FC_CalcProfileExtremeValues

FC_CalcProfileExtremeValues - General Information

Overview

Type:	Function
Available as of:	V1.0.3.0
Versions:	Current version

Task

The function calculates the minimum and maximum values (velocity, acceleration, position) of a cam profile defined in a ST_MultiCam structure.

Description

Using this, it is possible e.g. to determine if there is sufficient time left to run a certain cam profile within the machine cycle.

The function calls the FC_ProfileCompute function up several times (i_uiNumberOfSteps) and calculates the values.

The extreme values for m and k are calculated by numerical differentiation of the functional values.

The results are much more accurate when more steps are used for the calculation. However, the time requirement also increases with the number of calculating steps.

The cycle time monitoring will not be modified by the function.

The result must be multiplied with the master velocity for calculating the maximum axis velocity of the slave axis.

lrMaxAxisVel:= q_stProfileExtremeValues.lrMaxM * lrMasterVel

The result must be multiplied with the square of the master velocity for calculating the maximum axis acceleration of the slave axis.

lrMaxAxisAcc:= q_stProfileExtremeValues.lrMaxK * lrMasterVel * lrMasterVel

Interface

Input	Data type	Description
i_uiNumberOfSteps	UINT	Number of iteration steps
i_lrXStart	LREAL	Start of the interval in which the extreme values are to be calculated
i_lrXEnd	LREAL	End of the interval in which the extreme values are to be calculated

Output	Data type	Description
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_stProfileExtremeValues	ST_ProfileExtremeValues	Output of the calculated extreme values

Input/Output	Data type	Description
iq_stMultiCam	ST_MultiCam	Definition of the cam for which the extreme values are to be determined

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Ok	0	Ok
InputParameterInvalid	BoundaryConditionInvalid	125	The boundary conditions are invalid.
InputParameterInvalid	NumberOfCamPointsRange	121	NumberOfCamPoints is outside the valid range.
InputParameterInvalid	NumberOfStepsRange	191	NumberOfSteps is outside the valid range.
InputParameterInvalid	RangeK	129	K is outside the valid range.
InputParameterInvalid	RangeM	130	M is outside the valid range.
InputParameterInvalid	UnknownCamType	126	The cam type is indeterminable.
InputParameterInvalid	XEndRange	192	XEnd is outside the valid range.
InputParameterInvalid	XFactorTooSmall	122	XFactor is too small.
InputParameterInvalid	XStartRange	119	XStart is outside the valid range.
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	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.

NumberOfCamPointsRange

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

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

NumberOfStepsRange

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

Issue	Cause	Solution
-	At the input i_uiNumberOfSteps, an invalid value has been applied.	At the input i_uiNumberOfSteps, a value greater than or equal to 3 and smaller than or equal to 360 must be transferred.

Enumeration name:	Ok
Enumeration value:	0
Description:	Ok

The extreme values have been calculated successfully.

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

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 Am Eingang iq_stMultiCam.astCamPoint[ ].lrM, an invalid value has been applied.	Verify the values for iq_stMultiCamData.astCamPoint[ ].lrM

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.

XEndRange

Enumeration name:	XEndRange
Enumeration value:	192
Description:	XEnd is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrXEnd, a value that lies outside of the cam has been applied.	i_lrXEnd must lie within the cam defined at iq_stMultiCam.

XFactorTooSmall

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

Issue	Cause	Solution
-	Two successive cam points iq_stMultiCam.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.

XStartRange

Enumeration name:	XStartRange
Enumeration value:	119
Description:	XStart is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrXStart, a number >= that at the input i_lrXEnd has been transferred.	Verify i_lrXStart and set it to a value not exceeding i_lrXEnd. Verify i_lrXEnd and set it to a value exceeding i_lrXStart.
-	At the input i_lrXStart, a number which is smaller than the start of the cam has been transferred.	Verify i_lrXStart and transfer it into the range of the cam. Verify the applied cam and define it such that i_lrXStart lies within the cam.

Issue

Cause

Solution

At the input i_lrXStart, a number >= that at the input i_lrXEnd has been transferred.

Verify i_lrXStart and set it to a value not exceeding i_lrXEnd.

Verify i_lrXEnd and set it to a value exceeding i_lrXStart.

At the input i_lrXStart, a number which is smaller than the start of the cam has been transferred.

Verify i_lrXStart and transfer it into the range of the cam.

Verify the applied cam and define it such that i_lrXStart lies within the cam.

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

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

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

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