FC_TPEdge - General Information

Overview

Type:	Function
Available as of:	SystemInterface_1.32.6.0
Versions:	Current version

Task

Record position to an event on a filed input (TouchProbe = TP); for example, register mark.

Description

Position measurement via an edge at a measured input. The used digital input must be configured as Touchprobe input before Sercos phase-up. The measurement of the position starts by calling the function. If a valid measurement result is recognized, the measurement is reported back through the CaptureOK parameter of the measured input.

NOTE: The function is "edge-triggered," meaning it is triggered once per working cycle.

The event or signal is entered in the PacDrive system at a measuring input using the measurement sensor (such as the print marker sensor).

Using the function FC_TPEdge(), the measuring input (i_stTPId), the edge (i_xPosEdge), the position source (i_stDevId), the position type (i_diParType), and the position window (i_lrLowLimit and i_lrHighLimit) is defined. If the measurement result is outside the position window, then the system discards the measurement and waits for a valid one.

When the FC_TPEdge() function is called, the status of the CaptureOk parameter of the measured input is set to FALSE and the CaptureValue parameter of the measured input is set to 0.

NOTE: If the function is called in an external event-driven task, then the priority (system priority VxWorks) of the task in which the function is called has to be >32.

NOTE: For information concerning the minimum interval between two measuring impulses (using LXM62DxS with OnboardIO), refer to "Interval between two measuring impulses".

DevId	Meaning	Supports ParType
DRIVE	Axis	Yes
L_ENC	Logical encoder	Yes
SENC	Sum encoder	No

NOTE: ParType 0…6 are only available when OnBoard I/O TouchProbes, DRIVE, or L_ENC are used as position source.

ParType	Meaning	Supported by DevId
0	Position	DRIVE
0	Position	L_ENC
1	RefPosition	DRIVE
2	MechPosition	DRIVE
3	RefMechPosition	DRIVE
4	ShaftMechPosition	DRIVE
5	ShaftMechRefPos	DRIVE
6	PositionWithoutDelay	L_ENC

NOTE: Shifting CaptureValue. With a speed modification, the CaptureValue moves due to delays in the system.

In order to compensate this, consider:

0 / Position: TP SensorDelay = TP HW Delay - ShaftDelay (DRIVE)

0 / Position: TP SensorDelay = TP HW Delay (L_ENC)

1 / RefPosition: TP SensorDelay = TP HW Delay - ShaftRefDelay

2 / MechPosition: TP SensorDelay = TP HW Delay - ShaftDelay

3 / RefMechPosition: TP SensorDelay = TP HW Delay - ShaftRefDelay

4 / ShaftMechPosition: TP SensorDelay = TP HW Delay

5 / ShaftMechRefPosition: TP SensorDelay = TP HW Delay

6 / PositionWithoutDelay: TP SensorDelay = TP HW Delay

NOTE: The function FC_TPEdge() may only be placed and used in Sercos Phase 4. If the function leaves Phase 4, the TouchProbes must be reactivated when Phase 4 is reached again.

Interface

Input	Data type	Description
i_stTPId	ST_LogicalAddress	Measure input
i_stDevId	ST_LogicalAddress	Positions source
i_diParType	DINT	Position type
i_xPosEdge	BOOL	edge
i_lrLowLimit	LREAL	Lower limit value position window
i_lrHighLimit	LREAL	Upper limit value position window

Return Value

Data type	Description
DINT	0: OK -1: i_stTPId invalid -2: i_stDevId invalid -3: i_diParTyp invalid -5: Measurement impossible because the Sercos bus is not in phase 4 -6: Measurement not possible -7: Measurement not possible because the measuring input is not activated

Examples

CASE diState OF 
1:

   diResult:=FC_TPEdge( 
      i_stTPId:=TP.stLogicalAddress, 
      i_stDevId:= Encoder.stLogicalAddress, 
      i_diParType:= 0, 
      i_xPosEdge:= TRUE, 
      i_lrLowLimit:= -MAXX, 
      i_lrHighLimit:= MAXX ); 
   diState:=2; 
2:

   IF TP.CaptureOk = TRUE THEN 
      lrTP_Pos:= TP.CaptureValue; 
      ... 
   END_IF 
END_CASE