Type:

Function Block

Available as of:

1.0.5.0

Versions:

current version

Master

SystemConfigurationItf.IF_Drive

Master axis

Slave

SystemConfigurationItf.IF_Drive

The slave axis to be controlled

Execute

BOOL

Starts the phase offset in the case of a rising edge

PhaseShift

LRFEAL

Absolute phase difference in master position of the slave axis

Velocity

LRFEAL

Maximum velocity for achieving the phase difference

Acceleration

LRFEAL

Maximum acceleration for achieving the phase difference

Deceleration

LRFEAL

Maximum deceleration for achieving the phase difference

Done

BOOL

The requested phase offset has been reached.

Busy

BOOL

The function block is not finished and new outputs are still pending.

CommandAborted

BOOL

The motion has been cancelled.

Error

BOOL

Signalizes a detected error within the function block

ErrorId

DWORD

Error identification

q_etDiag

GD.ET_Diag

General, library-independent statement on the diagnostic.

A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.

q_etDiagExt

ET_DiagExt

POU-specific output on the diagnostic.

q_etDiag = GD.ET_Diag.Ok -> status message

q_etDiag <> GD.ET_Diag.Ok -> diagnostic message

q_sMsg

STRING[80]

Event-triggered message which gives more detailed information on the diagnostic state.

OK

Busy

1

The order is executed.

OK

Done

8

The order is completed.

OK

Ok

0

Ok

DriveConditionInvalid

DriveNotReady

70

The drive is not ready for motion commands.

ExecutionAborted

PLCopenTransition

49

PLCopen transition is not permitted.

InputParameterInvalid

AccelerationRange

53

Acceleration is outside the valid range.

InputParameterInvalid

DecelerationRange

54

Deceleration is outside the valid range.

InputParameterInvalid

DriveInvalid

26

The connected drive is invalid.

InputParameterInvalid

DriveNotInitialised

27

The connected drive is not initialized.

InputParameterInvalid

EncoderInvalid

51

The Encoder is invalid.

InputParameterInvalid

SlaveInvalid

46

Slave is invalid.

InputParameterInvalid

VelocityRange

52

Velocity is outside the valid range.

UnexpectedProgramBehavior

DriveNotReady

70

The drive is not ready for motion commands.

UnexpectedProgramBehavior

UnexpectedFeedback

10

An unintended detected error occurred during execution.

Enumeration name:

AccelerationRange

Enumeration value:

53

Description:

Acceleration is outside the valid range.

-

An invalid value has been transferred at the input Acceleration.

A value greater than 0 must be transferred at the input Acceleration.

Enumeration name:

Busy

Enumeration value:

1

Description:

The order is executed.

Enumeration name:

DecelerationRange

Enumeration value:

54

Description:

Deceleration is outside the valid range.

-

An invalid value has been transferred at the input Deceleration.

A value greater than 0 must be transferred at the input Deceleration.

Enumeration name:

Done

Enumeration value:

8

Description:

The order is completed.

Enumeration name:

DriveInvalid

Enumeration value:

26

Description:

The connected drive is invalid.

-

The drive transferred at the input Slave does not support all required functionalities.

The drive must support the SystemConfigurationItf.IF_ControllerStop interface.

Enumeration name:

DriveNotInitialised

Enumeration value:

27

Description:

The connected drive is not initialized.

-

The function FC_DriveInit was not activated for drive at the input Slave.

Before using the POU, the drive must be initialized using the function FC_DriveInit.

Enumeration name:

DriveNotReady

Enumeration value:

70

Description:

The drive is not ready for motion commands.

-

The axis at the input Slave is in an error state.

Verify the diagnostic message of the axis.

-

 The logic encoder phase offset of the axis at the input Slave cannot be started.

Verify logical encoder state of the axis at the input Slave.

Enumeration name:

EncoderInvalid

Enumeration value:

51

Description:

The Encoder is invalid.

-

The logical encoder of the axis at the input Slave is invalid.

It must be made sure that the axis at the input Slave was initialized with the POU FC_DriveInit.

When calling up the POU FC_DriveInit for the axis at the input Slave a logical encoder must have been indicated.

Enumeration name:

Ok

Enumeration value:

0

Description:

Ok

Enumeration name:

PLCopenTransition

Enumeration value:

49

Description:

PLCopen transition is not permitted.

-

During job submission the axis is not in PLCopen state MC_SynchronizedMotion.

It must be made sure that the axis is in a valid PLCopen state when the POU is enabled.

Enumeration name:

SlaveInvalid

Enumeration value:

46

Description:

Slave is invalid.

-

No drive has been applied at the Slave input.

A valid drive must be transferred to the input Slave.

Enumeration name:

UnexpectedFeedback

Enumeration value:

10

Description:

An unintended detected error occurred during execution.

-

A detected error occurred in the internal execution.

Please inform the support team about this detected error.

Enumeration name:

VelocityRange

Enumeration value:

52

Description:

Velocity is outside the valid range.

-

An invalid value has been transferred at the input Acceleration.

A value greater than 0 must be transferred at the input Acceleration.