / i_etPosMode = 0 (endless)

Function block FB_VarioPosTP / i_etPosMode = 1 (relative)

Function block FB_VarioPosTP / i_etPosMode = 3 (absolute)

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_ifTouchProbe	IF_TouchProbe	Digital measure input of the PacDrive system, into which the reference signal is fed.
i_xPosEdge	BOOL	TRUE: Positive edge of the input signal i_ifTouchProbe FALSE: Negative edge of the input signal i_ifTouchProbe
i_xStart	BOOL	FALSE -> TRUE: Start of the motion according to set parameters.
i_xStop	BOOL	FALSE -> TRUE: Stops a running positioning with the deceleration i_lrDec.
i_lrMaxDistance	LREAL	Travel distance or targets of the motion in units are a function of i_etPosMode if no valid reference signal i_ifTouchProbe is detected.
i_etPosMode	ET_PosMode	There are the following modes for positioning: oEndless The position counter is set to zero before positioning. Then, positioning to the value specified in i_lrMaxDistance is executed. oRelative Positioning is performed relative to the position counter. That is, the position counter is not reset before positioning. oAbsolute Positioning is absolute. The position counter is not reset before positioning.
i_lrOffset	LREAL	Offset between reference signal and target position.
i_lrLowLimit	LREAL	Lower limit of the position relative to the start position at which the reference signal is valid.
i_lrHighLimit	LREAL	Upper limit of the position relative to the start position at which the reference signal is valid.
i_lrVel	LREAL	Velocity (change of position) in units/s.
i_lrAcc	LREAL	Acceleration (change of velocity) in units/s².
i_lrDec	LREAL	Deceleration (change of velocity) in units/s².
i_lrJerk	LREAL	Jerk (change of acceleration/deceleration) in units/s³.

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_xInPosition	BOOL	TRUE: The axis is at the target (i_lrMaxDistance or corrected position reached via the reference signal). If positioning is interrupted, q_xInPosition is only set when the original target is approached.
q_xTPOk	BOOL	TRUE: q_xInPosition and valid reference signal detected at i_ifTouchProbe.
q_lrPosition	LREAL	Position (RefPosition) of the axis.
q_lrTPPosition	LREAL	Position of the axis during recognition of the valid reference signal.

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	WaitForStopRelease	238	Waiting for the stop command to be taken back.
OK	WaitForTouchProbeSignal	167	Waiting for Touchprobe signal.
OK	WaitUntilDisabled	8	Waiting until the POU is deactivated.
OK	WaitUntilOffsetReached	225	Waiting until the offset position has been reached.
OK	WaitUntilPositioningStarted	245	Waiting until positioning has been started.
OK	WaitUntilStopped	159	Waiting until the drive has stopped.
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	TouchProbeInvalid	163	The connected Touchprobe is invalid.
InputParameterInvalid	TouchProbeNotActive	166	The Touchprobe is not active.
InputParameterInvalid	TouchProbeVirtual	165	The connected Touchprobe is virtual.
InputParameterInvalid	VelRange	11	Vel is outside the valid range.
SercosConditionInvalid	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.

AccRange

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

Issue	Cause	Solution
-	At the input i_lrAcc, an invalid value has been transferred.	The following must hold: 0 < i_lrAcc < drive parameter MaxAcc For the valid value range for i_lrAcc, see output q_sMsg

Issue

Cause

Solution

At the input i_lrAcc, an invalid value has been transferred.

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

For the valid value range for i_lrAcc, see output q_sMsg

DecRange

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

Issue	Cause	Solution
-	At the input i_lrDec, an invalid value has been transferred.	The following must hold: 0 < i_lrDec < drive parameter MaxAcc For the valid value range for i_lrDec, see output q_sMsg

Issue

Cause

Solution

At the input i_lrDec, an invalid value has been transferred.

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

For the valid value range for i_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 i_lrJerk, an invalid value has been applied.	At the input i_lrJerk, a value greater than 0 and smaller than or equal to Gc_lrMaxJerk must be transferred.

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.

TouchProbeInvalid

Enumeration name:	TouchProbeInvalid
Enumeration value:	163
Description:	The connected Touchprobe is invalid.

Issue	Cause	Solution
-	The input i_ifTouchProbe is not connected with a valid Touchprobe.	Ensure that a valid Touchprobe has been transferred at the input i_ifTouchProbe.

TouchProbeNotActive

Enumeration name:	TouchProbeNotActive
Enumeration value:	166
Description:	The Touchprobe is not active.

Issue	Cause	Solution
-	The Touchprobe functionality of the input on a Lexium62 is not enabled.	Ensure that the parameter IOx_Mode of the input group (LXM62IO_InOutTP) has been set to Touchprobe / 1.

TouchProbeVirtual

Enumeration name:	TouchProbeVirtual
Enumeration value:	165
Description:	The connected Touchprobe is virtual.

Issue	Cause	Solution
-	The used touchprobe is not real.	Ensure that the Touchprobe does not belong to a virtual device. (e.g. virtual Lexium62)

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
-	At the input i_lrVel, an invalid value has been applied.	Apply a value greater than 0 and smaller than the axis parameter MaxVel to i_lrVel.

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.

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.

WaitForTouchProbeSignal

Enumeration name:	WaitForTouchProbeSignal
Enumeration value:	167
Description:	Waiting for Touchprobe signal.

The Touchprobe signal is waited for while the axis is moved.

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.

WaitUntilOffsetReached

Enumeration name:	WaitUntilOffsetReached
Enumeration value:	225
Description:	Waiting until the offset position has been reached.

The Touchprobe signal has been detected. The axis is moved further by the offset value.

WaitUntilPositioningStarted

Enumeration name:	WaitUntilPositioningStarted
Enumeration value:	245
Description:	Waiting until positioning has been started.

The function block waits for the axis to start its positioning.

WaitUntilStopped

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

The axis is stopped.